controlsd: add blinkers to carControl (#26773)

* controlsd: add blinkers to carControl

* not actuators

* update refs

cereal

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

selfdrive/car/hyundai/carcontroller.py

@@ -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:

selfdrive/controls/controlsd.py

@@ -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
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6681ca22053b019a65930e76a396535d0cddf39c
+99e9481d03e18a4dcd1eeebbfb24aca1ceb7e1e1