car interfaces: handle buttons changing state without going unpressed (#26463)

* rename function first and foremost * the function * comment * move usages over * probably fine * comments * btn * single line * not comments * fix keyword * is it not clear? * noEntry while holding cancel * bumpo * remove * better? * better? * try this * try this * loop * better * more clear * Revert "more clear" This reverts commit 37e0277e4bfe6f1c553dbbcece6f532a280be62e. * no optional * fine * add comment * clean up honda * one line * can also do this * but unclear This reverts commit 1984a72cc8680b23c202695b8aeeb1aa28f7160c. * bumppanda old-commit-hash: 24f5a6170d
2026-08-05 16:26:14 +08:00 · 2023-08-25 16:47:10 -07:00
parent 643a13f27e
commit c5a673b998
5 changed files with 28 additions and 38 deletions
@@ -1,6 +1,6 @@
 # functions common among cars
 from collections import namedtuple
-from typing import Dict, Optional
+from typing import Dict, List, Optional

 import capnp

@@ -24,16 +24,19 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
  return val_steady


-def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
-                        unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder:
-  if cur_but != unpressed:
-    be = car.CarState.ButtonEvent(pressed=True)
-    but = cur_but
-  else:
-    be = car.CarState.ButtonEvent(pressed=False)
-    but = prev_but
-  be.type = buttons_dict.get(but, ButtonType.unknown)
-  return be
+def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
+                         unpressed_btn: int = 0) -> List[capnp.lib.capnp._DynamicStructBuilder]:
+  events: List[capnp.lib.capnp._DynamicStructBuilder] = []
+
+  if cur_btn == prev_btn:
+    return events
+
+  # Add events for button presses, multiple when a button switches without going to unpressed
+  for pressed, btn in ((False, prev_btn), (True, cur_btn)):
+    if btn != unpressed_btn:
+      events.append(car.CarState.ButtonEvent(pressed=pressed,
+                                             type=buttons_dict.get(btn, ButtonType.unknown)))
+  return events


 def gen_empty_fingerprint():
@@ -4,7 +4,7 @@ from math import fabs, exp
 from panda import Panda

 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_event, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
@@ -253,13 +253,10 @@ class CarInterface(CarInterfaceBase):
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)

-    if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
-      buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)]
-      # Handle ACCButtons changing buttons mid-press
-      if self.CS.cruise_buttons != CruiseButtons.UNPRESS and self.CS.prev_cruise_buttons != CruiseButtons.UNPRESS:
-        buttonEvents.append(create_button_event(CruiseButtons.UNPRESS, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS))
-
-      ret.buttonEvents = buttonEvents
+    # Don't add event if transitioning from INIT, unless it's to an actual button
+    if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
+      ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
+                                              unpressed_btn=CruiseButtons.UNPRESS)

    # The ECM allows enabling on falling edge of set, but only rising edge of resume
    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
@@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
                                                                                            HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
-from openpilot.selfdrive.car import create_button_event, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu

@@ -308,15 +308,10 @@ class CarInterface(CarInterfaceBase):
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)

-    buttonEvents = []
-
-    if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
-      buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT))
-
-    if self.CS.cruise_setting != self.CS.prev_cruise_setting:
-      buttonEvents.append(create_button_event(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}))
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
+      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}),
+    ]

    # events
    events = self.create_common_events(ret, pcm_enable=False)
@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD
                                         EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \
                                         Buttons
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from openpilot.selfdrive.car import create_button_event, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu

@@ -320,13 +320,8 @@ class CarInterface(CarInterfaceBase):
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)

-    if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
-      buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
-      # Handle CF_Clu_CruiseSwState changing buttons mid-press
-      if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
-        buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
-
-      ret.buttonEvents = buttonEvents
+    if self.CS.CP.openpilotLongitudinalControl:
+      ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)

    # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
    # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons