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Toyota: Use modern button events

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This commit is contained in:
Jason Wen
2024-07-11 23:24:08 -04:00
parent 56119eb66e
commit a44677bde3
1 changed files with 5 additions and 6 deletions
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selfdrive/car/toyota/interface.py
+5 -6
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@@ -212,11 +212,10 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = []
distance_button = 0
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
distance_button = self.CS.distance_button
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@@ -250,19 +249,19 @@ class CarInterface(CarInterfaceBase):
be = car.CarState.ButtonEvent.new_message()
be.pressed = True
be.type = ButtonType.cancel
buttonEvents.append(be)
self.CS.button_events.append(be)
# 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],