From 4a0b3c8b64fe700d1292e91ec0e5a536b4e8bfa4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 12:50:42 -0700 Subject: [PATCH] CarInterface: move stateless, common car events to car interface (#32394) * move stateless, common car events to car interface * try to reduce process replay diff a bit * Revert "try to reduce process replay diff a bit" This reverts commit b12798deabea67c5a636d6e70e80a3c21c7225ff. * update refs old-commit-hash: 3dfb6d7931711c51ecfe0d8c32f0ff928b17a5c9 --- selfdrive/car/interfaces.py | 4 ++++ selfdrive/controls/controlsd.py | 6 ------ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 5 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index b6a626edec..a8a6f0b238 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -282,6 +282,10 @@ class CarInterfaceBase(ABC): events.add(EventName.accFaulted) if cs_out.steeringPressed: events.add(EventName.steerOverride) + if cs_out.brakePressed and cs_out.standstill: + events.add(EventName.preEnableStandstill) + if cs_out.gasPressed: + events.add(EventName.gasPressedOverride) # Handle button presses for b in cs_out.buttonEvents: diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d36c969f60..370a3e1e95 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -211,12 +211,6 @@ class Controls: (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): self.events.add(EventName.pedalPressed) - if CS.brakePressed and CS.standstill: - self.events.add(EventName.preEnableStandstill) - - if CS.gasPressed: - self.events.add(EventName.gasPressedOverride) - if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 51e85b1350..f3298b2ac8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cb76a8e9844becc5024985c61bad4ec3518eebf5 +ef0c8cb36b9cda6381412493555c21a87360e539 \ No newline at end of file