alka main button states for hyundai

dragonpilot-community · Jun 27, 2024 · 39525c1 · 39525c1
1 parent bc6d974
commit 39525c1
Showing 1 changed file with 23 additions and 2 deletions.
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
@@ -52,6 +52,9 @@ def __init__(self, CP):
 
     self.params = CarControllerParams(CP)
 
+    # dp - alka
+    self._main_on = False
+
   def update(self, cp, cp_cam):
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam)
@@ -102,7 +105,9 @@ def update(self, cp, cp_cam):
     # cruise state
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
-      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
+      # dp - alka
+      # ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
+      ret.cruiseState.available = self._main_on
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
@@ -164,8 +169,15 @@ def update(self, cp, cp_cam):
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
+    # dp - alka
+    main_btn_prev = self.main_buttons[-1]
+
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
 
+    # dp - alka
+    if main_btn_prev != self.main_buttons[-1]:
+      self._main_on = not self._main_on
+
     return ret
 
   def update_canfd(self, cp, cp_cam):
@@ -219,7 +231,9 @@ def update_canfd(self, cp, cp_cam):
 
     # cruise state
     # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
-    ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
+    # dp - alka
+    # ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
+    ret.cruiseState.available = self._main_on
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
       ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
@@ -240,7 +254,14 @@ def update_canfd(self, cp, cp_cam):
 
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
+    # dp - alka
+    main_btn_prev = self.main_buttons[-1]
+
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
+
+    # dp - alka
+    if main_btn_prev != self.main_buttons[-1]:
+      self._main_on = not self._main_on
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
     ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED