From 0ced91c9829544a4955f4991d8ce49ae15b73dab Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 13 Aug 2024 01:05:16 -0400
Subject: [PATCH] better

---
 selfdrive/car/interfaces.py             |  2 --
 selfdrive/controls/controlsd.py         | 12 +++++++-----
 selfdrive/controls/lib/drive_helpers.py | 13 -------------
 3 files changed, 7 insertions(+), 20 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index dbddb38c0e..77608de820 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -244,8 +244,6 @@ class CarInterfaceBase(ABC):
     self.cruise_cancelled_btn = True
     self.prev_acc_mads_combo = False
     self.mads_event_lock = True
-    self.gap_button_counter = 0
-    self.experimental_mode_hold = False
     self.last_mads_init = 0.
     self.madsEnabledInit = False
     self.madsEnabledInitPrev = False
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8367cca979..7d4beb4b66 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -719,16 +719,18 @@ class Controls:
 
     # toggle experimental mode once on distance button hold
     if self.CP.openpilotLongitudinalControl:
-      if self.v_cruise_helper.experimental_mode_update and self.v_cruise_helper.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS:
+      if self.v_cruise_helper.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS and \
+            not self.v_cruise_helper.experimental_mode_update:
         self.experimental_mode = not self.experimental_mode
         self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode)
+        self.v_cruise_helper.experimental_mode_update = True
 
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
-      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents) and \
-            not self.v_cruise_helper.experimental_mode_update:
-        self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+        if not self.v_cruise_helper.experimental_mode_update:
+          self.personality = (self.personality - 1) % 3
+          self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
         self.v_cruise_helper.experimental_mode_update = False
 
     return CC, lac_log
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index cc5d19209c..f73572b228 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -98,9 +98,6 @@ class VCruiseHelper:
       self._update_v_cruise_min(is_metric)
 
     if CS.cruiseState.available:
-      if self.CP.openpilotLongitudinalControl:
-        self._update_experimental_mode(CS)
-
       if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
         # 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, reverse_acc)
@@ -242,16 +239,6 @@ class VCruiseHelper:
         self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[is_metric]
     self.is_metric_prev = is_metric
 
-  def _update_experimental_mode(self, CS):
-    for b in CS.buttonEvents:
-      if b.type == ButtonType.gapAdjustCruise and not b.pressed:
-        if self.button_timers[ButtonType.gapAdjustCruise] > CRUISE_LONG_PRESS:
-          return  # end long press
-        break
-    else:
-      if self.button_timers[ButtonType.gapAdjustCruise] and self.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS:
-        self.experimental_mode_update = True
-
 
 def clip_curvature(v_ego, prev_curvature, new_curvature):
   v_ego = max(MIN_SPEED, v_ego)