nostalgia

selfdrive/selfdrived/selfdrived.py

@@ -240,6 +240,12 @@ class SelfdriveD:
           self.last_below_steer_speed_alert_time = now
       self.events.add_from_msg(car_events)
 
+      if (getattr(self.starpilot_toggles, "nostalgia_mode", False) and
+          self.CP.openpilotLongitudinalControl and
+          self.sm['carControl'].longActive and
+          any(be.type == ButtonType.altButton2 for be in CS.buttonEvents)):
+        self.events.add(EventName.buttonCancel)
+
       if self.CP.notCar:
         # wait for everything to init first
         if self.sm.frame > int(5. / DT_CTRL) and self.initialized:

starpilot/common/tests/test_starpilot_card.py

@@ -1,121 +0,0 @@
-from types import SimpleNamespace
-
-from openpilot.selfdrive.car.cruise import ButtonType
-from openpilot.starpilot.controls import starpilot_card as sc
-
-
-class FakeParams:
-  def __init__(self, *args, **kwargs):
-    self.values = {}
-
-  def get_bool(self, key):
-    return bool(self.values.get(key, False))
-
-  def get_int(self, key, default=0):
-    return int(self.values.get(key, default))
-
-  def put_bool(self, key, value):
-    self.values[key] = bool(value)
-
-  def put_int(self, key, value):
-    self.values[key] = int(value)
-
-  def put_bool_nonblocking(self, key, value):
-    self.put_bool(key, value)
-
-
-class FakeSubMaster(dict):
-  def __init__(self, *args, updated=None, **kwargs):
-    super().__init__(*args, **kwargs)
-    self.updated = updated or {}
-
-
-def build_card(monkeypatch):
-  monkeypatch.setattr(sc, "Params", FakeParams)
-  monkeypatch.setattr(sc.messaging, "PubMaster", lambda *_args, **_kwargs: SimpleNamespace(send=lambda *_a, **_k: None))
-  monkeypatch.setattr(sc, "is_FrogsGoMoo", lambda: False)
-
-  cp = SimpleNamespace(brand="hyundai", openpilotLongitudinalControl=True)
-  fpcp = SimpleNamespace(alternativeExperience=0)
-  return sc.StarPilotCard(cp, fpcp)
-
-
-def build_sm(long_active):
-  return FakeSubMaster({
-    "carControl": SimpleNamespace(longActive=long_active),
-    "selfdriveState": SimpleNamespace(active=True, enabled=True, experimentalMode=False, alertType=[]),
-    "starpilotPlan": SimpleNamespace(lateralCheck=True),
-    "liveCalibration": SimpleNamespace(calPerc=1),
-    "starpilotSelfdriveState": SimpleNamespace(alertType=[]),
-  }, updated={"starpilotPlan": False})
-
-
-def build_car_state(button_events):
-  return SimpleNamespace(
-    buttonEvents=button_events,
-    cruiseState=SimpleNamespace(available=False),
-    gearShifter=sc.GearShifter.drive,
-    brakePressed=False,
-    gasPressed=False,
-    standstill=False,
-    vEgo=15.0,
-  )
-
-
-def build_starpilot_car_state():
-  return SimpleNamespace(
-    distancePressed=False,
-    modePressed=False,
-    customPressed=False,
-  )
-
-
-def build_toggles(nostalgia_mode):
-  return SimpleNamespace(
-    nostalgia_mode=nostalgia_mode,
-    always_on_lateral_lkas=False,
-    always_on_lateral_main=False,
-    always_on_lateral_pause_speed=0.0,
-    has_canfd_media_buttons=False,
-  )
-
-
-def test_nostalgia_mode_paddle_pauses_longitudinal(monkeypatch):
-  card = build_card(monkeypatch)
-  car_state = build_car_state([SimpleNamespace(type=ButtonType.altButton2, pressed=True)])
-  starpilot_car_state = build_starpilot_car_state()
-
-  ret = card.update(car_state, starpilot_car_state, build_sm(True), build_toggles(True))
-
-  assert ret.pauseLongitudinal is True
-
-
-def test_nostalgia_mode_resume_button_clears_pause(monkeypatch):
-  card = build_card(monkeypatch)
-  toggles = build_toggles(True)
-
-  card.update(
-    build_car_state([SimpleNamespace(type=ButtonType.altButton2, pressed=True)]),
-    build_starpilot_car_state(),
-    build_sm(True),
-    toggles,
-  )
-
-  ret = card.update(
-    build_car_state([SimpleNamespace(type=ButtonType.resumeCruise, pressed=True)]),
-    build_starpilot_car_state(),
-    build_sm(False),
-    toggles,
-  )
-
-  assert ret.pauseLongitudinal is False
-
-
-def test_nostalgia_mode_off_ignores_paddle(monkeypatch):
-  card = build_card(monkeypatch)
-  car_state = build_car_state([SimpleNamespace(type=ButtonType.altButton2, pressed=True)])
-  starpilot_car_state = build_starpilot_car_state()
-
-  ret = card.update(car_state, starpilot_car_state, build_sm(True), build_toggles(False))
-
-  assert ret.pauseLongitudinal is False

starpilot/controls/starpilot_card.py

@@ -27,7 +27,6 @@ class StarPilotCard:
     self.force_coast = False
     self.modePressed_previously = False
     self.mode_counter = 0
-    self.nostalgia_pause_longitudinal = False
     self.customPressed_previously = False
     self.custom_counter = 0
     self.pause_lateral = False
@@ -80,7 +79,6 @@ class StarPilotCard:
 
   def update(self, carState, starpilotCarState, sm, starpilot_toggles):
     self.switchback_mode_enabled = self.params_memory.get_bool("SwitchbackModeEnabled")
-    nostalgia_mode = getattr(starpilot_toggles, "nostalgia_mode", False)
 
     if self.CP.brand == "hyundai":
       for be in carState.buttonEvents:
@@ -132,15 +130,6 @@ class StarPilotCard:
     if any(be.pressed and be.type == ButtonType.lkas for be in carState.buttonEvents):
       self.handle_button_event("lkas", sm, starpilot_toggles)
 
-    if not nostalgia_mode or not self.CP.openpilotLongitudinalControl or not sm["selfdriveState"].enabled:
-      self.nostalgia_pause_longitudinal = False
-    else:
-      if any(be.pressed and be.type == ButtonType.altButton2 for be in carState.buttonEvents) and sm["carControl"].longActive:
-        self.nostalgia_pause_longitudinal = True
-      if any(be.pressed and be.type in (ButtonType.accelCruise, ButtonType.resumeCruise,
-                                        ButtonType.decelCruise, ButtonType.setCruise) for be in carState.buttonEvents):
-        self.nostalgia_pause_longitudinal = False
-
     if getattr(starpilot_toggles, "has_canfd_media_buttons", False):
       if starpilotCarState.modePressed:
         self.mode_counter += 1
@@ -181,7 +170,7 @@ class StarPilotCard:
     starpilotCarState.forceCoast = self.force_coast
     starpilotCarState.isParked = carState.gearShifter == GearShifter.park
     starpilotCarState.pauseLateral = self.pause_lateral
-    starpilotCarState.pauseLongitudinal = self.pause_longitudinal or self.nostalgia_pause_longitudinal
+    starpilotCarState.pauseLongitudinal = self.pause_longitudinal
     starpilotCarState.trafficModeEnabled = self.traffic_mode_enabled
 
     return starpilotCarState