abstract pedalPressed event (#1218)

* abstract pedalPressed event

* Fix bug

* update refs
old-commit-hash: fe911bcca8

selfdrive/car/chrysler/interface.py

@@ -70,19 +70,13 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = []
 
     # events
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low], gas_resume_speed = 2.)
 
     if ret.cruiseState.enabled and not self.cruise_enabled_prev:
       events.append(create_event('pcmEnable', [ET.ENABLE]))
     elif not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # disable on gas pedal and speed isn't zero. Gas pedal is used to resume ACC
-    # from a 3+ second stop.
-    if (ret.gasPressed and (not self.gas_pressed_prev) and ret.vEgo > 2.0) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or not ret.standstill)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
     if ret.vEgo < self.CP.minSteerSpeed:
       events.append(create_event('belowSteerSpeed', [ET.WARNING]))
 

selfdrive/car/ford/interface.py

@@ -67,11 +67,6 @@ class CarInterface(CarInterfaceBase):
     elif not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
     if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13.* CV.MPH_TO_MS and ret.cruiseState.enabled:
       events.append(create_event('steerTempUnavailableMute', [ET.WARNING]))
 

selfdrive/car/gm/interface.py

@@ -173,10 +173,6 @@ class CarInterface(CarInterfaceBase):
         events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
       if self.CS.park_brake:
         events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
-      # disable on pedals rising edge or when brake is pressed and speed isn't zero
-      if (ret.gasPressed and not self.gas_pressed_prev) or \
-        (ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
       if ret.cruiseState.standstill:
         events.append(create_event('resumeRequired', [ET.WARNING]))
       if self.CS.pcm_acc_status == AccState.FAULTED:

selfdrive/car/honda/interface.py

@@ -353,7 +353,7 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
       ret.longitudinalTuning.kiBP = [0., 35.]
       ret.longitudinalTuning.kiV = [0.18, 0.12]
-	  
+
     elif candidate == CAR.INSIGHT:
       stop_and_go = True
       ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
@@ -465,11 +465,6 @@ class CarInterface(CarInterfaceBase):
     if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
       events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
 
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
     # it can happen that car cruise disables while comma system is enabled: need to
     # keep braking if needed or if the speed is very low
     if self.CP.enableCruise and not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):

selfdrive/car/hyundai/interface.py

@@ -111,11 +111,6 @@ class CarInterface(CarInterfaceBase):
     elif not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-      (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgoRaw > 0.1)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
       self.low_speed_alert = True

selfdrive/car/interfaces.py

@@ -81,7 +81,7 @@ class CarInterfaceBase():
   def apply(self, c):
     raise NotImplementedError
 
-  def create_common_events(self, cs_out, extra_gears=[]):
+  def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1):
     events = []
 
     if cs_out.doorOpen:
@@ -105,6 +105,13 @@ class CarInterfaceBase():
     elif getattr(self.CS, "steer_warning", False):
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
 
+    # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
+    # Optionally allow to press gas at zero speed to resume.
+    # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
+    if (cs_out.gasPressed and (not self.gas_pressed_prev) and cs_out.vEgo > gas_resume_speed) or \
+       (cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill)):
+      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+
     return events
 
 class RadarInterfaceBase():

selfdrive/car/nissan/interface.py

@@ -75,14 +75,6 @@ class CarInterface(CarInterfaceBase):
     if not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
     ret.events = events
 
     # update previous brake/gas pressed

selfdrive/car/subaru/interface.py

@@ -70,11 +70,6 @@ class CarInterface(CarInterfaceBase):
     if not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # disable on gas pedal rising edge
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
     ret.events = events
 
     self.gas_pressed_prev = ret.gasPressed

selfdrive/car/toyota/interface.py

@@ -316,11 +316,6 @@ class CarInterface(CarInterfaceBase):
     elif not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
     ret.events = events
 
     self.gas_pressed_prev = ret.gasPressed

selfdrive/car/volkswagen/interface.py

@@ -110,12 +110,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.steeringFault:
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
 
-    # Per the Comma safety model, disable on pedals rising edge or when brake
-    # is pressed and speed isn't zero.
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-            (ret.brakePressed and (not self.brake_pressed_prev or not ret.standstill)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
     # Engagement and longitudinal control using stock ACC. Make sure OP is
     # disengaged if stock ACC is disengaged.
     if not ret.cruiseState.enabled:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f48e39778dc502d62fa2eac515f886f7d7520ffa
+7bc2ec3b0888827c0028bc7b35ede111ba2b0419