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Hyundai: Use modern button events

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This commit is contained in:
Jason Wen
2024-07-11 23:23:21 -04:00
parent 4e9ab2abaf
commit 25fdd735c2
1 changed files with 6 additions and 6 deletions
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selfdrive/car/hyundai/interface.py
+6 -6
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@@ -205,10 +205,10 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
self.CS.button_events = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
self.CS.mads_enabled = False if not self.mads_main_toggle else self.CS.mads_enabled
@@ -231,7 +231,7 @@ class CarInterface(CarInterfaceBase):
if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
if not self.CP.pcmCruise:
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if not self.CP.pcmCruiseSpeed:
if not ret.cruiseState.enabled:
@@ -245,14 +245,14 @@ class CarInterface(CarInterfaceBase):
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons