car interfaces: handle buttons changing state without going unpressed (#26463)

* rename function first and foremost

* the function

* comment

* move usages over

* probably fine

* comments

* btn

* single line

* not comments

* fix keyword

* is it not clear?

* noEntry while holding cancel

* bumpo

* remove

* better?

* better?

* try this

* try this

* loop

* better

* more clear

* Revert "more clear"

This reverts commit 37e0277e4b.

* no optional

* fine

* add comment

* clean up honda

* one line

* can also do this

* but unclear

This reverts commit 1984a72cc8.

* bumppanda

panda

@@ -1 +1 @@
-Subproject commit 09cd81752d1d53de4cc1c63f950dc717acc20ad8
+Subproject commit cca252c8d497f52494b5c21aa30f915e9ffc6ce8

selfdrive/car/__init__.py

@@ -1,6 +1,6 @@
 # functions common among cars
 from collections import namedtuple
-from typing import Dict, Optional
+from typing import Dict, List, Optional
 
 import capnp
 
@@ -24,16 +24,19 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
   return val_steady
 
 
-def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
+def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
-                        unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder:
+                         unpressed_btn: int = 0) -> List[capnp.lib.capnp._DynamicStructBuilder]:
-  if cur_but != unpressed:
+  events: List[capnp.lib.capnp._DynamicStructBuilder] = []
-    be = car.CarState.ButtonEvent(pressed=True)
+
-    but = cur_but
+  if cur_btn == prev_btn:
-  else:
+    return events
-    be = car.CarState.ButtonEvent(pressed=False)
+
-    but = prev_but
+  # Add events for button presses, multiple when a button switches without going to unpressed
-  be.type = buttons_dict.get(but, ButtonType.unknown)
+  for pressed, btn in ((False, prev_btn), (True, cur_btn)):
-  return be
+    if btn != unpressed_btn:
+      events.append(car.CarState.ButtonEvent(pressed=pressed,
+                                             type=buttons_dict.get(btn, ButtonType.unknown)))
+  return events
 
 
 def gen_empty_fingerprint():

selfdrive/car/gm/interface.py

@@ -4,7 +4,7 @@ from math import fabs, exp
 from panda import Panda
 
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_event, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 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.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
@@ -253,13 +253,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
-    if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
+    # Don't add event if transitioning from INIT, unless it's to an actual button
-      buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)]
+    if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
-      # Handle ACCButtons changing buttons mid-press
+      ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
-      if self.CS.cruise_buttons != CruiseButtons.UNPRESS and self.CS.prev_cruise_buttons != CruiseButtons.UNPRESS:
+                                              unpressed_btn=CruiseButtons.UNPRESS)
-        buttonEvents.append(create_button_event(CruiseButtons.UNPRESS, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS))
-
-      ret.buttonEvents = buttonEvents
 
     # The ECM allows enabling on falling edge of set, but only rising edge of resume
     events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,

selfdrive/car/honda/interface.py

@@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
                                                                                             HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
-from openpilot.selfdrive.car import create_button_event, get_safety_config
+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
 
@@ -308,15 +308,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
-    buttonEvents = []
+    ret.buttonEvents = [
-
+      *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
-    if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
+      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}),
-      buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT))
+    ]
-
-    if self.CS.cruise_setting != self.CS.prev_cruise_setting:
-      buttonEvents.append(create_button_event(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}))
-
-    ret.buttonEvents = buttonEvents
 
     # events
     events = self.create_common_events(ret, pcm_enable=False)

selfdrive/car/hyundai/interface.py

@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD
                                          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_event, get_safety_config
+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
 
@@ -320,13 +320,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
+    if self.CS.CP.openpilotLongitudinalControl:
-      buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
+      ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
-      # Handle CF_Clu_CruiseSwState changing buttons mid-press
-      if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
-        buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
-
-      ret.buttonEvents = buttonEvents
 
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons