일괄리퀘스트

selfdrive/car/car_helpers.py

@@ -178,7 +178,7 @@ def get_car(logcan, sendcan):
 
   if candidate is None:
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
-    candidate = "mock"
+    candidate = "GRANDEUR IG 2017"
 
   CarInterface, CarController, CarState = interfaces[candidate]
   car_params = CarInterface.get_params(candidate, fingerprints, car_fw)

selfdrive/car/hyundai/carstate.py

@@ -184,7 +184,7 @@ def update(self, cp, cp2, cp_cam):
       elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
         ret.gearShifter = GearShifter.reverse
       else:
-        ret.gearShifter = GearShifter.unknown
+        ret.gearShifter = GearShifter.drive
     # Gear Selecton via TCU12
     elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
       gear = cp.vl["TCU12"]["CUR_GR"]

selfdrive/car/hyundai/hyundaican.py

@@ -23,7 +23,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_Chksum"] = 0
 
   #LKAS 아이콘 에러가 나는경우 이곳에 차량을 넣어주면 해결될 수도 있음
-  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SONATA_HEV, CAR.SANTA_FE, CAR.KONA_EV, CAR.NIRO_EV, CAR.KONA_HEV]: 
+  if car_fingerprint in [CAR.SONATA, CAR.GRANDEUR_HEV, CAR.GRANDEUR, CAR.PALISADE, CAR.SONATA_HEV, CAR.SANTA_FE, CAR.KONA_EV, CAR.NIRO_EV, CAR.KONA_HEV]: 
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/values.py

@@ -265,9 +265,9 @@ class Buttons:
       64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1181: 5, 1186: 2, 1191: 2, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1378: 4, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1872: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
     }],
     CAR.GRANDEUR: [{
-      67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854 : 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8 , 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1185: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312 : 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6 , 1456: 4, 1470: 8
+      67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 516: 8, 524: 8, 528: 8, 532: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8
       },{
-      67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 549: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1185: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8
+      67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 516: 8, 524: 8, 528: 8, 532: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8
       },{
       67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1185: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8      
       },{

selfdrive/car/interfaces.py

@@ -99,8 +99,9 @@ def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_
       events.add(EventName.doorOpen)
     if cs_out.seatbeltUnlatched:
       events.add(EventName.seatbeltNotLatched)
-    if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears and cs_out.cruiseState.enabled:
-      events.add(EventName.wrongGear)
+  # 기어 드라이브 모드 오류 삭제
+    # if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears and cs_out.cruiseState.enabled:
+    #   events.add(EventName.wrongGear)
     if cs_out.gearShifter == GearShifter.reverse:
       events.add(EventName.reverseGear)
     if not cs_out.cruiseState.available and cs_out.cruiseState.enabled: