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This commit is contained in:
Jason Wen
2024-08-11 22:06:12 -04:00
parent f8e1455ced
commit 976ebfd185
1 changed files with 6 additions and 12 deletions
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selfdrive/car/hyundai/interface.py
+6 -12
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@@ -203,18 +203,12 @@ class CarInterface(CarInterfaceBase):
if CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS:
params = Params()
enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, config_data_id=b'\x01\x42')
rt_avail = params.get_bool("HyundaiRadarTracksAvailable")
rt_avail_cache = params.get_bool("HyundaiRadarTracksAvailableCache")
if rt_avail and rt_avail_cache:
pass
elif rt_avail != rt_avail_cache:
params.put_bool_nonblocking("HyundaiRadarTracksAvailableCache", rt_avail)
else:
_, fingerprint = can_fingerprint(lambda: get_one_can(logcan))
if RADAR_START_ADDR in fingerprint[1] and DBC[CP.carFingerprint]["radar"] is not None:
params.put_bool_nonblocking("HyundaiRadarTracksAvailable", True)
elif RADAR_START_ADDR not in fingerprint[1] or DBC[CP.carFingerprint]["radar"] is None:
params.put_bool_nonblocking("HyundaiRadarTracksAvailable", False)
params.put_bool_nonblocking("HyundaiRadarTracksAvailableCache", params.get_bool("HyundaiRadarTracksAvailable"))
_, fingerprint = can_fingerprint(lambda: get_one_can(logcan))
if RADAR_START_ADDR in fingerprint[1] and DBC[CP.carFingerprint]["radar"] is not None:
params.put_bool_nonblocking("HyundaiRadarTracksAvailable", True)
elif RADAR_START_ADDR not in fingerprint[1] or DBC[CP.carFingerprint]["radar"] is None:
params.put_bool_nonblocking("HyundaiRadarTracksAvailable", False)
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)