Honda: keep braking after PCM disables cruise (#21510)

* Honda: keep braking after PCM disables cruise

* update refs
old-commit-hash: 6d9dc9945a9334cb8554fe6e1617f93a2415ae73

selfdrive/car/honda/interface.py

@@ -509,7 +509,7 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = buttonEvents
 
     # events
-    events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise)
+    events = self.create_common_events(ret, pcm_enable=False)
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
     if self.CS.brake_hold and self.CS.CP.openpilotLongitudinalControl:
@@ -520,15 +520,18 @@ class CarInterface(CarInterfaceBase):
     if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
 
-    # it can happen that car cruise disables while comma system is enabled: need to
-    # keep braking if needed or if the speed is very low
-    if self.CP.pcmCruise and not ret.cruiseState.enabled \
-       and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
-      # non loud alert if cruise disables below 25mph as expected (+ a little margin)
-      if ret.vEgo < self.CP.minEnableSpeed + 2.:
-        events.add(EventName.speedTooLow)
-      else:
-        events.add(EventName.cruiseDisabled)
+    if self.CP.pcmCruise:
+      # we engage when pcm is active (rising edge)
+      if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+        events.add(EventName.pcmEnable)
+      elif not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
+        # it can happen that car cruise disables while comma system is enabled: need to
+        # keep braking if needed or if the speed is very low
+        if ret.vEgo < self.CP.minEnableSpeed + 2.:
+          # non loud alert if cruise disables below 25mph as expected (+ a little margin)
+          events.add(EventName.speedTooLow)
+        else:
+          events.add(EventName.cruiseDisabled)
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f60d169bb4fc56110ffc420395a1fb7d28b45094
+c59e46e21147ee1dc44b7fe2b5d1e4a16842c6c5