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controlsd: add blinkers to carControl (#26773) 

* controlsd: add blinkers to carControl

* not actuators

* update refs
old-commit-hash: 151e0d8c39
This commit is contained in:
Adeeb Shihadeh 2022-12-12 14:03:09 -08:00 committed by GitHub
parent 0fd3e3d19d
commit 69f6d32678
4 changed files with 8 additions and 3 deletions
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2
cereal

@ -1 +1 @@
Subproject commit 439429cad4d1e2ab874520cb5d4db8b8d978cbde
Subproject commit 22b1431132b038253a24ab3fbbe3af36ef93b95b

2
selfdrive/car/hyundai/carcontroller.py
View File

@ -125,7 +125,7 @@ class CarController:
# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, False, False))
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker))
if self.CP.openpilotLongitudinalControl:
if hda2:

5
selfdrive/controls/controlsd.py
View File

@ -577,6 +577,11 @@ class Controls:
actuators = CC.actuators
actuators.longControlState = self.LoC.long_control_state
# Enable blinkers while lane changing
if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
6681ca22053b019a65930e76a396535d0cddf39c
99e9481d03e18a4dcd1eeebbfb24aca1ceb7e1e1