Allow car port to define enable buttons (#25793)

* Allow car port to define enable buttons

* simplify

* oops
old-commit-hash: 135270f65c

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
+from typing import Dict
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -32,19 +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, 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 (ButtonType.accelCruise, ButtonType.decelCruise) 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

@@ -10,11 +10,12 @@ 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
 
+ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
 TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float]
@@ -210,7 +211,8 @@ class CarInterfaceBase(ABC):
   def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
     pass
 
-  def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True):
+  def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
+                           enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 
     if cs_out.doorOpen:
@@ -244,7 +246,13 @@ class CarInterfaceBase(ABC):
       events.add(EventName.steerOverride)
 
     # Handle button presses
-    events.events.extend(create_button_enable_events(cs_out.buttonEvents, 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.pcmCruise 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

selfdrive/car/volkswagen/interface.py

@@ -6,6 +6,7 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
 
+ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 
 
@@ -218,7 +219,8 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                       pcm_enable=not self.CS.CP.openpilotLongitudinalControl)
+                                       pcm_enable=not self.CS.CP.openpilotLongitudinalControl,
+                                       enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     # Low speed steer alert hysteresis logic
     if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):