From 4ee0b8196f85b29b735c3319924f3c40cebc86e5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 12 Oct 2022 21:54:53 -0700
Subject: [PATCH] Hyundai: fix alt CAN-FD cancel (#26057)

---
 selfdrive/car/hyundai/carcontroller.py |  1 +
 selfdrive/car/hyundai/carstate.py      |  4 +++-
 selfdrive/car/hyundai/hyundaicanfd.py  | 11 ++++++-----
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index bcbab2ab94..a5d995df25 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -117,6 +117,7 @@ class CarController:
           # cruise cancel
           if CC.cruiseControl.cancel:
             if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info))
               self.last_button_frame = self.frame
             else:
               for _ in range(20):
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 4c2650c19f..3752fdebef 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -34,6 +34,8 @@ class CarState(CarStateBase):
     self.brake_error = False
     self.buttons_counter = 0
 
+    self.cruise_info = {}
+
     # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
     self.cluster_speed = 0
     self.cluster_speed_counter = CLUSTER_SAMPLE_RATE
@@ -194,13 +196,13 @@ class CarState(CarStateBase):
       cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
       ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
       ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+      self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
 
     cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
     self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
-    self.cruise_info_copy =  {}
 
     if self.CP.flags & HyundaiFlags.CANFD_HDA2:
       self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 9d4e4d4e0d..f2cbafdcf0 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -47,12 +47,13 @@ def create_buttons(packer, cnt, btn):
   }
   return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
 
-def create_cruise_info(packer, cruise_info_copy, cancel):
+def create_acc_cancel(packer, CP, cruise_info_copy):
   values = cruise_info_copy
-  if cancel:
-    values["CRUISE_STATUS"] = 0
-    values["CRUISE_INACTIVE"] = 1
-  return packer.make_can_msg("CRUISE_INFO", 5, values)
+  values.update({
+    "CRUISE_STATUS": 0,
+    "CRUISE_INACTIVE": 1,
+  })
+  return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values)
 
 def create_lfahda_cluster(packer, CP, enabled):
   values = {