wip

selfdrive/car/hyundai/carcontroller.py

@@ -200,9 +200,9 @@ class CarController(CarControllerBase):
         if CC.cruiseControl.cancel:
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
             # pass
-            can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
+            can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
             self.last_button_frame = self.frame
-            # CS.lkas_trigger_result = 1
+            CS.lkas_trigger_result = 1
           else:
             for _ in range(20):
               can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))

selfdrive/car/hyundai/hyundaicanfd.py

@@ -88,15 +88,16 @@ def create_buttons(packer, CP, CAN, cnt, btn):
   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
   return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
 
-# def create_buttons_alt(packer, CP, CAN, cnt, btn):
-#   values = {
-#     "COUNTER": cnt,
-#     "SET_ME_1": 1,
-#     "CRUISE_BUTTONS": btn,
-#   }
+def create_buttons_alt(packer, CP, CAN, cnt, btn):
+  values = {
+    "COUNTER": cnt,
+    "SET_ME_1": 1,
+    "SET_ME_2": 2,
+    "CRUISE_BUTTONS": btn,
+  }
 
-#   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
-#   return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
+  bus = CAN.ECAN # if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
+  return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
 
 def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   # why are we executing this at all?
@@ -123,7 +124,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
       "CRUISE_STANDSTILL",
     ]}
   values.update({
-    "ACCMode": 1, # testing 1 instead of 4
+    "ACCMode": 4, # testing 1 instead of 4
     "aReqRaw": 0.0,
     "aReqValue": 0.0,
   })

selfdrive/clearpilot/readme.txt

@@ -0,0 +1 @@
+This is a nodejs service

selfdrive/manager/process_config.py

@@ -66,8 +66,8 @@ procs = [
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
-  NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
-  PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
+  #NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
+  #PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None), always_watchdog=only_offroad),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -78,13 +78,13 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
-  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
+  #PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
-  PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
+  #PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
-  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
-  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
+  #NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
+  #PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),