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ICBM: ensure button timers update on disable to clear stale presses (#1688)

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* ICBM: ensure button timers update on disable to clear stale presses

* fix race condition

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
James Mikesell
2026-02-24 02:38:19 -05:00
committed by GitHub
parent 8a64cc57a9
commit c48b724de1
1 changed files with 5 additions and 2 deletions
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selfdrive/car/cruise.py
+5 -2
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@@ -48,14 +48,14 @@ class VCruiseHelper(VCruiseHelperSP):
self.get_minimum_set_speed(is_metric)
_enabled = self.update_enabled_state(CS, enabled)
if CS.cruiseState.available:
_enabled = self.update_enabled_state(CS, enabled)
if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
# if stock cruise is completely disabled, then we can use our own set speed logic
self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
self.update_speed_limit_assist_v_cruise_non_pcm()
self.v_cruise_cluster_kph = self.v_cruise_kph
self.update_button_timers(CS, enabled)
else:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
@@ -69,6 +69,9 @@ class VCruiseHelper(VCruiseHelperSP):
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
if not self.CP.pcmCruise or not self.CP_SP.pcmCruiseSpeed:
self.update_button_timers(CS, enabled)
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
# handle button presses. TODO: this should be in state_control, but a decelCruise press
# would have the effect of both enabling and changing speed is checked after the state transition