From ed18b833768c70e25a6dc9c377c0ed36f7f7a2b7 Mon Sep 17 00:00:00 2001
From: Jason Young <jyoung8607@gmail.com>
Date: Wed, 14 Sep 2022 13:47:39 -0400
Subject: [PATCH] better enable button solution

---
 selfdrive/car/__init__.py             | 9 +++++----
 selfdrive/car/interfaces.py           | 6 ++++--
 selfdrive/car/volkswagen/interface.py | 4 +++-
 3 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 42499cf70..1276c8518 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -3,7 +3,7 @@ import capnp
 
 from cereal import car
 from common.numpy_fast import clip
-from typing import Dict, List
+from typing import Dict, List, Tuple
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -24,13 +24,14 @@ def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, cap
   return be
 
 
-def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder, pcm_cruise: bool = False) -> List[int]:
+def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder,
+                                enable_buttons: Tuple[capnp.lib.capnp._EnumModule, ...],
+                                pcm_cruise: bool = False) -> List[int]:
   events = []
   for b in buttonEvents:
     # do enable on both accel and decel buttons
     if not pcm_cruise:
-      # FIXME: temp hack to engage on set/resume only, VW should not engage on accel/decel, make this configurable
-      if b.type in (ButtonType.setCruise, ButtonType.resumeCruise) and not b.pressed:
+      if b.type in enable_buttons and not b.pressed:
         events.append(EventName.buttonEnable)
     # do disable on button down
     if b.type == ButtonType.cancel and b.pressed:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index a33560cd0..d02db2673 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -14,6 +14,7 @@ from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 
+ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
 
@@ -185,7 +186,8 @@ class CarInterfaceBase(ABC):
   def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
     pass
 
-  def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True):
+  def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
+                           enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 
     if cs_out.doorOpen:
@@ -217,7 +219,7 @@ class CarInterfaceBase(ABC):
       events.add(EventName.accFaulted)
 
     # Handle button presses
-    events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))
+    events.events.extend(create_button_enable_events(cs_out.buttonEvents, enable_buttons, pcm_cruise=self.CP.pcmCruise))
 
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 81b22f969..453b859ae 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -6,6 +6,7 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
 
+ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 
 
@@ -213,7 +214,8 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                       pcm_enable=not self.CS.CP.openpilotLongitudinalControl)
+                                       pcm_enable=not self.CS.CP.openpilotLongitudinalControl,
+                                       enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     # Low speed steer alert hysteresis logic
     if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):