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lfa block one place

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This commit is contained in:
Shane Smiskol
2023-09-06 03:20:18 -07:00
parent 0d31697ca3
commit 0fb76d6ef7
1 changed files with 4 additions and 5 deletions
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selfdrive/car/hyundai/carstate.py
+4 -5
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@@ -53,6 +53,10 @@ class CarState(CarStateBase):
self.params = CarControllerParams(CP)
def update(self, cp, cp_cam):
# HDA2 CAN FD and hybrid CAN FD both use common messages to block stock LFA
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.hda2_lfa_block_msg = self.get_hda2_lfa_block_msg(cp_cam, self.CP)
if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam)
@@ -157,8 +161,6 @@ class CarState(CarStateBase):
# save the entire LKAS11 and CLU11
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
if self.CP.flags & HyundaiFlags.CAN_CANFD and self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.hda2_lfa_block_msg = self.get_hda2_lfa_block_msg(cp_cam, self.CP)
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
@@ -235,9 +237,6 @@ class CarState(CarStateBase):
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.hda2_lfa_block_msg = self.get_hda2_lfa_block_msg(cp_cam, self.CP)
return ret
def get_can_parser(self, CP):