Mazda: Use modern button events

selfdrive/car/mazda/carcontroller.py

@@ -11,8 +11,7 @@ from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
 from openpilot.selfdrive.controls.lib.drive_helpers import MAZDA_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-
-BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"]
+ButtonType = car.CarState.ButtonEvent.Type
 
 
 class CarController(CarControllerBase):
@@ -141,8 +140,10 @@ class CarController(CarControllerBase):
   # multikyd methods, sunnyhaibin logic
   def get_cruise_buttons_status(self, CS):
     if not CS.out.cruiseState.enabled:
-      if any(CS.buttonStates[button_state] for button_state in BUTTONS_STATES):
-        self.timer = 40
+      for be in CS.out.buttonEvents:
+        if be.type in (ButtonType.accelCruise, ButtonType.resumeCruise,
+                       ButtonType.decelCruise, ButtonType.setCruise) and be.pressed:
+          self.timer = 40
     elif self.timer:
       self.timer -= 1
     else:

selfdrive/car/mazda/carstate.py

@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, BUTTON_STATES
+from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, BUTTONS
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -24,8 +24,7 @@ class CarState(CarStateBase):
     self.lkas_enabled = False
     self.prev_lkas_enabled = False
 
-    self.buttonStates = BUTTON_STATES.copy()
-    self.buttonStatesPrev = BUTTON_STATES.copy()
+    self.button_states = {button.event_type: False for button in BUTTONS}
 
   def update(self, cp, cp_cam):
 
@@ -36,7 +35,6 @@ class CarState(CarStateBase):
 
     self.prev_mads_enabled = self.mads_enabled
     self.prev_lkas_enabled = self.lkas_enabled
-    self.buttonStatesPrev = self.buttonStates.copy()
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["WHEEL_SPEEDS"]["FL"],
@@ -56,6 +54,18 @@ class CarState(CarStateBase):
     can_gear = int(cp.vl["GEAR"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
+    # Buttons
+    button_events = []
+    for button in BUTTONS:
+      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        button_events.append(event)
+      self.button_states[button.event_type] = state
+    self.button_events = button_events
+
     ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
     ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
     ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0
@@ -114,11 +124,6 @@ class CarState(CarStateBase):
 
     self.acc_active_last = ret.cruiseState.enabled
 
-    self.buttonStates["accelCruise"] = bool(cp.vl["CRZ_BTNS"]["SET_P"])
-    self.buttonStates["decelCruise"] = bool(cp.vl["CRZ_BTNS"]["SET_M"])
-    self.buttonStates["cancel"] = bool(cp.vl["CRZ_BTNS"]["CAN_OFF"])
-    self.buttonStates["resumeCruise"] = bool(cp.vl["CRZ_BTNS"]["RES"])
-
     self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
 
     # camera signals

selfdrive/car/mazda/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS, BUTTON_STATES
+from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
@@ -12,7 +12,6 @@ GearShifter = car.CarState.GearShifter
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
-    self.buttonStatesPrev = BUTTON_STATES.copy()
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -41,19 +40,15 @@ class CarInterface(CarInterfaceBase):
     self.sp_update_params()
 
     # TODO: add button types for inc and dec
-    buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    for button in self.CS.buttonStates:
-      if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
-        be = car.CarState.ButtonEvent.new_message()
-        be.type = button
-        be.pressed = self.CS.buttonStates[button]
-        buttonEvents.append(be)
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            buttonEvents, c.vCruise)
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -66,7 +61,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
-      if any(b.type == ButtonType.cancel for b in buttonEvents):
+      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)
@@ -82,14 +77,14 @@ class CarInterface(CarInterfaceBase):
     # MADS BUTTON
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
       if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
+        self.CS.button_events.append(create_mads_event(self.mads_event_lock))
         self.mads_event_lock = False
     else:
       if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
+        self.CS.button_events.append(create_mads_event(self.mads_event_lock))
         self.mads_event_lock = True
 
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = self.CS.button_events
 
     # events
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
@@ -108,6 +103,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    self.buttonStatesPrev = self.CS.buttonStates.copy()
-
     return ret

selfdrive/car/mazda/values.py

@@ -1,3 +1,4 @@
+from collections import namedtuple
 from dataclasses import dataclass, field
 from enum import IntFlag
 
@@ -8,6 +9,7 @@ from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarPar
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 # Steer torque limits
@@ -26,14 +28,6 @@ class CarControllerParams:
     pass
 
 
-BUTTON_STATES = {
-  "accelCruise": False,
-  "decelCruise": False,
-  "cancel": False,
-  "resumeCruise": False,
-}
-
-
 @dataclass
 class MazdaCarDocs(CarDocs):
   package: str = "All"
@@ -98,6 +92,14 @@ class Buttons:
   CANCEL = 4
 
 
+BUTTONS = [
+  Button(car.CarState.ButtonEvent.Type.accelCruise, "CRZ_BTNS", "SET_P", [1]),
+  Button(car.CarState.ButtonEvent.Type.decelCruise, "CRZ_BTNS", "SET_M", [1]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "CRZ_BTNS", "CAN_OFF", [1]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "CRZ_BTNS", "RES", [1]),
+]
+
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0