stash

selfdrive/car/hyundai/carstate.py

@@ -5,16 +5,19 @@
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR, PREV_BUTTON_FRAMES, Buttons
+from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR, Buttons
 from selfdrive.car.interfaces import CarStateBase
 
+PREV_BUTTON_FRAMES = 3
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    # cruise_buttons includes current button and two previous
+    # includes current button and two previous
     self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_FRAMES, maxlen=PREV_BUTTON_FRAMES)
+    self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_FRAMES, maxlen=PREV_BUTTON_FRAMES)
 
     if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
@@ -111,7 +114,9 @@ def update(self, cp, cp_cam):
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
-    self.cruise_buttons.append(cp.vl["CLU11"]["CF_Clu_CruiseSwState"])
+    if len(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]):
+      self.cruise_buttons.append(cp.vl["CLU11"]["CF_Clu_CruiseSwState"])
+      self.main_buttons.append(cp.vl["CLU11"]["CF_Clu_CruiseSwMain"])
 
     return ret
 

selfdrive/car/hyundai/values.py

@@ -1174,4 +1174,3 @@ class Buttons:
 }
 
 STEER_THRESHOLD = 150
-PREV_BUTTON_FRAMES = 3