loopback

selfdrive/car/card.py

@@ -22,7 +22,7 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import VCruiseHelper, IMPERIAL_INCREMENT, V_CRUISE_MAX, V_CRUISE_MIN
-from openpilot.selfdrive.car.redneck_cruise import RedneckCruise, SEND_BUTTON_DECREASE, SEND_BUTTON_INCREASE, select_redneck_target_speed
+from openpilot.selfdrive.car.redneck_cruise import RedneckCruise, select_redneck_target_speed
 from openpilot.selfdrive.car.car_specific import MockCarState
 
 from openpilot.starpilot.common.starpilot_variables import get_starpilot_toggles, update_starpilot_toggles
@@ -31,7 +31,6 @@ from openpilot.starpilot.controls.starpilot_card import StarPilotCard
 REPLAY = "REPLAY" in os.environ
 OPENPILOT_LEAD_MIN_DISTANCE = 0.1
 REDNECK_DECREASE_LOOKAHEAD_POINTS = 10
-REDNECK_AUTO_BUTTON_FILTER_FRAMES = int(0.12 / DT_CTRL)
 
 EventName = log.OnroadEvent.EventName
 
@@ -75,14 +74,6 @@ class Car:
 
   FPCP: custom.StarPilotCarParams
 
-  class _ButtonEventFilteredCarState:
-    def __init__(self, car_state: car.CarState, button_events):
-      self._car_state = car_state
-      self.buttonEvents = button_events
-
-    def __getattr__(self, name: str):
-      return getattr(self._car_state, name)
-
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'radarState', 'longitudinalPlan'])
@@ -177,10 +168,6 @@ class Car:
     self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP, self.FPCP)
     self.redneck_cruise = RedneckCruise(self.CP, self.FPCP) if self.CP.brand == "hyundai" and self.FPCP.redneckCruiseAvailable and not self.FPCP.pcmCruiseSpeed else None
-    self.redneck_button_event_filter_frames = {
-      int(ButtonType.accelCruise): 0,
-      int(ButtonType.decelCruise): 0,
-    }
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.safe_mode = self.params.get_bool("SafeMode")
@@ -229,9 +216,6 @@ class Car:
 
     self.sm.update(0)
 
-    self._advance_redneck_button_feedback_filter()
-    filtered_CS = self._get_button_event_filtered_state(CS)
-
     can_rcv_valid = len(can_strs) > 0
 
     # Check for CAN timeout
@@ -247,7 +231,7 @@ class Car:
     )
     if not preap_software_cruise:
       self.v_cruise_helper.update_v_cruise(
-        filtered_CS,
+        CS,
         self.sm['carControl'].enabled,
         self.is_metric,
         self.sm['starpilotPlan'].speedLimitChanged,
@@ -283,9 +267,9 @@ class Car:
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
-    if any(be.type in (ButtonType.accelCruise, ButtonType.accelHardCruise, ButtonType.resumeCruise) for be in filtered_CS.buttonEvents):
+    if any(be.type in (ButtonType.accelCruise, ButtonType.accelHardCruise, ButtonType.resumeCruise) for be in CS.buttonEvents):
       self.resume_prev_button = True
-    elif any(be.type in (ButtonType.decelCruise, ButtonType.decelHardCruise, ButtonType.setCruise) for be in filtered_CS.buttonEvents):
+    elif any(be.type in (ButtonType.decelCruise, ButtonType.decelHardCruise, ButtonType.setCruise) for be in CS.buttonEvents):
       self.resume_prev_button = False
 
     FPCS = self.starpilot_card.update(CS, FPCS, self.sm, self.starpilot_toggles)
@@ -362,7 +346,6 @@ class Car:
       self._update_redneck_cruise(CS, CC)
       self._update_openpilot_lead_state(CC)
       self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos, self.starpilot_toggles)
-      self._record_redneck_button_feedback_filter()
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
@@ -391,9 +374,8 @@ class Car:
     if self.redneck_cruise is None:
       return
 
-    filtered_CS = self._get_button_event_filtered_state(CS)
     v_target_ms, lead_present = self._get_redneck_target_speed(CS)
-    send_button, v_target = self.redneck_cruise.run(filtered_CS, CC, v_target_ms, self.is_metric, lead_present=lead_present)
+    send_button, v_target = self.redneck_cruise.run(CS, CC, v_target_ms, self.is_metric, lead_present=lead_present)
     self.CI.CS.redneck_send_button = send_button
     self.CI.CS.redneck_v_target = v_target
 
@@ -425,49 +407,6 @@ class Car:
       lead_present=lead_present,
     ), lead_present
 
-  def _advance_redneck_button_feedback_filter(self) -> None:
-    if self.redneck_cruise is None:
-      return
-
-    for button_type in self.redneck_button_event_filter_frames:
-      self.redneck_button_event_filter_frames[button_type] = max(0, self.redneck_button_event_filter_frames[button_type] - 1)
-
-  def _get_filtered_redneck_button_events(self, CS: car.CarState):
-    if self.redneck_cruise is None or len(CS.buttonEvents) == 0:
-      return CS.buttonEvents
-
-    if not any(self.redneck_button_event_filter_frames.values()):
-      return CS.buttonEvents
-
-    filtered_button_events = []
-    filtered_any = False
-    for event in CS.buttonEvents:
-      button_type = event.type.raw if hasattr(event.type, "raw") else int(event.type)
-      if self.redneck_button_event_filter_frames.get(button_type, 0) > 0:
-        filtered_any = True
-        continue
-      filtered_button_events.append(event)
-
-    return filtered_button_events if filtered_any else CS.buttonEvents
-
-  def _get_button_event_filtered_state(self, CS: car.CarState):
-    filtered_button_events = self._get_filtered_redneck_button_events(CS)
-    if filtered_button_events is CS.buttonEvents:
-      return CS
-    return self._ButtonEventFilteredCarState(CS, filtered_button_events)
-
-  def _record_redneck_button_feedback_filter(self) -> None:
-    if self.redneck_cruise is None:
-      return
-
-    sent_button = int(getattr(self.CI.CS, "redneck_last_sent_button", 0) or 0)
-    if sent_button == SEND_BUTTON_INCREASE:
-      self.redneck_button_event_filter_frames[int(ButtonType.accelCruise)] = REDNECK_AUTO_BUTTON_FILTER_FRAMES
-    elif sent_button == SEND_BUTTON_DECREASE:
-      self.redneck_button_event_filter_frames[int(ButtonType.decelCruise)] = REDNECK_AUTO_BUTTON_FILTER_FRAMES
-
-    self.CI.CS.redneck_last_sent_button = 0
-
   def step(self):
     CS, RD, FPCS = self.state_update()