Final test to block LFA

selfdrive/car/hyundai/carcontroller.py

@@ -116,7 +116,7 @@ class CarController:
         if not hda2_alt_steering:
           can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
         elif hda2_alt_steering:
-          can_sends.extend(hyundaicanfd.create_block_lfa(self.packer, self.CAN, CS))
+          can_sends.extend(hyundaicanfd.create_cam_0x362(self.packer, self.CAN, CS.cam_0x362))
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):

selfdrive/car/hyundai/carstate.py

@@ -230,11 +230,7 @@ class CarState(CarStateBase):
     if self.CP.flags & HyundaiFlags.CANFD_HDA2 and not self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
       self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
     if self.CP.flags & HyundaiFlags.CANFD_HDA2 and self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-      self.cam_0x230 = copy.copy(cp_cam.vl["CAM_0x230"])
-      for i in range(0x235, 0x248 + 1):
-        setattr(self, f"cam_0x{i:03x}", copy.copy(cp_cam.vl[f"CAM_0x{i:03x}"]))
-      for i in range(0x360, 0x366 + 1):
-        setattr(self, f"cam_0x{i:03x}", copy.copy(cp_cam.vl[f"CAM_0x{i:03x}"]))
+      self.cam_0x362 = copy.copy(cp_cam.vl["CAM_0x362"])
 
     return ret
 
@@ -339,11 +335,7 @@ class CarState(CarStateBase):
     if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
       messages += [("CAM_0x2a4", 20)]
     elif CP.flags & HyundaiFlags.CANFD_HDA2 and CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-      messages += [("CAM_0x230", 33)]
-      for i in range(0x235, 0x248 + 1):
-        messages.append((f"CAM_0x{i:03x}", 33))
-      for i in range(0x360, 0x366 + 1):
-        messages.append((f"CAM_0x{i:03x}", 20))
+      messages += [("CAM_0x362", 20)]
     elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
       messages += [
         ("SCC_CONTROL", 50),

selfdrive/car/hyundai/hyundaicanfd.py

@@ -67,68 +67,14 @@ def create_cam_0x2a4(packer, CAN, cam_0x2a4):
   values["BYTE7"] = 0
   return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
 
-def create_block_lfa(packer, CAN, CS):
-  ret = []
-
-  cam_0x230_values = {s: CS.cam_0x230[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x230", CAN.ACAN, cam_0x230_values))
-
-  cam_0x235_values = {s: CS.cam_0x235[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x235", CAN.ACAN, cam_0x235_values))
-
-  cam_0x236_values = {s: CS.cam_0x236[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x236", CAN.ACAN, cam_0x236_values))
-
-  cam_0x237_values = {s: CS.cam_0x237[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x237", CAN.ACAN, cam_0x237_values))
-
-  cam_0x238_values = {s: CS.cam_0x238[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x238", CAN.ACAN, cam_0x238_values))
-
-  cam_0x239_values = {s: CS.cam_0x239[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x239", CAN.ACAN, cam_0x239_values))
-
-  cam_0x23a_values = {s: CS.cam_0x23a[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x23a", CAN.ACAN, cam_0x23a_values))
-
-  cam_0x23b_values = {s: CS.cam_0x23b[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x23b", CAN.ACAN, cam_0x23b_values))
-
-  cam_0x23c_values = {s: CS.cam_0x23c[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x23c", CAN.ACAN, cam_0x23c_values))
-
-  cam_0x23d_values = {s: CS.cam_0x23d[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x23d", CAN.ACAN, cam_0x23d_values))
-
-  cam_0x23e_values = {s: CS.cam_0x23e[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x23e", CAN.ACAN, cam_0x23e_values))
-
-  cam_0x23f_values = {s: CS.cam_0x23f[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x23f", CAN.ACAN, cam_0x23f_values))
-
-
-  cam_0x360_values = {s: CS.cam_0x360[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x360", CAN.ACAN, cam_0x360_values))
-
-  cam_0x361_values = {s: CS.cam_0x361[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x361", CAN.ACAN, cam_0x361_values))
-
-  cam_0x362_values = {s: CS.cam_0x362[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x362", CAN.ACAN, cam_0x362_values))
-
-  cam_0x363_values = {s: CS.cam_0x363[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x363", CAN.ACAN, cam_0x363_values))
-
-  cam_0x364_values = {s: CS.cam_0x364[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x364", CAN.ACAN, cam_0x364_values))
-
-  cam_0x365_values = {s: CS.cam_0x365[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x365", CAN.ACAN, cam_0x365_values))
-
-  cam_0x366_values = {s: CS.cam_0x366[s] for s in ["COUNTER"]}
-  ret.append(packer.make_can_msg("CAM_0x366", CAN.ACAN, cam_0x366_values))
-
-  return ret
+def create_cam_0x362(packer, CAN, cam_0x362):
+  values = {f"BYTE{i}": cam_0x362[f"BYTE{i}"] for i in range(3, 32)}
+  values["COUNTER"] = cam_0x362["COUNTER"]
+  values["NEW_SIGNAL_1"] = cam_0x362["NEW_SIGNAL_1"]
+  values["NEW_SIGNAL_2"] = cam_0x362["NEW_SIGNAL_2"]
+  values["LEFT_LANELINES"] = 0
+  values["RIGHT_LANELINES"] = 0
+  return packer.make_can_msg("CAM_0x362", CAN.ACAN, values)
 
 def create_buttons(packer, CP, CAN, cnt, btn):
   values = {