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Hyundai longitudinal: handle mid-press button change (#24674)

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* send additional button event for previous if we switch buttons mid-press

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old-commit-hash: dd10a83708a17b04fb9b217c7fee4234b8ed7dfe
This commit is contained in:
Shane Smiskol
2022-06-02 01:27:34 -07:00
committed by GitHub
parent a16a20005b
commit 7a2d0b64eb
1 changed files with 5 additions and 1 deletions
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selfdrive/car/hyundai/interface.py
+5 -1
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@@ -341,8 +341,12 @@ class CarInterface(CarInterfaceBase):
events.add(EventName.brakeUnavailable)
if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
ret.buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
# Handle CF_Clu_CruiseSwState changing buttons mid-press
if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
ret.buttonEvents = buttonEvents
events.events.extend(create_button_enable_events(ret.buttonEvents))
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)