From dff2aae17f03ef1e4bfa59dc1bffb41c1d27f206 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 24 Apr 2024 11:48:52 -0400
Subject: [PATCH] simplify

---
 selfdrive/car/hyundai/hyundaicanfd.py | 57 ++++++---------------------
 1 file changed, 13 insertions(+), 44 deletions(-)

diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index b35f1b9155..03cbe9808d 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -329,50 +329,19 @@ def create_adrv_messages(packer, CAN, frame):
 def create_radar_aux_messages(packer, CAN, frame):
   ret = []
 
-  if frame % 2 == 0:
-    values = {
-      "COUNTER": frame % 0xF,
-      "FCA_ESA": 1,
-    }
-    ret.append(packer.make_can_msg("RADAR_0x363", CAN.ECAN, values))
+  msg_values = [
+    ("RADAR_0x363", 2,  {"FCA_ESA": 1}),
+    ("RADAR_0x398", 5,  {"BYTE4": 0x80, "BYTE5": 0x5D}),
+    ("RADAR_0x399", 5,  {"BYTE2": 0x02}),
+    ("RADAR_0x39a", 5,  {"BYTE7": 0xFF}),
+    ("RADAR_0x39b", 5,  {}),
+    ("RADAR_0x39c", 5,  {"BYTE5": 0xE0, "BYTE6": 0x79}),
+    ("RADAR_0x43a", 20, {"BYTE2": 0x07}),
+  ]
 
-  if frame % 5 == 0:
-    values = {
-      "COUNTER": frame % 0xF,
-      "BYTE4": 0x80,
-      "BYTE5": 0x5D,
-    }
-    ret.append(packer.make_can_msg("RADAR_0x398", CAN.ECAN, values))
-
-    values = {
-      "COUNTER": frame % 0xF,
-      "BYTE2": 0x02,
-    }
-    ret.append(packer.make_can_msg("RADAR_0x399", CAN.ECAN, values))
-
-    values = {
-      "COUNTER": frame % 0xF,
-      "BYTE7": 0xFF,
-    }
-    ret.append(packer.make_can_msg("RADAR_0x39a", CAN.ECAN, values))
-
-    values = {
-      "COUNTER": frame % 0xF,
-    }
-    ret.append(packer.make_can_msg("RADAR_0x39b", CAN.ECAN, values))
-
-    values = {
-      "COUNTER": frame % 0xF,
-      "BYTE5": 0xE0,
-      "BYTE6": 0x79,
-    }
-    ret.append(packer.make_can_msg("RADAR_0x39c", CAN.ECAN, values))
-
-  if frame % 20 == 0:
-    values = {
-      "COUNTER": frame % 0xF,
-      "BYTE2": 0x07,
-    }
-    ret.append(packer.make_can_msg("RADAR_0x43a", CAN.ECAN, values))
+  for addr, freq, value in msg_values:
+    if frame % freq == 0:
+      value["COUNTER"] = frame % 0xF
+      ret.append(packer.make_can_msg(addr, CAN.ECAN, value))
 
   return ret