* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)

CHANGELOGS-DEV.md

@@ -2,6 +2,8 @@ dragonpilot 0.7.10.1
 ========================
 * HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
 * HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) 
 
 dragonpilot 0.7.10.0
 ========================

CHANGELOGS-REL.md

@@ -19,6 +19,8 @@ dragonpilot 0.7.10.0
 * Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
 * HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
 * HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) 
 
 dragonpilot 0.7.8
 ========================

CHANGELOGS.md

@@ -1,3 +1,8 @@
+2020-11-05 (0.7.10.0)
+========================
+* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) 
+ 
 2020-11-04 (0.7.10.0)
 ========================
 * HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)

selfdrive/car/honda/carstate.py

@@ -234,12 +234,8 @@ class CarState(CarStateBase):
     ret.steeringRate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
 
     # dp - when user presses LKAS button on steering wheel
-    if self.cruise_setting == 1:
-      if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
-        if self.lkMode:
-          self.lkMode = False
-        else:
-          self.lkMode = True
+    if self.cruise_setting == 1 and cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
+      self.lkMode = not self.lkMode
 
     self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']

selfdrive/car/hyundai/carcontroller.py

@@ -58,7 +58,7 @@ class CarController():
     self.steer_rate_limited = new_steer != apply_steer
 
     # disable if steer angle reach 90 deg, otherwise mdps fault in some models
-    lkas_active = enabled and abs(CS.out.steeringAngle) < 90.
+    lkas_active = enabled and abs(CS.out.steeringAngle) < 90. and CS.lkMode
 
     # fix for Genesis hard fault at low speed
     if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:

selfdrive/car/hyundai/carstate.py

@@ -1,6 +1,6 @@
 import copy
 from cereal import car
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_HYBRID
+from selfdrive.car.hyundai.values import CAR, DBC, STEER_THRESHOLD, FEATURES, EV_HYBRID
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
@@ -9,6 +9,11 @@ GearShifter = car.CarState.GearShifter
 
 
 class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    #dp
+    self.lkMode = True
+
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
@@ -37,7 +42,7 @@ class CarState(CarStateBase):
     ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0
 
     # cruise state
-    ret.cruiseState.available = True
+    ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] != 0 if self.CP.carFingerprint in [CAR.HYUNDAI_GENESIS] else True
     ret.cruiseState.enabled = cp.vl["SCC12"]['ACCMode'] != 0
     ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
 
@@ -131,6 +136,7 @@ class CarState(CarStateBase):
     self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive']  # 0 NOT ACTIVE, 1 ACTIVE
     self.lead_distance = cp.vl["SCC11"]['ACC_ObjDist']
 
+    self.lkMode = bool(cp_cam.vl["LKAS11"]["CF_Lkas_LdwsSysState"])
     return ret
 
   @staticmethod

selfdrive/car/hyundai/interface.py

@@ -200,10 +200,13 @@ class CarInterface(CarInterfaceBase):
     self.dragonconf = dragonconf
     ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
+    ret.lkMode = self.CS.lkMode
 
     events = self.create_common_events(ret)
     #TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event
 
+    if not self.CS.lkMode:
+      events.add(car.CarEvent.EventName.manualSteeringRequired)
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
       self.low_speed_alert = True