Merge branch 'master' into hyundai-custom-button

This reverts commit 43522c4922.

common/params_keys.h

@@ -180,6 +180,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SteeringCustomButtonMapping", {PERSISTENT | BACKUP, INT, "0"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},

selfdrive/ui/feedback/feedbackd.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import cereal.messaging as messaging
+from enum import Enum
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from cereal import car
@@ -8,6 +9,14 @@ from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 FEEDBACK_MAX_DURATION = 10.0
 ButtonType = car.CarState.ButtonEvent.Type
 
+# TODO-SP: Use common python enum when we move to raylib?
+CUSTOM_MAPPING_BOOKMARK = 1  # Custom button mapping value for bookmark action
+
+class ButtonPressType(Enum):
+  NONE = 'NONE'
+  LKAS = 'LKAS'
+  CUSTOM = 'CUSTOM'
+
 
 def main():
   params = Params()
@@ -21,29 +30,25 @@ def main():
   while True:
     sm.update()
     should_send_bookmark = False
+    btn_pressed = get_button_event(sm, params)
 
-    # TODO: https://github.com/commaai/openpilot/issues/36015
+    if btn_pressed is not ButtonPressType.NONE:
-    # only allow the LKAS button to record feedback when MADS is disabled
+      if not should_record_audio:
-    if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
+        if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
-      for be in sm['carState'].buttonEvents:
+          should_record_audio = True
-        if be.type == ButtonType.lkas:
+          block_num = 0
-          if be.pressed:
+          waiting_for_release = False
-            if not should_record_audio:
+          early_stop_triggered = False
-              if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
+          cloudlog.info(f"{btn_pressed.value} button pressed - starting 10-second audio feedback")
-                should_record_audio = True
+        else:
-                block_num = 0
+          should_send_bookmark = True  # immediately send bookmark if toggle false
-                waiting_for_release = False
+          cloudlog.info(f"{btn_pressed.value} button pressed - bookmarking")
-                early_stop_triggered = False
+      elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
-                cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
+        waiting_for_release = True
-              else:
+    elif waiting_for_release:  # Second press released
-                should_send_bookmark = True  # immediately send bookmark if toggle false
+      waiting_for_release = False
-                cloudlog.info("LKAS button pressed - bookmarking")
+      early_stop_triggered = True
-            elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
+      cloudlog.info(f"{btn_pressed.value} button released - ending recording early")
-              waiting_for_release = True
-          elif waiting_for_release:  # Second press released
-            waiting_for_release = False
-            early_stop_triggered = True
-            cloudlog.info("LKAS button released - ending recording early")
 
     if should_record_audio and sm.updated['rawAudioData']:
       raw_audio = sm['rawAudioData']
@@ -68,5 +73,26 @@ def main():
       pm.send('userBookmark', msg)
 
 
+def get_button_event(sm, params):
+
+  custom_button_mapping = params.get("SteeringCustomButtonMapping")
+  custom_mapped = custom_button_mapping == CUSTOM_MAPPING_BOOKMARK
+  btn_pressed = ButtonPressType.NONE
+
+  # use custom button mapping if available
+  use_custom = custom_mapped and sm.updated['carState']
+  # only allow the LKAS button to record feedback when MADS is disabled & custom button mapping is not set
+  # TODO: https://github.com/commaai/openpilot/issues/36015
+  use_lkas = False #sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available
+
+  if use_custom or use_lkas:
+    for be in sm['carState'].buttonEvents:
+      if use_custom and be.type == ButtonType.altButton2:
+        btn_pressed = ButtonPressType.CUSTOM if be.pressed else ButtonPressType.NONE
+      elif use_lkas and be.type == ButtonType.lkas:
+        btn_pressed = ButtonPressType.LKAS if be.pressed else ButtonPressType.NONE
+
+  return btn_pressed
+
 if __name__ == '__main__':
   main()

sunnypilot/sunnylink/params_metadata.json

@@ -1203,6 +1203,20 @@
     "title": "[TIZI/TICI only] Standstill Timer",
     "description": "Show a timer on the HUD when the car is at a standstill."
   },
+  "SteeringCustomButtonMapping": {
+    "title": "Steering Custom Button Mapping",
+    "description": "Customize the steering wheel custom/star button for openpilot control.",
+    "options": [
+      {
+        "value": 0,
+        "label": "Off"
+      },
+      {
+        "value": 1,
+        "label": "Bookmark"
+      }
+    ]
+  },
   "SubaruStopAndGo": {
     "title": "Subaru Stop and Go",
     "description": ""