fix hkg canfd

cereal/custom.capnp

@@ -203,7 +203,24 @@ struct ModelDataV2SP @0xf98d843bfd7004a3 {
   modelCapabilities @4 :UInt32;
 }
 
-struct CustomReserved7 @0xb86e6369214c01c8 {
+struct CarControlSP @0xb86e6369214c01c8 {
+  customStockLongitudinalControl @0 :CustomStockLongitudinalControl;
+
+  struct CustomStockLongitudinalControl {
+    state @0 :ButtonControlState;
+    cruiseButton @1 :Int16;
+    finalSpeedKphDEPRECATED @2 :Float32;
+    vTarget @3 :Float32;
+    vCruiseCluster @4 :Float32;
+
+    enum ButtonControlState {
+      inactive @0;        # No button press or default state
+      loading @1;         # Loading state before transitioning to accelerating or decelerating
+      accelerating @2;    # Increasing speed
+      decelerating @3;    # Decreasing speed
+      holding @4;         # Holding steady speed
+    }
+  }
 }
 
 struct CustomReserved8 @0xf416ec09499d9d19 {

cereal/log.capnp

@@ -2388,7 +2388,7 @@ struct Event {
     liveMapDataSP @111 :Custom.LiveMapDataSP;
     e2eLongStateSP @112 :Custom.E2eLongStateSP;
     modelV2SP @113 :Custom.ModelDataV2SP;
-    customReserved7 @114 :Custom.CustomReserved7;
+    carControlSP @114 :Custom.CarControlSP;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;
 

cereal/services.py

@@ -83,6 +83,7 @@ _services: dict[str, tuple] = {
   "liveMapDataSP": (True, 0.),
   "e2eLongStateSP": (True, 0.),
   "modelV2SP": (True, 20., 40),
+  "carControlSP": (True, 100., 10),
 
   # debug
   "uiDebug": (True, 0., 1),

openpilot/sunnypilot

@@ -0,0 +1 @@
+../sunnypilot/

selfdrive/car/card.py

@@ -31,7 +31,7 @@ class Car:
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'carControlSP'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -70,6 +70,12 @@ class Car:
 
     if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
       self.CP.pcmCruiseSpeed = False
+      services = self.sm.data.keys() | {'longitudinalPlanSP'}
+      self.sm = messaging.SubMaster(list(services))
+
+      cslc_path = f'openpilot.sunnypilot.selfdrive.car.{self.CP.carName}.custom_stock_longitudinal_controller'
+      CustomStockLongitudinalController = __import__(cslc_path + '.controller', fromlist=['CustomStockLongitudinalController']).CustomStockLongitudinalController
+      self.custom_stock_longitudinal_controller = CustomStockLongitudinalController(self, self.CI.CC, self.CI.CS, self.CP)
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
@@ -175,8 +181,16 @@ class Car:
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
       self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      if not self.CP.pcmCruiseSpeed:
+        can_sends.extend(self.custom_stock_longitudinal_controller.update(CS, CC))
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
+      cc_send_sp = messaging.new_message('carControlSP')
+      cc_send_sp.valid = self.sm.all_checks(['carControl'])
+      if not self.CP.pcmCruiseSpeed:
+        cc_send_sp.carControlSP.customStockLongitudinalControl = self.custom_stock_longitudinal_controller.state_publish()
+      self.pm.send('carControlSP', cc_send_sp)
+
       self.CC_prev = CC
 
   def step(self):

selfdrive/car/chrysler/carcontroller.py

@@ -1,14 +1,10 @@
 from cereal import car
 
-import cereal.messaging as messaging
-from common.conversions import Conversions as CV
 from opendbc.can.packer import CANPacker
-from openpilot.common.params import Params
-from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerFlagsSP
 from openpilot.selfdrive.car.interfaces import CarControllerBase, FORWARD_GEARS
-from openpilot.selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN
 
 ButtonType = car.CarState.ButtonEvent.Type
 
@@ -26,64 +22,9 @@ class CarController(CarControllerBase):
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
 
-    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
-    self.param_s = Params()
-    self.last_speed_limit_sign_tap_prev = False
-    self.speed_limit = 0.
-    self.speed_limit_offset = 0
-    self.timer = 0
-    self.final_speed_kph = 0
-    self.init_speed = 0
-    self.current_speed = 0
-    self.v_set_dis = 0
-    self.v_cruise_min = 0
-    self.button_type = 0
-    self.button_select = 0
-    self.button_count = 0
-    self.target_speed = 0
-    self.t_interval = 7
-    self.slc_active_stock = False
-    self.sl_force_active_timer = 0
-    self.v_tsc_state = 0
-    self.slc_state = 0
-    self.m_tsc_state = 0
-    self.cruise_button = None
-    self.speed_diff = 0
-    self.v_tsc = 0
-    self.m_tsc = 0
-    self.steady_speed = 0
-    self.button_frame = 0
-
   def update(self, CC, CS, now_nanos):
-    if not self.CP.pcmCruiseSpeed:
-      self.sm.update(0)
-
-      if self.sm.updated['longitudinalPlanSP']:
-        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
-        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
-        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
-        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
-        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
-        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
-        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
-
-      self.v_cruise_min = FCA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
-
     can_sends = []
 
-    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
-        self.sl_force_active_timer = self.frame
-        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
-
-      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
-      slc_active = not sl_inactive and not sl_temp_inactive
-
-      self.slc_active_stock = slc_active
-
     lkas_active = CC.latActive and CS.madsEnabled
 
     if self.frame % 10 == 0 and self.CP.carFingerprint not in RAM_CARS:
@@ -114,20 +55,6 @@ class CarController(CarControllerBase):
         self.last_button_frame = self.frame
         can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, resume=True))
 
-      if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled:
-        self.button_frame += 1
-        button_counter_offset = [1, 1, 0, None][self.button_frame % 4]
-        if ram_cars:
-          self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
-        elif button_counter_offset is not None:
-          self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
-
-        if self.cruise_button is not None:
-          if ram_cars:
-            can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, buttons=self.cruise_button))
-          elif button_counter_offset is not None:
-            can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + button_counter_offset, das_bus, self.CP, buttons=self.cruise_button))
-
     # HUD alerts
     if self.frame % 25 == 0:
       if CS.lkas_car_model != -1:
@@ -179,122 +106,3 @@ class CarController(CarControllerBase):
     new_actuators.steerOutputCan = self.apply_steer_last
 
     return new_actuators, can_sends
-
-  # multikyd methods, sunnyhaibin logic
-  def get_cruise_buttons_status(self, CS):
-    if not CS.out.cruiseState.enabled:
-      for be in CS.out.buttonEvents:
-        if be.type in (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) and be.pressed:
-          self.timer = 40
-    elif self.timer:
-      self.timer -= 1
-    else:
-      return 1
-    return 0
-
-  def get_target_speed(self, v_cruise_kph_prev):
-    v_cruise_kph = v_cruise_kph_prev
-    if self.slc_state > 1:
-      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
-      if not self.slc_active_stock:
-        v_cruise_kph = v_cruise_kph_prev
-    return v_cruise_kph
-
-  def get_button_type(self, button_type):
-    self.type_status = "type_" + str(button_type)
-    self.button_picker = getattr(self, self.type_status, lambda: "default")
-    return self.button_picker()
-
-  def reset_button(self):
-    if self.button_type != 3:
-      self.button_type = 0
-
-  def type_default(self):
-    self.button_type = 0
-    return None
-
-  def type_0(self):
-    self.button_count = 0
-    self.target_speed = self.init_speed
-    self.speed_diff = self.target_speed - self.v_set_dis
-    if self.target_speed > self.v_set_dis:
-      self.button_type = 1
-    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
-      self.button_type = 2
-    return None
-
-  def type_1(self):
-    cruise_button = 1
-    self.button_count += 1
-    if self.target_speed <= self.v_set_dis:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_2(self):
-    cruise_button = 2
-    self.button_count += 1
-    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_3(self):
-    cruise_button = None
-    self.button_count += 1
-    if self.button_count > self.t_interval:
-      self.button_type = 0
-    return cruise_button
-
-  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
-    if self.v_tsc_state != 0:
-      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
-      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
-        vision_v_cruise_kph = 255
-    else:
-      vision_v_cruise_kph = 255
-    if self.m_tsc_state > 1:
-      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
-      if int(map_v_cruise_kph) == 0.0:
-        map_v_cruise_kph = 255
-    else:
-      map_v_cruise_kph = 255
-    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
-    return min(target_speed_kph, curve_speed)
-
-  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
-    cruise_button = self.get_button_type(self.button_type)
-    return cruise_button
-
-  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
-    if cur_speed > self.steady_speed:
-      self.steady_speed = cur_speed
-    elif cur_speed < self.steady_speed - hyst:
-      self.steady_speed = cur_speed
-    return self.steady_speed
-
-  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
-    cruise_button = None
-    if not self.get_cruise_buttons_status(CS):
-      pass
-    elif CS.out.cruiseState.enabled:
-      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
-      if self.slc_state > 1:
-        target_speed_kph = set_speed_kph
-      else:
-        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
-        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
-      else:
-        self.final_speed_kph = target_speed_kph
-
-      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
-    return cruise_button

selfdrive/car/chrysler/chryslercan.py

@@ -65,14 +65,9 @@ def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
 
 def create_cruise_buttons(packer, frame, bus, CP, cruise_buttons_msg=None, buttons=0, cancel=False, resume=False):
 
-  acc_accel = 1 if buttons == 1 else 0
-  acc_decel = 1 if buttons == 2 else 0
-
   values = {
     "ACC_Cancel": cancel,
     "ACC_Resume": resume,
-    "ACC_Accel": acc_accel,
-    "ACC_Decel": acc_decel,
     "COUNTER": frame % 0x10,
   }
 

selfdrive/car/chrysler/interface.py

@@ -161,8 +161,6 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.update_custom_stock_long()
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/honda/carcontroller.py

@@ -1,16 +1,12 @@
 from collections import namedtuple
 
 from cereal import car
-import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg, create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import HONDA_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -128,48 +124,7 @@ class CarController(CarControllerBase):
     self.last_steer = 0.0
     self.last_button_frame = 0
 
-    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
-    self.param_s = Params()
-    self.last_speed_limit_sign_tap_prev = False
-    self.speed_limit = 0.
-    self.speed_limit_offset = 0
-    self.timer = 0
-    self.final_speed_kph = 0
-    self.init_speed = 0
-    self.current_speed = 0
-    self.v_set_dis = 0
-    self.v_cruise_min = 0
-    self.button_type = 0
-    self.button_select = 0
-    self.button_count = 0
-    self.target_speed = 0
-    self.t_interval = 7
-    self.slc_active_stock = False
-    self.sl_force_active_timer = 0
-    self.v_tsc_state = 0
-    self.slc_state = 0
-    self.m_tsc_state = 0
-    self.cruise_button = None
-    self.speed_diff = 0
-    self.v_tsc = 0
-    self.m_tsc = 0
-    self.steady_speed = 0
-
   def update(self, CC, CS, now_nanos):
-    if not self.CP.pcmCruiseSpeed:
-      self.sm.update(0)
-
-      if self.sm.updated['longitudinalPlanSP']:
-        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
-        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
-        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
-        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
-        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
-        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
-        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
-
-      self.v_cruise_min = HONDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
-
     actuators = CC.actuators
     hud_control = CC.hudControl
     conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
@@ -203,19 +158,6 @@ class CarController(CarControllerBase):
     apply_steer = int(interp(-limited_steer * self.params.STEER_MAX,
                              self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
 
-    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
-        self.sl_force_active_timer = self.frame
-        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
-
-      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
-      slc_active = not sl_inactive and not sl_temp_inactive
-
-      self.slc_active_stock = slc_active
-
     # Send CAN commands
     can_sends = []
 
@@ -265,15 +207,6 @@ class CarController(CarControllerBase):
         can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
       elif CC.cruiseControl.resume:
         can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
-      elif CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed:
-        self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
-        if self.cruise_button is not None:
-          send_freq = 1
-          if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2:
-            send_freq = 3
-          if (self.frame - self.last_button_frame) * DT_CTRL > 0.01 * send_freq:
-            can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, self.cruise_button, self.CP.carFingerprint))
-            self.last_button_frame = self.frame
 
     else:
       # Send gas and brake commands.
@@ -335,120 +268,3 @@ class CarController(CarControllerBase):
 
     self.frame += 1
     return new_actuators, can_sends
-
-  # multikyd methods, sunnyhaibin logic
-  def get_cruise_buttons_status(self, CS):
-    if not CS.out.cruiseState.enabled or CS.cruise_buttons != 0:
-      self.timer = 40
-    elif self.timer:
-      self.timer -= 1
-    else:
-      return 1
-    return 0
-
-  def get_target_speed(self, v_cruise_kph_prev):
-    v_cruise_kph = v_cruise_kph_prev
-    if self.slc_state > 1:
-      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
-      if not self.slc_active_stock:
-        v_cruise_kph = v_cruise_kph_prev
-    return v_cruise_kph
-
-  def get_button_type(self, button_type):
-    self.type_status = "type_" + str(button_type)
-    self.button_picker = getattr(self, self.type_status, lambda: "default")
-    return self.button_picker()
-
-  def reset_button(self):
-    if self.button_type != 3:
-      self.button_type = 0
-
-  def type_default(self):
-    self.button_type = 0
-    return None
-
-  def type_0(self):
-    self.button_count = 0
-    self.target_speed = self.init_speed
-    self.speed_diff = self.target_speed - self.v_set_dis
-    if self.target_speed > self.v_set_dis:
-      self.button_type = 1
-    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
-      self.button_type = 2
-    return None
-
-  def type_1(self):
-    cruise_button = CruiseButtons.RES_ACCEL
-    self.button_count += 1
-    if self.target_speed <= self.v_set_dis:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_2(self):
-    cruise_button = CruiseButtons.DECEL_SET
-    self.button_count += 1
-    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_3(self):
-    cruise_button = None
-    self.button_count += 1
-    if self.button_count > self.t_interval:
-      self.button_type = 0
-    return cruise_button
-
-  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
-    if self.v_tsc_state != 0:
-      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
-      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
-        vision_v_cruise_kph = 255
-    else:
-      vision_v_cruise_kph = 255
-    if self.m_tsc_state > 1:
-      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
-      if int(map_v_cruise_kph) == 0.0:
-        map_v_cruise_kph = 255
-    else:
-      map_v_cruise_kph = 255
-    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
-    return min(target_speed_kph, curve_speed)
-
-  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
-    cruise_button = self.get_button_type(self.button_type)
-    return cruise_button
-
-  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
-    if cur_speed > self.steady_speed:
-      self.steady_speed = cur_speed
-    elif cur_speed < self.steady_speed - hyst:
-      self.steady_speed = cur_speed
-    return self.steady_speed
-
-  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
-    cruise_button = None
-    if not self.get_cruise_buttons_status(CS):
-      pass
-    elif CS.out.cruiseState.enabled:
-      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
-      if self.slc_state > 1:
-        target_speed_kph = set_speed_kph
-      else:
-        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
-        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
-      else:
-        self.final_speed_kph = target_speed_kph
-
-      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
-    return cruise_button

selfdrive/car/honda/interface.py

@@ -329,8 +329,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
-    ret.customStockLong = self.update_custom_stock_long()
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/hyundai/carcontroller.py

@@ -7,9 +7,8 @@ from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR, LEGACY_SAFETY_MODE_CAR
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import HYUNDAI_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -62,38 +61,10 @@ class CarController(CarControllerBase):
     self.lat_disengage_init = False
     self.lat_active_last = False
 
-    sub_services = ['longitudinalPlanSP']
     if CP.openpilotLongitudinalControl:
-      sub_services.append('radarState')
-    # TODO: Always true, prep for future conditional refactoring
-    if sub_services:
-      self.sm = messaging.SubMaster(sub_services)
+      self.sm = messaging.SubMaster(['radarState'])
 
     self.param_s = Params()
-    self.last_speed_limit_sign_tap_prev = False
-    self.speed_limit = 0.
-    self.speed_limit_offset = 0
-    self.timer = 0
-    self.final_speed_kph = 0
-    self.init_speed = 0
-    self.current_speed = 0
-    self.v_set_dis = 0
-    self.v_cruise_min = 0
-    self.button_type = 0
-    self.button_select = 0
-    self.button_count = 0
-    self.target_speed = 0
-    self.t_interval = 7
-    self.slc_active_stock = False
-    self.sl_force_active_timer = 0
-    self.v_tsc_state = 0
-    self.slc_state = 0
-    self.m_tsc_state = 0
-    self.cruise_button = None
-    self.speed_diff = 0
-    self.v_tsc = 0
-    self.m_tsc = 0
-    self.steady_speed = 0
     self.hkg_can_smooth_stop = self.param_s.get_bool("HkgSmoothStop")
     self.lead_distance = 0
 
@@ -109,21 +80,9 @@ class CarController(CarControllerBase):
     return 19 if hud_control.leadVisible else 0
 
   def update(self, CC, CS, now_nanos):
-    if not self.CP.pcmCruiseSpeed or (self.CP.openpilotLongitudinalControl and self.frame % 5 == 0):
+    if self.CP.openpilotLongitudinalControl and self.frame % 5 == 0:
       self.sm.update(0)
 
-    if not self.CP.pcmCruiseSpeed:
-      if self.sm.updated['longitudinalPlanSP']:
-        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
-        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
-        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
-        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
-        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
-        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
-        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
-
-      self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
-
     actuators = CC.actuators
     hud_control = CC.hudControl
 
@@ -165,19 +124,6 @@ class CarController(CarControllerBase):
 
     blinking_icon = (self.frame - self.disengage_blink) * DT_CTRL < 1.0 if self.lat_disengage_init else False
 
-    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
-        self.sl_force_active_timer = self.frame
-        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
-
-      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
-      slc_active = not sl_inactive and not sl_temp_inactive
-
-      self.slc_active_stock = slc_active
-
     self.lat_active_last = CC.latActive
 
     escc = self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC.value
@@ -232,15 +178,6 @@ class CarController(CarControllerBase):
       else:
         # button presses
         can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
-        if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed:
-          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            # TODO: resume for alt button cars
-            pass
-          else:
-            self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
-            if self.cruise_button is not None:
-              if self.frame % 2 == 0:
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, ((self.frame // 2) + 1) % 0x10, self.cruise_button))
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
@@ -250,21 +187,6 @@ class CarController(CarControllerBase):
 
       if not self.CP.openpilotLongitudinalControl:
         can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
-        if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed:
-          self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
-          if self.cruise_button is not None:
-            if self.CP.carFingerprint in LEGACY_SAFETY_MODE_CAR:
-              send_freq = 1
-              if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2:
-                send_freq = 5
-              # send resume at a max freq of 10Hz
-              if (self.frame - self.last_button_frame) * DT_CTRL > 0.1 * send_freq:
-                # send 25 messages at a time to increases the likelihood of cruise buttons being accepted
-                can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, self.cruise_button, self.CP)] * 25)
-                if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15 * send_freq:
-                  self.last_button_frame = self.frame
-            elif self.frame % 2 == 0:
-              can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25)
 
       # Parse lead distance from radarState and display the corresponding distance in the car's cluster
       if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0:
@@ -336,120 +258,3 @@ class CarController(CarControllerBase):
             self.last_button_frame = self.frame
 
     return can_sends
-
-  # multikyd methods, sunnyhaibin logic
-  def get_cruise_buttons_status(self, CS):
-    if not CS.out.cruiseState.enabled or CS.cruise_buttons[-1] != Buttons.NONE:
-      self.timer = 40
-    elif self.timer:
-      self.timer -= 1
-    else:
-      return 1
-    return 0
-
-  def get_target_speed(self, v_cruise_kph_prev):
-    v_cruise_kph = v_cruise_kph_prev
-    if self.slc_state > 1:
-      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
-      if not self.slc_active_stock:
-        v_cruise_kph = v_cruise_kph_prev
-    return v_cruise_kph
-
-  def get_button_type(self, button_type):
-    self.type_status = "type_" + str(button_type)
-    self.button_picker = getattr(self, self.type_status, lambda: "default")
-    return self.button_picker()
-
-  def reset_button(self):
-    if self.button_type != 3:
-      self.button_type = 0
-
-  def type_default(self):
-    self.button_type = 0
-    return None
-
-  def type_0(self):
-    self.button_count = 0
-    self.target_speed = self.init_speed
-    self.speed_diff = self.target_speed - self.v_set_dis
-    if self.target_speed > self.v_set_dis:
-      self.button_type = 1
-    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
-      self.button_type = 2
-    return None
-
-  def type_1(self):
-    cruise_button = Buttons.RES_ACCEL
-    self.button_count += 1
-    if self.target_speed <= self.v_set_dis:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_2(self):
-    cruise_button = Buttons.SET_DECEL
-    self.button_count += 1
-    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_3(self):
-    cruise_button = None
-    self.button_count += 1
-    if self.button_count > self.t_interval:
-      self.button_type = 0
-    return cruise_button
-
-  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
-    if self.v_tsc_state != 0:
-      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
-      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
-        vision_v_cruise_kph = 255
-    else:
-      vision_v_cruise_kph = 255
-    if self.m_tsc_state > 1:
-      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
-      if int(map_v_cruise_kph) == 0.0:
-        map_v_cruise_kph = 255
-    else:
-      map_v_cruise_kph = 255
-    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
-    return min(target_speed_kph, curve_speed)
-
-  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
-    cruise_button = self.get_button_type(self.button_type)
-    return cruise_button
-
-  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
-    if cur_speed > self.steady_speed:
-      self.steady_speed = cur_speed
-    elif cur_speed < self.steady_speed - hyst:
-      self.steady_speed = cur_speed
-    return self.steady_speed
-
-  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
-    cruise_button = None
-    if not self.get_cruise_buttons_status(CS):
-      pass
-    elif CS.out.cruiseState.enabled:
-      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
-      if self.slc_state > 1:
-        target_speed_kph = set_speed_kph
-      else:
-        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
-        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
-      else:
-        self.final_speed_kph = target_speed_kph
-
-      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
-    return cruise_button

selfdrive/car/hyundai/interface.py

@@ -288,8 +288,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.params_list.hyundai_radar_tracks_available and not self.CS.params_list.hyundai_radar_tracks_available_cache:
       events.add(car.CarEvent.EventName.hyundaiRadarTracksAvailable)
 
-    ret.customStockLong = self.update_custom_stock_long()
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/mazda/carcontroller.py

@@ -1,14 +1,9 @@
 from cereal import car
-import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.mazda import mazdacan
 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
 ButtonType = car.CarState.ButtonEvent.Type
@@ -21,63 +16,9 @@ class CarController(CarControllerBase):
     self.packer = CANPacker(dbc_name)
     self.brake_counter = 0
 
-    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
-    self.param_s = Params()
-    self.last_speed_limit_sign_tap_prev = False
-    self.speed_limit = 0.
-    self.speed_limit_offset = 0
-    self.timer = 0
-    self.final_speed_kph = 0
-    self.init_speed = 0
-    self.current_speed = 0
-    self.v_set_dis = 0
-    self.v_cruise_min = 0
-    self.button_type = 0
-    self.button_select = 0
-    self.button_count = 0
-    self.target_speed = 0
-    self.t_interval = 7
-    self.slc_active_stock = False
-    self.sl_force_active_timer = 0
-    self.v_tsc_state = 0
-    self.slc_state = 0
-    self.m_tsc_state = 0
-    self.cruise_button = None
-    self.speed_diff = 0
-    self.v_tsc = 0
-    self.m_tsc = 0
-    self.steady_speed = 0
-
   def update(self, CC, CS, now_nanos):
-    if not self.CP.pcmCruiseSpeed:
-      self.sm.update(0)
-
-      if self.sm.updated['longitudinalPlanSP']:
-        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
-        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
-        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
-        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
-        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
-        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
-        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
-
-      self.v_cruise_min = MAZDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
-
     can_sends = []
 
-    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
-        self.sl_force_active_timer = self.frame
-        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
-
-      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
-      slc_active = not sl_inactive and not sl_temp_inactive
-
-      self.slc_active_stock = slc_active
-
     apply_steer = 0
 
     if CC.latActive:
@@ -102,11 +43,6 @@ class CarController(CarControllerBase):
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
         # Send Resume button when planner wants car to move
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
-      elif CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed:
-        self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
-        if self.cruise_button is not None:
-          if self.frame % 10 == 0:
-            can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, self.frame // 10, self.cruise_button))
 
     self.apply_steer_last = apply_steer
 
@@ -128,125 +64,3 @@ class CarController(CarControllerBase):
 
     self.frame += 1
     return new_actuators, can_sends
-
-  # multikyd methods, sunnyhaibin logic
-  def get_cruise_buttons_status(self, CS):
-    if not CS.out.cruiseState.enabled:
-      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:
-      return 1
-    return 0
-
-  def get_target_speed(self, v_cruise_kph_prev):
-    v_cruise_kph = v_cruise_kph_prev
-    if self.slc_state > 1:
-      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
-      if not self.slc_active_stock:
-        v_cruise_kph = v_cruise_kph_prev
-    return v_cruise_kph
-
-  def get_button_type(self, button_type):
-    self.type_status = "type_" + str(button_type)
-    self.button_picker = getattr(self, self.type_status, lambda: "default")
-    return self.button_picker()
-
-  def reset_button(self):
-    if self.button_type != 3:
-      self.button_type = 0
-
-  def type_default(self):
-    self.button_type = 0
-    return None
-
-  def type_0(self):
-    self.button_count = 0
-    self.target_speed = self.init_speed
-    self.speed_diff = self.target_speed - self.v_set_dis
-    if self.target_speed > self.v_set_dis:
-      return Buttons.SET_PLUS
-      self.button_type = 1
-    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
-      return Buttons.SET_MINUS
-      self.button_type = 2
-    return None
-
-  def type_1(self):
-    cruise_button = Buttons.SET_PLUS
-    self.button_count += 1
-    if self.target_speed <= self.v_set_dis:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_2(self):
-    cruise_button = Buttons.SET_MINUS
-    self.button_count += 1
-    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_3(self):
-    cruise_button = None
-    self.button_count += 1
-    if self.button_count > self.t_interval:
-      self.button_type = 0
-    return cruise_button
-
-  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
-    if self.v_tsc_state != 0:
-      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
-      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
-        vision_v_cruise_kph = 255
-    else:
-      vision_v_cruise_kph = 255
-    if self.m_tsc_state > 1:
-      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
-      if int(map_v_cruise_kph) == 0.0:
-        map_v_cruise_kph = 255
-    else:
-      map_v_cruise_kph = 255
-    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
-    return min(target_speed_kph, curve_speed)
-
-  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
-    cruise_button = self.get_button_type(self.button_type)
-    return cruise_button
-
-  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
-    if cur_speed > self.steady_speed:
-      self.steady_speed = cur_speed
-    elif cur_speed < self.steady_speed - hyst:
-      self.steady_speed = cur_speed
-    return self.steady_speed
-
-  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
-    cruise_button = None
-    if not self.get_cruise_buttons_status(CS):
-      pass
-    elif CS.out.cruiseState.enabled:
-      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
-      if self.slc_state > 1:
-        target_speed_kph = set_speed_kph
-      else:
-        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
-        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
-      else:
-        self.final_speed_kph = target_speed_kph
-
-      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
-    return cruise_button

selfdrive/car/mazda/interface.py

@@ -89,8 +89,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.update_custom_stock_long()
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/mazda/mazdacan.py

@@ -92,22 +92,20 @@ def create_button_cmd(packer, CP, counter, button):
 
   can = int(button == Buttons.CANCEL)
   res = int(button == Buttons.RESUME)
-  inc = int(button == Buttons.SET_PLUS)
-  dec = int(button == Buttons.SET_MINUS)
 
   if CP.flags & MazdaFlags.GEN1:
     values = {
       "CAN_OFF": can,
       "CAN_OFF_INV": (can + 1) % 2,
 
-      "SET_P": inc,
-      "SET_P_INV": (inc + 1) % 2,
+      "SET_P": 0,
+      "SET_P_INV": 1,
 
       "RES": res,
       "RES_INV": (res + 1) % 2,
 
-      "SET_M": dec,
-      "SET_M_INV": (dec + 1) % 2,
+      "SET_M": 0,
+      "SET_M_INV": 1,
 
       "DISTANCE_LESS": 0,
       "DISTANCE_LESS_INV": 1,

selfdrive/car/volkswagen/carcontroller.py

@@ -1,14 +1,11 @@
 from cereal import car
-import cereal.messaging as messaging
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
-from openpilot.selfdrive.controls.lib.drive_helpers import VOLKSWAGEN_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -28,70 +25,12 @@ class CarController(CarControllerBase):
     self.eps_timer_soft_disable_alert = False
     self.hca_frame_timer_running = 0
     self.hca_frame_same_torque = 0
-    self.last_button_frame = 0
-
-    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
-    self.param_s = Params()
-    self.last_speed_limit_sign_tap_prev = False
-    self.speed_limit = 0.
-    self.speed_limit_offset = 0
-    self.timer = 0
-    self.final_speed_kph = 0
-    self.init_speed = 0
-    self.current_speed = 0
-    self.v_set_dis = 0
-    self.v_set_dis_prev = 0
-    self.v_cruise_min = 0
-    self.button_type = 0
-    self.button_select = 0
-    self.button_count = 0
-    self.target_speed = 0
-    self.t_interval = 7
-    self.slc_active_stock = False
-    self.sl_force_active_timer = 0
-    self.v_tsc_state = 0
-    self.slc_state = 0
-    self.m_tsc_state = 0
-    self.cruise_button = None
-    self.last_cruise_button = None
-    self.speed_diff = 0
-    self.v_tsc = 0
-    self.m_tsc = 0
-    self.steady_speed = 0
-    self.acc_type = -1
-    self.send_count = 0
 
   def update(self, CC, CS, now_nanos):
-    if not self.CP.pcmCruiseSpeed:
-      self.sm.update(0)
-
-      if self.sm.updated['longitudinalPlanSP']:
-        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
-        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
-        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
-        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
-        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
-        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
-        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
-
-      self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
     actuators = CC.actuators
     hud_control = CC.hudControl
     can_sends = []
 
-    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
-        self.sl_force_active_timer = self.frame
-        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
-
-      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
-      slc_active = not sl_inactive and not sl_temp_inactive
-
-      self.slc_active_stock = slc_active
-
     # **** Steering Controls ************************************************ #
 
     if self.frame % self.CCP.STEER_STEP == 0:
@@ -171,155 +110,11 @@ class CarController(CarControllerBase):
     if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
       can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
-    if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled:
-      if not self.CP.pcmCruiseSpeed:
-        self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
-        if self.cruise_button is not None:
-          if self.acc_type == -1:
-            if self.button_count >= 2 and self.v_set_dis_prev != self.v_set_dis:
-              self.acc_type = 1 if abs(self.v_set_dis - self.v_set_dis_prev) >= 10 and self.last_cruise_button in (1, 2) else \
-                              0 if abs(self.v_set_dis - self.v_set_dis_prev) < 10 and self.last_cruise_button not in (1, 2) else 1
-            if self.send_count >= 10 and self.v_set_dis_prev == self.v_set_dis:
-              self.cruise_button = 3 if self.cruise_button == 1 else 4
-          if self.acc_type == 0:
-            self.cruise_button = 1 if self.cruise_button == 1 else 2  # accel, decel
-          elif self.acc_type == 1:
-            self.cruise_button = 3 if self.cruise_button == 1 else 4  # resume, set
-          if self.frame % self.CCP.BTN_STEP == 0:
-            can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, CS.gra_stock_values, frame=(self.frame // self.CCP.BTN_STEP),
-                                                                 buttons=self.cruise_button, custom_stock_long=True))
-            self.send_count += 1
-        else:
-          self.send_count = 0
-        self.last_cruise_button = self.cruise_button
 
     new_actuators = actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
-    self.v_set_dis_prev = self.v_set_dis
     self.frame += 1
     return new_actuators, can_sends
-
-  # multikyd methods, sunnyhaibin logic
-  def get_cruise_buttons_status(self, CS):
-    if not CS.out.cruiseState.enabled:
-      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 be.type == ButtonType.gapAdjustCruise and be.pressed:
-          self.timer = 300
-    elif self.timer:
-      self.timer -= 1
-    else:
-      return 1
-    return 0
-
-  def get_target_speed(self, v_cruise_kph_prev):
-    v_cruise_kph = v_cruise_kph_prev
-    if self.slc_state > 1:
-      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
-      if not self.slc_active_stock:
-        v_cruise_kph = v_cruise_kph_prev
-    return v_cruise_kph
-
-  def get_button_type(self, button_type):
-    self.type_status = "type_" + str(button_type)
-    self.button_picker = getattr(self, self.type_status, lambda: "default")
-    return self.button_picker()
-
-  def reset_button(self):
-    if self.button_type != 3:
-      self.button_type = 0
-
-  def type_default(self):
-    self.button_type = 0
-    return None
-
-  def type_0(self):
-    self.button_count = 0
-    self.target_speed = self.init_speed
-    self.speed_diff = self.target_speed - self.v_set_dis
-    if self.target_speed > self.v_set_dis:
-      self.button_type = 1
-    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
-      self.button_type = 2
-    return None
-
-  def type_1(self):
-    cruise_button = 1
-    self.button_count += 1
-    if self.target_speed <= self.v_set_dis:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_2(self):
-    cruise_button = 2
-    self.button_count += 1
-    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_3(self):
-    cruise_button = None
-    self.button_count += 1
-    if self.button_count > self.t_interval:
-      self.button_type = 0
-    return cruise_button
-
-  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
-    if self.v_tsc_state != 0:
-      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
-      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
-        vision_v_cruise_kph = 255
-    else:
-      vision_v_cruise_kph = 255
-    if self.m_tsc_state > 1:
-      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
-      if int(map_v_cruise_kph) == 0.0:
-        map_v_cruise_kph = 255
-    else:
-      map_v_cruise_kph = 255
-    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
-    return min(target_speed_kph, curve_speed)
-
-  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
-    cruise_button = self.get_button_type(self.button_type)
-    return cruise_button
-
-  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
-    if cur_speed > self.steady_speed:
-      self.steady_speed = cur_speed
-    elif cur_speed < self.steady_speed - hyst:
-      self.steady_speed = cur_speed
-    return self.steady_speed
-
-  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
-    cruise_button = None
-    if not self.get_cruise_buttons_status(CS):
-      pass
-    elif CS.out.cruiseState.enabled:
-      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
-      if self.slc_state > 1:
-        target_speed_kph = set_speed_kph
-      else:
-        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
-        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
-      else:
-        self.final_speed_kph = target_speed_kph
-
-      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
-    return cruise_button

selfdrive/car/volkswagen/interface.py

@@ -171,8 +171,6 @@ class CarInterface(CarInterfaceBase):
     if self.CC.eps_timer_soft_disable_alert:
       events.add(EventName.steerTimeLimit)
 
-    ret.customStockLong = self.update_custom_stock_long()
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/volkswagen/mqbcan.py

@@ -49,7 +49,7 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_p
   return packer.make_can_msg("LDW_02", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, frame=0, buttons=0, cancel=False, resume=False, custom_stock_long=False):
+def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
   values = {s: gra_stock_values[s] for s in [
     "GRA_Hauptschalter",           # ACC button, on/off
     "GRA_Typ_Hauptschalter",       # ACC main button type
@@ -58,18 +58,10 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, frame=0, buttons=0
     "GRA_ButtonTypeInfo",          # unknown related to stalk type
   ]}
 
-  accel_cruise = 1 if buttons == 1 else 0
-  decel_cruise = 1 if buttons == 2 else 0
-  resume_cruise = 1 if buttons == 3 else 0
-  set_cruise = 1 if buttons == 4 else 0
-
   values.update({
-    "COUNTER": (frame + 1) % 0x10 if custom_stock_long else (gra_stock_values["COUNTER"] + 1) % 16,
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
     "GRA_Abbrechen": cancel,
-    "GRA_Tip_Wiederaufnahme": resume or resume_cruise,
-    "GRA_Tip_Setzen": set_cruise,
-    "GRA_Tip_Runter": decel_cruise,
-    "GRA_Tip_Hoch": accel_cruise,
+    "GRA_Tip_Wiederaufnahme": resume,
   })
 
   return packer.make_can_msg("GRA_ACC_01", bus, values)

selfdrive/car/volkswagen/pqcan.py

@@ -31,7 +31,7 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_p
   return packer.make_can_msg("LDW_Status", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, frame=0, buttons=0, cancel=False, resume=False, custom_stock_long=False):
+def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
   values = {s: gra_stock_values[s] for s in [
     "GRA_Hauptschalt",      # ACC button, on/off
     "GRA_Typ_Hauptschalt",  # ACC button, momentary vs latching
@@ -39,18 +39,10 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, frame=0, buttons=0
     "GRA_Sender",           # ACC button, CAN message originator
   ]}
 
-  accel_cruise = 1 if buttons == 1 else 0
-  decel_cruise = 1 if buttons == 2 else 0
-  resume_cruise = 1 if buttons == 3 else 0
-  set_cruise = 1 if buttons == 4 else 0
-
   values.update({
-    "COUNTER": (frame + 1) % 0x10 if custom_stock_long else (gra_stock_values["COUNTER"] + 1) % 16,
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
     "GRA_Abbrechen": cancel,
-    "GRA_Recall": resume or resume_cruise,
-    "GRA_Neu_Setzen": set_cruise,
-    "GRA_Down_kurz": decel_cruise,
-    "GRA_Up_kurz": accel_cruise,
+    "GRA_Recall": resume,
   })
 
   return packer.make_can_msg("GRA_Neu", bus, values)

sunnypilot/controls/lib/custom_stock_longitudinal_controller/controllers.py

@@ -0,0 +1,127 @@
+from abc import abstractmethod, ABC
+
+from cereal import car, custom
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_controller import ACTIVE_STATES
+from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.states import InactiveState, \
+  LoadingState, AcceleratingState, DeceleratingState, HoldingState
+from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.helpers import get_set_point, \
+  speed_hysteresis, update_manual_button_timers
+
+ButtonType = car.CarState.ButtonEvent.Type
+ButtonControlState = custom.CarControlSP.CustomStockLongitudinalControl.ButtonControlState
+SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
+TurnSpeedControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
+VisionTurnControllerState = custom.LongitudinalPlanSP.VisionTurnControllerState
+
+SendCan = tuple[int, bytes, int]
+
+
+class CustomStockLongitudinalControllerBase(ABC):
+  def __init__(self, car, car_controller, car_state, CP):
+    self.car = car
+    self.car_controller = car_controller
+    self.car_state = car_state
+    self.CP = CP
+
+    self.v_target = 0
+    self.v_cruise_cluster = 0
+    self.v_cruise_min = 0
+    self.cruise_button = None
+    self.button_state = ButtonControlState.inactive
+
+    self.v_tsc_state = VisionTurnControllerState.disabled
+    self.slc_state = SpeedLimitControlState.inactive
+    self.m_tsc_state = TurnSpeedControlState.inactive
+    self.v_tsc = 0
+    self.speed_limit_offseted = 0
+    self.m_tsc = 0
+
+    self.is_ready = False
+    self.is_ready_prev = False
+    self.speed_steady = 0
+
+    self.accel_button = None
+    self.decel_button = None
+    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
+
+    self.button_states = {
+      ButtonControlState.inactive: InactiveState(self),
+      ButtonControlState.loading: LoadingState(self),
+      ButtonControlState.accelerating: AcceleratingState(self),
+      ButtonControlState.decelerating: DeceleratingState(self),
+      ButtonControlState.holding: HoldingState(self),
+    }
+
+  @abstractmethod
+  def create_mock_button_messages(self) -> list[SendCan]:
+    pass
+
+  def state_publish(self) -> custom.CarControlSP.CustomStockLongitudinalControl:
+    customStockLongitudinalControl = custom.CarControlSP.CustomStockLongitudinalControl.new_message()
+    customStockLongitudinalControl.state = self.button_state
+    customStockLongitudinalControl.cruiseButton = 0 if self.cruise_button is None else int(self.cruise_button)
+    customStockLongitudinalControl.vTarget = float(self.v_target)
+    customStockLongitudinalControl.vCruiseCluster = float(self.v_cruise_cluster)
+    return customStockLongitudinalControl
+
+  def update_msgs(self) -> None:
+    if self.car.sm.updated['longitudinalPlanSP']:
+      self.v_tsc_state = self.car.sm['longitudinalPlanSP'].visionTurnControllerState
+      self.slc_state = self.car.sm['longitudinalPlanSP'].speedLimitControlState
+      self.m_tsc_state = self.car.sm['longitudinalPlanSP'].turnSpeedControlState
+      self.v_tsc = self.car.sm['longitudinalPlanSP'].visionTurnSpeed
+
+      speed_limit = self.car.sm['longitudinalPlanSP'].speedLimit
+      speed_limit_offset = self.car.sm['longitudinalPlanSP'].speedLimitOffset
+      self.speed_limit_offseted = speed_limit + speed_limit_offset
+
+      self.m_tsc = self.car.sm['longitudinalPlanSP'].turnSpeed
+
+  def update_calculations(self, CS: car.CarState, CC: car.CarControl) -> None:
+    is_metric = self.car_state.params_list.is_metric
+    v_cruise_kph = CC.vCruise
+    v_cruise = v_cruise_kph * CV.KPH_TO_MS
+    self.v_cruise_min = get_set_point(is_metric)
+    self.v_cruise_cluster = round(CS.cruiseState.speed * (CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH))
+
+    v_targets = {'cruise': CC.vCruise}
+
+    if self.v_tsc_state != VisionTurnControllerState.disabled:
+      v_targets['v_tsc'] = self.v_tsc
+
+    if self.slc_state in ACTIVE_STATES:
+      v_targets['slc'] = self.speed_limit_offseted
+
+    if self.m_tsc_state > TurnSpeedControlState.tempInactive:
+      v_targets['m_tsc'] = self.m_tsc
+
+    source = min(v_targets, key=v_targets.get)
+
+    v_target = speed_hysteresis(self, v_targets[source], self.speed_steady, 1.5 * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS))
+    v_target = min(v_target, v_cruise)
+    v_target = round(v_target * (CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH))
+
+    self.v_target = v_target
+
+  def update_state(self, CS: car.CarState, CC: car.CarControl) -> None:
+    update_manual_button_timers(CS, self.cruise_buttons)
+
+    ready = CS.cruiseState.enabled and not CC.cruiseControl.cancel and not CC.cruiseControl.resume
+    button_pressed = any(self.cruise_buttons[k] > 0 for k in self.cruise_buttons)
+    self.is_ready = ready and not button_pressed
+
+    self.cruise_button = self.button_states[self.button_state]()
+
+    self.is_ready_prev = self.is_ready
+
+  def update(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
+    self.update_msgs()
+
+    self.update_calculations(CS, CC)
+
+    self.update_state(CS, CC)
+
+    can_sends = self.create_mock_button_messages()
+
+    return can_sends

sunnypilot/controls/lib/custom_stock_longitudinal_controller/helpers.py

@@ -0,0 +1,30 @@
+from cereal import car
+
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+def get_set_point(is_metric: bool) -> float:
+  return 30 if is_metric else 20
+
+
+def speed_hysteresis(controller, speed: float, speed_steady: float, hyst: float) -> float:
+  if speed > speed_steady + hyst:
+    speed_steady = speed - hyst
+  elif speed < speed_steady - hyst:
+    speed_steady = speed + hyst
+
+  controller.speed_steady = speed
+
+  return speed_steady
+
+
+def update_manual_button_timers(CS: car.CarState, button_timers: dict[ButtonType, int]) -> None:
+  # increment timer for buttons still pressed
+  for k in button_timers:
+    if button_timers[k] > 0:
+      button_timers[k] += 1
+
+  for b in CS.buttonEvents:
+    if b.type.raw in button_timers:
+      # Start/end timer and store current state on change of button pressed
+      button_timers[b.type.raw] = 1 if b.pressed else 0

sunnypilot/controls/lib/custom_stock_longitudinal_controller/states.py

@@ -0,0 +1,85 @@
+from abc import ABC, abstractmethod
+from random import randint
+
+from cereal import custom
+
+ButtonControlState = custom.CarControlSP.CustomStockLongitudinalControl.ButtonControlState
+
+INACTIVE_TIMER = 40
+RESET_COUNT = 5
+HOLD_TIME = 7
+
+
+class ButtonStateBase(ABC):
+  def __init__(self, controller):
+    self.controller = controller
+    self.button_count = 0
+    self.timer = INACTIVE_TIMER
+
+  def __call__(self) -> int | None:
+    if self.controller.is_ready:
+      # TODO-SP: Validate different hold time intervals for different platforms to prevent temporary cruise fault
+      pass
+    else:
+      if self.controller.is_ready_prev:
+        self.controller.button_state = ButtonControlState.inactive
+        return None
+
+    return self.handle()
+
+  @abstractmethod
+  def handle(self) -> int | None:
+    pass
+
+
+class InactiveState(ButtonStateBase):
+  def handle(self) -> None:
+    self.button_count = 0
+
+    if not self.controller.is_ready:
+      self.timer = INACTIVE_TIMER
+    elif self.timer > 0:
+      self.timer -= 1
+    else:
+      self.controller.button_state = ButtonControlState.loading
+    return None
+
+
+class LoadingState(ButtonStateBase):
+  def handle(self) -> None:
+    if self.controller.v_target > self.controller.v_cruise_cluster:
+      self.controller.button_state = ButtonControlState.accelerating
+    elif self.controller.v_target < self.controller.v_cruise_cluster and self.controller.v_cruise_cluster > self.controller.v_cruise_min:
+      self.controller.button_state = ButtonControlState.decelerating
+    else:
+      self.controller.button_state = ButtonControlState.holding
+    return None
+
+
+class AcceleratingState(ButtonStateBase):
+  def handle(self) -> int | None:
+    self.button_count += 1
+    if self.controller.v_target <= self.controller.v_cruise_cluster or self.button_count > RESET_COUNT:
+      self.button_count = 0
+      self.controller.button_state = ButtonControlState.holding
+      return None
+    return self.controller.accel_button
+
+
+class DeceleratingState(ButtonStateBase):
+  def handle(self) -> int | None:
+    self.button_count += 1
+    if self.controller.v_target >= self.controller.v_cruise_cluster or self.controller.v_cruise_cluster <= self.controller.v_cruise_min or self.button_count > RESET_COUNT:
+      self.button_count = 0
+      self.controller.button_state = ButtonControlState.holding
+      return None
+    return self.controller.decel_button
+
+
+class HoldingState(ButtonStateBase):
+  def handle(self) -> None:
+    self.button_count += 1
+    if self.button_count > HOLD_TIME:
+      self.button_count = 0
+      self.controller.button_state = ButtonControlState.loading
+    return None

sunnypilot/selfdrive/car/chrysler/custom_stock_longitudinal_controller/controller.py

@@ -0,0 +1,32 @@
+from cereal import car
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS
+from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
+  SendCan
+from openpilot.sunnypilot.selfdrive.car.chrysler.custom_stock_longitudinal_controller import helpers
+
+ButtonType = car.CarState.ButtonEvent.Type
+# TODO-SP: Handle this better in the base class
+ACCEL_BUTTON = 1
+DECEL_BUTTON = 2
+
+
+class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
+  def __init__(self, car, car_controller, car_state, CP):
+    super().__init__(car, car_controller, car_state, CP)
+    self.accel_button = ACCEL_BUTTON
+    self.decel_button = DECEL_BUTTON
+    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.resumeCruise: 0}
+
+  def create_mock_button_messages(self) -> list[SendCan]:
+    can_sends = []
+    ram_cars = self.CP.carFingerprint in RAM_CARS
+    das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
+    button_counter_offset = [1, 1, 0, None][self.car_controller.frame % 4]
+
+    if self.cruise_button is not None:
+      if ram_cars:
+        can_sends.append(helpers.create_cruise_buttons(self.car_controller.packer, self.car_state.button_counter, das_bus, self.cruise_button))
+      elif button_counter_offset is not None:
+        can_sends.append(helpers.create_cruise_buttons(self.car_controller.packer, self.car_state.button_counter + button_counter_offset, das_bus, self.cruise_button))
+
+    return can_sends

sunnypilot/selfdrive/car/chrysler/custom_stock_longitudinal_controller/helpers.py

@@ -0,0 +1,9 @@
+def create_cruise_buttons(packer, frame, bus, buttons=0):
+
+  values = {
+    "ACC_Accel": 1 if buttons == 1 else 0,
+    "ACC_Decel": 1 if buttons == 2 else 0,
+    "COUNTER": frame % 0x10,
+  }
+
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)

sunnypilot/selfdrive/car/honda/custom_stock_longitudinal_controller/controller.py

@@ -0,0 +1,25 @@
+from cereal import car
+from openpilot.selfdrive.car.honda import hondacan
+from openpilot.selfdrive.car.honda.values import CruiseButtons
+from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
+  SendCan
+from openpilot.sunnypilot.selfdrive.car.honda.custom_stock_longitudinal_controller import helpers
+
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
+  def __init__(self, car, car_controller, car_state, CP):
+    super().__init__(car, car_controller, car_state, CP)
+    self.accel_button = CruiseButtons.RES_ACCEL
+    self.decel_button = CruiseButtons.DECEL_SET
+    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
+                           ButtonType.altButton3: 0, ButtonType.cancel: 0}
+
+  def create_mock_button_messages(self) -> list[SendCan]:
+    can_sends = []
+
+    if self.cruise_button is not None:
+      can_sends.append(hondacan.spam_buttons_command(self.car_controller.packer, self.car_controller.CAN, self.cruise_button, self.CP.carFingerprint))
+
+    return can_sends

sunnypilot/selfdrive/car/hyundai/custom_stock_longitudinal_controller/controller.py

@@ -0,0 +1,58 @@
+from random import choices
+
+from cereal import car
+from openpilot.common.numpy_fast import interp
+from openpilot.selfdrive.car.hyundai import hyundaicanfd
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CANFD_CAR
+from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
+  SendCan
+from openpilot.sunnypilot.selfdrive.car.hyundai.custom_stock_longitudinal_controller import helpers
+
+ButtonType = car.CarState.ButtonEvent.Type
+
+BUTTON_COPIES = 2
+BUTTON_COPIES_TIME = 7
+BUTTON_COPIES_TIME_IMPERIAL = [BUTTON_COPIES_TIME + 3, 70]
+BUTTON_COPIES_TIME_METRIC = [BUTTON_COPIES_TIME, 40]
+POPULATION = [0, 1]
+WEIGHTS = [0.51, 0.49]
+
+
+class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
+  def __init__(self, car, car_controller, car_state, CP):
+    super().__init__(car, car_controller, car_state, CP)
+    self.accel_button = Buttons.RES_ACCEL
+    self.decel_button = Buttons.SET_DECEL
+    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0}
+
+  def create_can_mock_button_messages(self) -> list[SendCan]:
+    can_sends = []
+    if self.cruise_button is not None:
+      copies_xp = BUTTON_COPIES_TIME_METRIC if self.car_state.params_list.is_metric else BUTTON_COPIES_TIME_IMPERIAL
+      copies = int(interp(BUTTON_COPIES_TIME, copies_xp, [1, BUTTON_COPIES]))
+      can_sends.extend([helpers.create_clu11(self.car_controller.packer, self.car_state.clu11, self.cruise_button, self.CP)] * copies)
+
+    return can_sends
+
+  def create_canfd_mock_button_messages(self) -> list[SendCan]:
+    can_sends = []
+    if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+      # TODO: resume for alt button cars
+      pass
+    else:
+      if self.cruise_button is not None:
+        for _ in range(BUTTON_COPIES):
+          can_sends.append(hyundaicanfd.create_buttons(self.car_controller.packer, self.CP, self.car_controller.CAN,
+                                                       self.car_state.buttons_counter + choices(POPULATION, WEIGHTS)[0],
+                                                       self.cruise_button))
+
+    return can_sends
+
+  def create_mock_button_messages(self) -> list[SendCan]:
+    can_sends = []
+    if self.CP.carFingerprint in CANFD_CAR:
+      can_sends.extend(self.create_canfd_mock_button_messages())
+    else:
+      can_sends.extend(self.create_can_mock_button_messages())
+
+    return can_sends

sunnypilot/selfdrive/car/hyundai/custom_stock_longitudinal_controller/helpers.py

@@ -0,0 +1,22 @@
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
+
+def create_clu11(packer, clu11, button, CP):
+  values = {s: clu11[s] for s in [
+    "CF_Clu_CruiseSwState",
+    "CF_Clu_CruiseSwMain",
+    "CF_Clu_SldMainSW",
+    "CF_Clu_ParityBit1",
+    "CF_Clu_VanzDecimal",
+    "CF_Clu_Vanz",
+    "CF_Clu_SPEED_UNIT",
+    "CF_Clu_DetentOut",
+    "CF_Clu_RheostatLevel",
+    "CF_Clu_CluInfo",
+    "CF_Clu_AmpInfo",
+    "CF_Clu_AliveCnt1",
+  ]}
+  values["CF_Clu_CruiseSwState"] = button
+  values["CF_Clu_AliveCnt1"] = (values["CF_Clu_AliveCnt1"] + 1) % 0x10
+  # send buttons to camera on camera-scc based cars
+  bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
+  return packer.make_can_msg("CLU11", bus, values)

sunnypilot/selfdrive/car/mazda/custom_stock_longitudinal_controller/controller.py

@@ -0,0 +1,25 @@
+from cereal import car
+from openpilot.selfdrive.car.mazda.values import Buttons
+from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
+  SendCan
+from openpilot.sunnypilot.selfdrive.car.mazda.custom_stock_longitudinal_controller import helpers
+
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
+  def __init__(self, car, car_controller, car_state, CP):
+    super().__init__(car, car_controller, car_state, CP)
+    self.accel_button = Buttons.SET_PLUS
+    self.decel_button = Buttons.SET_MINUS
+    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
+                           ButtonType.resumeCruise: 0, ButtonType.setCruise: 0}
+
+  def create_mock_button_messages(self) -> list[SendCan]:
+    can_sends = []
+
+    if self.cruise_button is not None:
+      if self.car_controller.frame % 10 == 0:
+        can_sends.append(helpers.create_button_cmd(self.car_controller.packer, self.CP, self.car_controller.frame // 10, self.cruise_button))
+
+    return can_sends

sunnypilot/selfdrive/car/mazda/custom_stock_longitudinal_controller/helpers.py

@@ -0,0 +1,40 @@
+def create_button_cmd(packer, CP, counter, button):
+
+  can = int(button == Buttons.CANCEL)
+  res = int(button == Buttons.RESUME)
+  inc = int(button == Buttons.SET_PLUS)
+  dec = int(button == Buttons.SET_MINUS)
+
+  if CP.flags & MazdaFlags.GEN1:
+    values = {
+      "CAN_OFF": can,
+      "CAN_OFF_INV": (can + 1) % 2,
+
+      "SET_P": inc,
+      "SET_P_INV": (inc + 1) % 2,
+
+      "RES": res,
+      "RES_INV": (res + 1) % 2,
+
+      "SET_M": dec,
+      "SET_M_INV": (dec + 1) % 2,
+
+      "DISTANCE_LESS": 0,
+      "DISTANCE_LESS_INV": 1,
+
+      "DISTANCE_MORE": 0,
+      "DISTANCE_MORE_INV": 1,
+
+      "MODE_X": 0,
+      "MODE_X_INV": 1,
+
+      "MODE_Y": 0,
+      "MODE_Y_INV": 1,
+
+      "BIT1": 1,
+      "BIT2": 1,
+      "BIT3": 1,
+      "CTR": (counter + 1) % 16,
+    }
+
+    return packer.make_can_msg("CRZ_BTNS", 0, values)

sunnypilot/selfdrive/car/volkswagen/custom_stock_longitudinal_controller/controller.py

@@ -0,0 +1,77 @@
+from cereal import car, custom
+from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
+  SendCan
+
+ButtonType = car.CarState.ButtonEvent.Type
+ButtonControlState = custom.CarControlSP.CustomStockLongitudinalControl.ButtonControlState
+# TODO-SP: Handle this better in the base class
+ACCEL_BUTTON = 1
+DECEL_BUTTON = 2
+RESUME_CRUISE = 3
+SET_CRUISE = 4
+
+ACC_TYPE_BUTTONS = {
+  0: {1: ACCEL_BUTTON, 2: DECEL_BUTTON},  # accel, decel
+  1: {1: RESUME_CRUISE, 2: SET_CRUISE}    # resume, set
+}
+
+
+class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
+  def __init__(self, car, car_controller, car_state, CP):
+    super().__init__(car, car_controller, car_state, CP)
+    self.accel_button = ACCEL_BUTTON
+    self.decel_button = DECEL_BUTTON
+    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
+                           ButtonType.resumeCruise: 0, ButtonType.setCruise: 0}
+
+    self.last_v_cruise_cluster = 0
+    self.last_cruise_button = False
+
+    self.acc_type = -1
+    self.button_frame = 0
+
+    self.initial_v_target = 0
+    self.initial_v_cruise_cluster = 0
+
+  def update_checks(self) -> None:
+    if self.button_state > ButtonControlState.inactive:
+      self.button_frame += 1
+      if self.button_frame == 1:
+        self.initial_v_target = self.v_target
+        self.initial_v_cruise_cluster = self.v_cruise_cluster
+
+      self.set_acc_type()
+    else:
+      self.button_frame = 0
+      self.initial_v_target = 0
+      self.initial_v_cruise_cluster = 0
+
+  def set_acc_type(self):
+    current_v_cruise_diff = abs(self.v_target - self.v_cruise_cluster)
+    initial_v_cruise_diff = abs(self.initial_v_target - self.initial_v_cruise_cluster)
+
+    if self.last_v_cruise_cluster != self.v_cruise_cluster and current_v_cruise_diff != initial_v_cruise_diff:
+      if self.acc_type == -1:
+        v_cruise_diff = abs(self.v_cruise_cluster - self.last_v_cruise_cluster)
+
+        if v_cruise_diff >= 10 and self.last_cruise_button in (ACCEL_BUTTON, DECEL_BUTTON):
+          self.acc_type = 1
+        else:
+          self.acc_type = 0
+
+      if self.cruise_button is not None:
+        self.cruise_button = ACC_TYPE_BUTTONS.get(self.acc_type, {}).get(self.cruise_button, self.cruise_button)
+
+  def create_mock_button_messages(self) -> list[SendCan]:
+    can_sends = []
+
+    self.update_checks()
+
+    if self.cruise_button is not None:
+      if self.car_state.gra_stock_values["COUNTER"] != self.car_controller.gra_acc_counter_last:
+        can_sends.append(self.car_controller.CCS.create_acc_buttons_control(self.car_controller.packer_pt, self.car_controller.ext_bus, self.car_state.gra_stock_values, buttons=self.cruise_button))
+
+    self.last_cruise_button = self.cruise_button
+    self.last_v_cruise_cluster = self.v_cruise_cluster
+
+    return can_sends

sunnypilot/selfdrive/car/volkswagen/custom_stock_longitudinal_controller/mqbcan.py

@@ -0,0 +1,18 @@
+def create_acc_buttons_control(packer, bus, gra_stock_values, buttons=0):
+  values = {s: gra_stock_values[s] for s in [
+    "GRA_Hauptschalter",           # ACC button, on/off
+    "GRA_Typ_Hauptschalter",       # ACC main button type
+    "GRA_Codierung",               # ACC button configuration/coding
+    "GRA_Tip_Stufe_2",             # unknown related to stalk type
+    "GRA_ButtonTypeInfo",          # unknown related to stalk type
+  ]}
+
+  values.update({
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
+    "GRA_Tip_Wiederaufnahme": 1 if buttons == 3 else 0,
+    "GRA_Tip_Setzen": 1 if buttons == 4 else 0,
+    "GRA_Tip_Runter": 1 if buttons == 2 else 0,
+    "GRA_Tip_Hoch": 1 if buttons == 1 else 0,
+  })
+
+  return packer.make_can_msg("GRA_ACC_01", bus, values)

sunnypilot/selfdrive/car/volkswagen/custom_stock_longitudinal_controller/pqcan.py

@@ -0,0 +1,17 @@
+def create_acc_buttons_control(packer, bus, gra_stock_values, buttons=0):
+  values = {s: gra_stock_values[s] for s in [
+    "GRA_Hauptschalt",      # ACC button, on/off
+    "GRA_Typ_Hauptschalt",  # ACC button, momentary vs latching
+    "GRA_Kodierinfo",       # ACC button, configuration
+    "GRA_Sender",           # ACC button, CAN message originator
+  ]}
+
+  values.update({
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
+    "GRA_Recall": 1 if buttons == 3 else 0,
+    "GRA_Neu_Setzen": 1 if buttons == 4 else 0,
+    "GRA_Down_kurz": 1 if buttons == 2 else 0,
+    "GRA_Up_kurz": 1 if buttons == 1 else 0,
+  })
+
+  return packer.make_can_msg("GRA_Neu", bus, values)