consider pause/resume button

cfranyota · Apr 8, 2022 · 3a00d84 · 3a00d84
1 parent 72cd320
commit 3a00d84
Showing 1 changed file with 3 additions and 5 deletions.
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -10,7 +10,7 @@
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
-ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL)
+ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
 
 
 class CarInterface(CarInterfaceBase):
@@ -299,11 +299,9 @@ def update(self, c, can_strings):
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    # On some newer model years, the CANCEL button acts as a pause/resume button based on the enabled state
-    # To avoid accidentally re-engaging when we cancel, only allow engagement on specific user button presses
+    # 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, only enable on specific user button presses
     user_enabled = any([btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons])
-    # TODO: make sure this logic is correct
-    # user_enabled |= Buttons.CANCEL in self.CS.cruise_buttons and not self.CS.out.cruiseState.enabled
 
     events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, user_enabled=user_enabled)