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Common button enable/cancel event creation (#25445)

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* handle button presses in create_common_events

* remove from imports

* Handle

* Fix Honda (it hardcodes pcmCruise)

* Update selfdrive/car/volkswagen/interface.py

* Update selfdrive/car/volkswagen/interface.py
old-commit-hash: e3d3fd02300ef7109f5fdf0717395eca3757195e
This commit is contained in:
Shane Smiskol
2022-08-18 23:40:24 -07:00
committed by GitHub
parent f49bbf60b6
commit c3342795f2
5 changed files with 16 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/interface.py
+1 -4
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@@ -4,7 +4,7 @@ from math import fabs
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
from selfdrive.car.interfaces import CarInterfaceBase
@@ -195,9 +195,6 @@ class CarInterface(CarInterfaceBase):
if ret.vEgo < self.CP.minSteerSpeed:
events.add(car.CarEvent.EventName.belowSteerSpeed)
# handle button presses
events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
ret.events = events.to_msg()
return ret
selfdrive/car/honda/interface.py
+1 -4
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@@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV
from common.numpy_fast import interp
from 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 selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@@ -352,9 +352,6 @@ class CarInterface(CarInterfaceBase):
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
events.add(EventName.manualRestart)
# handle button presses
events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise))
ret.events = events.to_msg()
return ret
selfdrive/car/hyundai/interface.py
+9 -10
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@@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@@ -326,6 +326,14 @@ 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
# 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
# Main button also can trigger an engagement on these cars
@@ -335,15 +343,6 @@ class CarInterface(CarInterfaceBase):
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
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
events.events.extend(create_button_enable_events(ret.buttonEvents))
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
self.low_speed_alert = True
selfdrive/car/interfaces.py
+4 -1
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@@ -9,7 +9,7 @@ from common.basedir import BASEDIR
from common.conversions import Conversions as CV
from common.kalman.simple_kalman import KF1D
from common.realtime import DT_CTRL
from selfdrive.car import gen_empty_fingerprint
from selfdrive.car import create_button_enable_events, gen_empty_fingerprint
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
from selfdrive.controls.lib.events import Events
from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -213,6 +213,9 @@ class CarInterfaceBase(ABC):
if cs_out.accFaulted:
events.add(EventName.accFaulted)
# Handle button presses
events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))
# Handle permanent and temporary steering faults
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
if cs_out.steerFaultTemporary:
selfdrive/car/volkswagen/interface.py
+1 -3
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@@ -1,12 +1,11 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \
gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
EventName = car.CarEvent.EventName
@@ -225,7 +224,6 @@ class CarInterface(CarInterfaceBase):
if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)
events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
ret.events = events.to_msg()
return ret