From fe46b24be5f626164d240d62a95d395a6dd287d5 Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Thu, 11 Jul 2019 10:16:46 +1000 Subject: [PATCH] add alerts for lkmode --- selfdrive/car/honda/carcontroller.py | 5 ++--- selfdrive/car/honda/hondacan.py | 1 + 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 0c04c7e4b..4ef3f5088 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -72,7 +72,7 @@ def process_hud_alert(hud_alert): HUDData = namedtuple("HUDData", ["pcm_accel", "v_cruise", "mini_car", "car", "X4", - "lanes", "beep", "chime", "fcw", "acc_alert", "steer_required"]) + "lanes", "beep", "chime", "fcw", "acc_alert", "steer_required", "dashed_lanes"]) class CarController(object): @@ -126,8 +126,7 @@ class CarController(object): fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert) hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car, - 0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required) - + 0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required, CS.lkMode) # **** process the car messages **** # *** compute control surfaces *** diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 3955bfdcd..d323afc8b 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -77,6 +77,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx): 'SET_ME_X48': 0x48, 'STEERING_REQUIRED': hud.steer_required, 'SOLID_LANES': hud.lanes, + 'DASHED_LANES': hud.dashed_lanes, 'BEEP': hud.beep, } commands.append(packer.make_can_msg('LKAS_HUD', bus, lkas_hud_values, idx))