From 09d1604b842f1490100fbcac664928bf07ca9506 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 2 Aug 2024 07:41:20 -0800
Subject: [PATCH] MADS: Honda: Fix PCM ACC disengage fault (#363)

* MADS: Honda: Fix PCM ACC disengage fault

* try this out

* honda only
---
 selfdrive/car/honda/interface.py | 19 ++++++++++++-------
 selfdrive/car/interfaces.py      |  5 ++---
 selfdrive/controls/controlsd.py  |  4 +++-
 3 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 3e32a35db6..1459b301a2 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -282,21 +282,26 @@ class CarInterface(CarInterfaceBase):
     else:
       self.CS.madsEnabled = False
 
-    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
+    min_enable_speed_pcm = self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed
+
+    if not self.CP.pcmCruise or min_enable_speed_pcm or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads or min_enable_speed_pcm \
+                                                        else False if self.CP.pcmCruise \
+                                                        else self.CS.accEnabled
 
-    if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
+    if min_enable_speed_pcm:
       if ret.gasPressed and not ret.cruiseState.enabled:
         self.CS.accEnabled = False
-      self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
+      if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+        self.CS.accEnabled = True
+      elif not ret.cruiseState.enabled:
+        self.CS.accEnabled = False
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS,
-                                            min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
-                                            gap_button=(self.CS.cruise_setting == 3))
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 53cca37458..904fe4f45b 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -615,9 +615,8 @@ class CarInterfaceBase(ABC):
     else:
       return CS.madsEnabled
 
-  def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False):
-    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \
-                                 cs_out.cruiseState.enabled
+  def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
+    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
 
     if not self.enable_mads:
       if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 2af32f8a0c..a8dcc3b5e4 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -739,7 +739,9 @@ class Controls:
       CC.angularVelocity = angular_rate_value
 
     CC.cruiseControl.override = self.enabled_long and not CC.longActive and self.CP.openpilotLongitudinalControl
-    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled_long or (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)))
+    CC.cruiseControl.cancel = CS.cruiseState.enabled and \
+      (not self.enabled_long or (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or
+       (any(b.type == ButtonType.cancel for b in CS.buttonEvents) and self.CP.carName == "honda"))
     if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True