Revert "Hyundai: explicitly copy signals to forward (#28020)" (#28406)

This reverts commit 67a7fe2edc72d3b8074405a9b5c179230ab4df38.
old-commit-hash: cabcde38ad

selfdrive/car/hyundai/carcontroller.py

@@ -141,7 +141,7 @@ 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, self.CAN, CS.cruise_info))
+              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info))
               self.last_button_frame = self.frame
             else:
               for _ in range(20):

selfdrive/car/hyundai/hyundaican.py

@@ -7,23 +7,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
                   left_lane_depart, right_lane_depart):
-  values = {s: lkas11[s] for s in [
+  values = lkas11
-    "CF_Lkas_LdwsActivemode",
-    "CF_Lkas_LdwsSysState",
-    "CF_Lkas_SysWarning",
-    "CF_Lkas_LdwsLHWarning",
-    "CF_Lkas_LdwsRHWarning",
-    "CF_Lkas_HbaLamp",
-    "CF_Lkas_FcwBasReq",
-    "CF_Lkas_HbaSysState",
-    "CF_Lkas_FcwOpt",
-    "CF_Lkas_HbaOpt",
-    "CF_Lkas_FcwSysState",
-    "CF_Lkas_FcwCollisionWarning",
-    "CF_Lkas_FusionState",
-    "CF_Lkas_FcwOpt_USM",
-    "CF_Lkas_LdwsOpt_USM",
-  ]}
   values["CF_Lkas_LdwsSysState"] = sys_state
   values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
   values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
@@ -95,20 +79,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
 
 
 def create_clu11(packer, frame, clu11, button, car_fingerprint):
-  values = {s: clu11[s] for s in [
+  values = clu11
-    "CF_Clu_CruiseSwState",
-    "CF_Clu_CruiseSwMain",
-    "CF_Clu_SldMainSW",
-    "CF_Clu_ParityBit1",
-    "CF_Clu_VanzDecimal",
-    "CF_Clu_Vanz",
-    "CF_Clu_SPEED_UNIT",
-    "CF_Clu_DetentOut",
-    "CF_Clu_RheostatLevel",
-    "CF_Clu_CluInfo",
-    "CF_Clu_AmpInfo",
-    "CF_Clu_AliveCnt1",
-  ]}
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
   # send buttons to camera on camera-scc based cars

selfdrive/car/hyundai/hyundaicanfd.py

@@ -63,11 +63,11 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
   return ret
 
-def create_cam_0x2a4(packer, CAN, cam_0x2a4):
+def create_cam_0x2a4(packer, CAN, camera_values):
-  values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)}
+  camera_values.update({
-  values['COUNTER'] = cam_0x2a4['COUNTER']
+    "BYTE7": 0,
-  values["BYTE7"] = 0
+  })
-  return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
+  return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values)
 
 def create_buttons(packer, CP, CAN, cnt, btn):
   values = {
@@ -79,30 +79,8 @@ def create_buttons(packer, CP, CAN, cnt, btn):
   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
   return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
 
-def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
+def create_acc_cancel(packer, CAN, cruise_info_copy):
-  # TODO: why do we copy different values here?
+  values = cruise_info_copy
-  if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
-    values = {s: cruise_info_copy[s] for s in [
-      "COUNTER",
-      "CHECKSUM",
-      "NEW_SIGNAL_1",
-      "MainMode_ACC",
-      "ACCMode",
-      "CRUISE_INACTIVE",
-      "ZEROS_9",
-      "CRUISE_STANDSTILL",
-      "ZEROS_5",
-      "DISTANCE_SETTING",
-      "VSetDis",
-    ]}
-  else:
-    values = {s: cruise_info_copy[s] for s in [
-      "COUNTER",
-      "CHECKSUM",
-      "ACCMode",
-      "VSetDis",
-      "CRUISE_STANDSTILL",
-    ]}
   values.update({
     "ACCMode": 4,
   })