Move buttonEvents to CarState (#33292)

* move mazda button events to carstate

* do  more

* remove

* some more

* clean up

selfdrive/car/body/interface.py

@@ -26,6 +26,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def _update(self):
-    ret = self.CS.update(self.cp)
+    return self.CS.update(self.cp)
-
-    return ret

selfdrive/car/chrysler/carstate.py

@@ -1,10 +1,13 @@
 from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -21,14 +24,13 @@ class CarState(CarStateBase):
     else:
       self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.prev_distance_button = self.distance_button
+    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
 
     # lock info
@@ -101,6 +103,8 @@ class CarState(CarStateBase):
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
+    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     return ret
 
   @staticmethod

selfdrive/car/chrysler/interface.py

@@ -1,12 +1,10 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
-
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -77,8 +75,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
+    return self.CS.update(self.cp, self.cp_cam)
-
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret

selfdrive/car/ford/carstate.py

@@ -1,11 +1,13 @@
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
+ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 
@@ -17,7 +19,6 @@ class CarState(CarStateBase):
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, cp, cp_cam):
@@ -85,7 +86,7 @@ class CarState(CarStateBase):
     ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
     # TODO: block this going to the camera otherwise it will enable stock TJA
     ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
-    self.prev_distance_button = self.distance_button
+    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
 
     # lock info
@@ -105,6 +106,8 @@ class CarState(CarStateBase):
     self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
     self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
 
+    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     return ret
 
   @staticmethod

selfdrive/car/ford/interface.py

@@ -1,12 +1,11 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 
 
@@ -67,8 +66,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
+    return self.CS.update(self.cp, self.cp_cam)
-
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret

selfdrive/car/gm/carstate.py

@@ -2,15 +2,21 @@ import copy
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CruiseButtons, STEER_THRESHOLD
 
+ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
+
 STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
 
+BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
+                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -26,14 +32,13 @@ class CarState(CarStateBase):
     self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
-    self.prev_cruise_buttons = self.cruise_buttons
+    prev_cruise_buttons = self.cruise_buttons
-    self.prev_distance_button = self.distance_button
+    prev_distance_button = self.distance_button
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
     self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
@@ -124,6 +129,15 @@ class CarState(CarStateBase):
       ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
       ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
+    # Don't add event if transitioning from INIT, unless it's to an actual button
+    if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
+      ret.buttonEvents = [
+        *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
+                              unpressed_btn=CruiseButtons.UNPRESS),
+        *create_button_events(self.distance_button, prev_distance_button,
+                              {1: ButtonType.gapAdjustCruise})
+      ]
+
     return ret
 
   @staticmethod

selfdrive/car/gm/interface.py

@@ -5,19 +5,15 @@ from math import fabs, exp
 from panda import Panda
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
+from openpilot.selfdrive.car import get_safety_config, get_friction
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
+from openpilot.selfdrive.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
-ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
 
-BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
-                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
-
 NON_LINEAR_TORQUE_PARAMS = {
   CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
   CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
@@ -200,15 +196,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
+    return self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
-
-    # Don't add event if transitioning from INIT, unless it's to an actual button
-    if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
-      ret.buttonEvents = [
-        *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
-                              unpressed_btn=CruiseButtons.UNPRESS),
-        *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
-                              {1: ButtonType.gapAdjustCruise})
-      ]
-
-    return ret

selfdrive/car/honda/carstate.py

@@ -3,15 +3,21 @@ from collections import defaultdict
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
-                                                 HondaFlags
+                                                 HondaFlags, CruiseButtons, CruiseSettings
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
+ButtonType = car.CarState.ButtonEvent.Type
+
+BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
+                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
 
 
 def get_can_messages(CP, gearbox_msg):
@@ -112,8 +118,8 @@ class CarState(CarStateBase):
     v_weight_bp = [1., 6.]   # smooth blending, below ~0.6m/s the smooth speed snaps to zero
 
     # update prevs, update must run once per loop
-    self.prev_cruise_buttons = self.cruise_buttons
+    prev_cruise_buttons = self.cruise_buttons
-    self.prev_cruise_setting = self.cruise_setting
+    prev_cruise_setting = self.cruise_setting
     self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
 
@@ -258,6 +264,11 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
+    ret.buttonEvents = [
+      *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT),
+      *create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
+    ]
+
     return ret
 
   def get_can_parser(self, CP):

selfdrive/car/honda/interface.py

@@ -4,19 +4,14 @@ from panda import Panda
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
-from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
+from openpilot.selfdrive.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
-ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 
-BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
-                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
-SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
-
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -222,11 +217,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
+    return self.CS.update(self.cp, self.cp_cam, self.cp_body)
-
-    ret.buttonEvents = [
-      *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
-      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
-    ]
-
-    return ret

selfdrive/car/hyundai/carstate.py

@@ -5,16 +5,22 @@ import math
 from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
                                                    CANFD_CAR, Buttons, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 PREV_BUTTON_SAMPLES = 8
 CLUSTER_SAMPLE_RATE = 20  # frames
 STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
 
+BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
+                Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -162,10 +168,13 @@ class CarState(CarStateBase):
     self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    self.prev_cruise_buttons = self.cruise_buttons[-1]
+    prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
 
+    if self.CP.openpilotLongitudinalControl:
+      ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
+
     return ret
 
   def update_canfd(self, cp, cp_cam):
@@ -238,7 +247,7 @@ class CarState(CarStateBase):
     if self.CP.flags & HyundaiFlags.EV:
       ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
 
-    self.prev_cruise_buttons = self.cruise_buttons[-1]
+    prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
@@ -248,6 +257,9 @@ class CarState(CarStateBase):
       self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
                                           else cp_cam.vl["CAM_0x2a4"])
 
+    if self.CP.openpilotLongitudinalControl:
+      ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
+
     return ret
 
   def get_can_parser(self, CP):

selfdrive/car/hyundai/interface.py

@@ -1,19 +1,17 @@
 from cereal import car
 from panda import Panda
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, Buttons
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 Ecu = car.CarParams.Ecu
-ButtonType = car.CarState.ButtonEvent.Type
+
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
-BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
-                Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
 
 
 class CarInterface(CarInterfaceBase):
@@ -150,9 +148,4 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
+    return self.CS.update(self.cp, self.cp_cam)
-
-    if self.CS.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
-
-    return ret

selfdrive/car/mazda/carstate.py

@@ -1,10 +1,13 @@
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -19,14 +22,13 @@ class CarState(CarStateBase):
     self.lkas_allowed_speed = False
     self.lkas_disabled = False
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.prev_distance_button = self.distance_button
+    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -111,6 +113,9 @@ class CarState(CarStateBase):
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
     ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
+    # TODO: add button types for inc and dec
+    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     return ret
 
   @staticmethod

selfdrive/car/mazda/interface.py

@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):
@@ -32,9 +31,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
+    return self.CS.update(self.cp, self.cp_cam)
-
-    # TODO: add button types for inc and dec
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret

selfdrive/car/nissan/carstate.py

@@ -3,10 +3,13 @@ from collections import deque
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 TORQUE_SAMPLES = 12
 
 
@@ -21,13 +24,12 @@ class CarState(CarStateBase):
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
   def update(self, cp, cp_adas, cp_cam):
     ret = car.CarState.new_message()
 
-    self.prev_distance_button = self.distance_button
+    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
 
     if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
@@ -122,6 +124,8 @@ class CarState(CarStateBase):
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
+    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     return ret
 
   @staticmethod

selfdrive/car/nissan/interface.py

@@ -1,11 +1,9 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
-ButtonType = car.CarState.ButtonEvent.Type
-
 
 class CarInterface(CarInterfaceBase):
 
@@ -30,8 +28,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
+    return self.CS.update(self.cp, self.cp_adas, self.cp_cam)
-
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret

selfdrive/car/subaru/interface.py

@@ -98,10 +98,7 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-
+    return self.CS.update(self.cp, self.cp_cam, self.cp_body)
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
-
-    return ret
 
   @staticmethod
   def init(CP, can_recv, can_send):

selfdrive/car/tesla/interface.py

@@ -40,6 +40,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
+    return self.CS.update(self.cp, self.cp_cam)
-
-    return ret

selfdrive/car/toyota/carstate.py

@@ -3,7 +3,7 @@ import copy
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL, create_button_events
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.car.helpers import mean
@@ -11,6 +11,7 @@ from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
+ButtonType = car.CarState.ButtonEvent.Type
 SteerControlType = car.CarParams.SteerControlType
 
 # These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
@@ -40,7 +41,6 @@ class CarState(CarStateBase):
     self.accurate_steer_angle_seen = False
     self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
 
-    self.prev_distance_button = 0
     self.distance_button = 0
 
     self.pcm_follow_distance = 0
@@ -172,10 +172,11 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       # distance button is wired to the ACC module (camera or radar)
-      self.prev_distance_button = self.distance_button
+      prev_distance_button = self.distance_button
-      if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
 
+      ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     return ret
 
   @staticmethod

selfdrive/car/toyota/interface.py

@@ -3,11 +3,10 @@ from panda import Panda
 from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                                   MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
 SteerControlType = car.CarParams.SteerControlType
 
 
@@ -145,9 +144,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam)
+    return self.CS.update(self.cp, self.cp_cam)
-
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    return ret

selfdrive/car/volkswagen/interface.py

@@ -99,6 +99,4 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
+    return self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
-
-    return ret