diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index b2ba9ce290..694d6c3bb0 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -20,9 +20,15 @@ class CarState(CarStateBase): self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES) self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"] + self.prev_distance_button = 0 + self.distance_button = 0 + def update(self, cp, cp_adas, cp_cam): ret = car.CarState.new_message() + self.prev_distance_button = self.distance_button + self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"] + if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA): ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"] elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 60cc3a0090..3e82b5192e 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,9 +1,11 @@ from cereal import car from panda import Panda -from openpilot.selfdrive.car import 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.nissan.values import CAR +ButtonType = car.CarState.ButtonEvent.Type + class CarInterface(CarInterfaceBase): @@ -30,6 +32,8 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam) + ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake]) if self.CS.lkas_enabled: