sync with custom enable button branch

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, Tuple
+from typing import Dict
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -32,21 +32,6 @@ 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,
-                                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:
-      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:
-      events.append(EventName.buttonCancel)
-  return events
-
-
 def gen_empty_fingerprint():
   return {i: {} for i in range(0, 8)}
 

selfdrive/car/interfaces.py

@@ -10,7 +10,7 @@ from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.numpy_fast import interp
 from common.realtime import DT_CTRL
-from selfdrive.car import apply_hysteresis, create_button_enable_events, gen_empty_fingerprint
+from selfdrive.car import apply_hysteresis, gen_empty_fingerprint
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -246,7 +246,13 @@ class CarInterfaceBase(ABC):
       events.add(EventName.steerOverride)
 
     # Handle button presses
-    events.events.extend(create_button_enable_events(cs_out.buttonEvents, enable_buttons, pcm_cruise=self.CP.pcmCruise))
+    for b in cs_out.buttonEvents:
+      # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
+      if not self.CP.pcm_cruise and (b.type in enable_buttons and not b.pressed):
+        events.add(EventName.buttonEnable)
+      # Disable on rising edge of cancel for both stock and OP long
+      if b.type == ButtonType.cancel and b.pressed:
+        events.add(EventName.buttonCancel)
 
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1