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Move buttonEvents to CarState (#33292)

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* move mazda button events to carstate

* do  more

* remove

* some more

* clean up
pull/33294/head
Shane Smiskol 9 months ago committed by GitHub
parent 29882b4519
commit 9f14c447db
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GPG Key ID: B5690EEEBB952194
20 changed files with 99 additions and 117 deletions
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  1. 4
      selfdrive/car/body/interface.py
  2. 8
      selfdrive/car/chrysler/carstate.py
  3. 10
      selfdrive/car/chrysler/interface.py
  4. 7
      selfdrive/car/ford/carstate.py
  5. 9
      selfdrive/car/ford/interface.py
  6. 22
      selfdrive/car/gm/carstate.py
  7. 21
      selfdrive/car/gm/interface.py
  8. 17
      selfdrive/car/honda/carstate.py
  9. 18
      selfdrive/car/honda/interface.py
  10. 16
      selfdrive/car/hyundai/carstate.py
  11. 13
      selfdrive/car/hyundai/interface.py
  12. 9
      selfdrive/car/mazda/carstate.py
  13. 10
      selfdrive/car/mazda/interface.py
  14. 8
      selfdrive/car/nissan/carstate.py
  15. 10
      selfdrive/car/nissan/interface.py
  16. 5
      selfdrive/car/subaru/interface.py
  17. 4
      selfdrive/car/tesla/interface.py
  18. 11
      selfdrive/car/toyota/carstate.py
  19. 10
      selfdrive/car/toyota/interface.py
  20. 4
      selfdrive/car/volkswagen/interface.py

4
selfdrive/car/body/interface.py
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@ -26,6 +26,4 @@ class CarInterface(CarInterfaceBase):
return ret
def _update(self):
ret = self.CS.update(self.cp)
return ret
return self.CS.update(self.cp)

8
selfdrive/car/chrysler/carstate.py
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@ -1,10 +1,13 @@
from cereal import car
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from openpilot.selfdrive.car import create_button_events
from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
ButtonType = car.CarState.ButtonEvent.Type
class CarState(CarStateBase):
def __init__(self, CP):
@ -21,14 +24,13 @@ class CarState(CarStateBase):
else:
self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
self.prev_distance_button = 0
self.distance_button = 0
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
self.prev_distance_button = self.distance_button
prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
# lock info
@ -101,6 +103,8 @@ class CarState(CarStateBase):
self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
return ret
@staticmethod

10
selfdrive/car/chrysler/interface.py
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@ -1,12 +1,10 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
@ -77,8 +75,4 @@ class CarInterface(CarInterfaceBase):
return ret
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam)
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
return ret
return self.CS.update(self.cp, self.cp_cam)

7
selfdrive/car/ford/carstate.py
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@ -1,11 +1,13 @@
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import create_button_events
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
from openpilot.selfdrive.car.interfaces import CarStateBase
ButtonType = car.CarState.ButtonEvent.Type
GearShifter = car.CarState.GearShifter
TransmissionType = car.CarParams.TransmissionType
@ -17,7 +19,6 @@ class CarState(CarStateBase):
if CP.transmissionType == TransmissionType.automatic:
self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
self.prev_distance_button = 0
self.distance_button = 0
def update(self, cp, cp_cam):
@ -85,7 +86,7 @@ class CarState(CarStateBase):
ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
# TODO: block this going to the camera otherwise it will enable stock TJA
ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
self.prev_distance_button = self.distance_button
prev_distance_button = self.distance_button
self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
# lock info
@ -105,6 +106,8 @@ class CarState(CarStateBase):
self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
return ret
@staticmethod

9
selfdrive/car/ford/interface.py
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@ -1,12 +1,11 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
TransmissionType = car.CarParams.TransmissionType
@ -67,8 +66,4 @@ class CarInterface(CarInterfaceBase):
return ret
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam)
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
return ret
return self.CS.update(self.cp, self.cp_cam)

22
selfdrive/car/gm/carstate.py
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@ -2,15 +2,21 @@ import copy
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import create_button_events
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.helpers import mean
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CruiseButtons, STEER_THRESHOLD
ButtonType = car.CarState.ButtonEvent.Type
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
class CarState(CarStateBase):
def __init__(self, CP):
@ -26,14 +32,13 @@ class CarState(CarStateBase):
self.cam_lka_steering_cmd_counter = 0
self.buttons_counter = 0
self.prev_distance_button = 0
self.distance_button = 0
def update(self, pt_cp, cam_cp, loopback_cp):
ret = car.CarState.new_message()
self.prev_cruise_buttons = self.cruise_buttons
self.prev_distance_button = self.distance_button
prev_cruise_buttons = self.cruise_buttons
prev_distance_button = self.distance_button
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
@ -124,6 +129,15 @@ class CarState(CarStateBase):
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
ret.buttonEvents = [
*create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS),
*create_button_events(self.distance_button, prev_distance_button,
{1: ButtonType.gapAdjustCruise})
]
return ret
@staticmethod

21
selfdrive/car/gm/interface.py
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@ -5,19 +5,15 @@ from math import fabs, exp
from panda import Panda
from openpilot.common.basedir import BASEDIR
from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
from openpilot.selfdrive.car import get_safety_config, get_friction
from openpilot.selfdrive.car.conversions import Conversions as CV
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.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
ButtonType = car.CarState.ButtonEvent.Type
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
@ -200,15 +196,4 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS),
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
{1: ButtonType.gapAdjustCruise})
]
return ret
return self.CS.update(self.cp, self.cp_cam, self.cp_loopback)

17
selfdrive/car/honda/carstate.py
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@ -3,15 +3,21 @@ from collections import defaultdict
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import create_button_events
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.helpers import interp
from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
HondaFlags
HondaFlags, CruiseButtons, CruiseSettings
from openpilot.selfdrive.car.interfaces import CarStateBase
TransmissionType = car.CarParams.TransmissionType
ButtonType = car.CarState.ButtonEvent.Type
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
def get_can_messages(CP, gearbox_msg):
@ -112,8 +118,8 @@ class CarState(CarStateBase):
v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero
# update prevs, update must run once per loop
self.prev_cruise_buttons = self.cruise_buttons
self.prev_cruise_setting = self.cruise_setting
prev_cruise_buttons = self.cruise_buttons
prev_cruise_setting = self.cruise_setting
self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
@ -258,6 +264,11 @@ class CarState(CarStateBase):
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
ret.buttonEvents = [
*create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
]
return ret
def get_can_parser(self, CP):

18
selfdrive/car/honda/interface.py
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@ -4,19 +4,14 @@ from panda import Panda
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.helpers import interp
from openpilot.selfdrive.car.honda.hondacan import CanBus
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
from openpilot.selfdrive.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
ButtonType = car.CarState.ButtonEvent.Type
TransmissionType = car.CarParams.TransmissionType
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
class CarInterface(CarInterfaceBase):
@staticmethod
@ -222,11 +217,4 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
]
return ret
return self.CS.update(self.cp, self.cp_cam, self.cp_body)

16
selfdrive/car/hyundai/carstate.py
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@ -5,16 +5,22 @@ import math
from cereal import car
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from openpilot.selfdrive.car import create_button_events
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
CANFD_CAR, Buttons, CarControllerParams
from openpilot.selfdrive.car.interfaces import CarStateBase
ButtonType = car.CarState.ButtonEvent.Type
PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames
STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
class CarState(CarStateBase):
def __init__(self, CP):
@ -162,10 +168,13 @@ class CarState(CarStateBase):
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.prev_cruise_buttons = self.cruise_buttons[-1]
prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
if self.CP.openpilotLongitudinalControl:
ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
return ret
def update_canfd(self, cp, cp_cam):
@ -238,7 +247,7 @@ class CarState(CarStateBase):
if self.CP.flags & HyundaiFlags.EV:
ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
self.prev_cruise_buttons = self.cruise_buttons[-1]
prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
@ -248,6 +257,9 @@ class CarState(CarStateBase):
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
else cp_cam.vl["CAM_0x2a4"])
if self.CP.openpilotLongitudinalControl:
ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
return ret
def get_can_parser(self, CP):

13
selfdrive/car/hyundai/interface.py
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@ -1,19 +1,17 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, 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_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
Ecu = car.CarParams.Ecu
ButtonType = car.CarState.ButtonEvent.Type
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
class CarInterface(CarInterfaceBase):
@ -150,9 +148,4 @@ class CarInterface(CarInterfaceBase):
disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam)
if self.CS.CP.openpilotLongitudinalControl:
ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
return ret
return self.CS.update(self.cp, self.cp_cam)

9
selfdrive/car/mazda/carstate.py
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@ -1,10 +1,13 @@
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import create_button_events
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
ButtonType = car.CarState.ButtonEvent.Type
class CarState(CarStateBase):
def __init__(self, CP):
@ -19,14 +22,13 @@ class CarState(CarStateBase):
self.lkas_allowed_speed = False
self.lkas_disabled = False
self.prev_distance_button = 0
self.distance_button = 0
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
self.prev_distance_button = self.distance_button
prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
ret.wheelSpeeds = self.get_wheel_speeds(
@ -111,6 +113,9 @@ class CarState(CarStateBase):
self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
# TODO: add button types for inc and dec
ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
return ret
@staticmethod

10
selfdrive/car/mazda/interface.py
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@ -1,11 +1,10 @@
#!/usr/bin/env python3
from cereal import car
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@ -32,9 +31,4 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam)
# TODO: add button types for inc and dec
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
return ret
return self.CS.update(self.cp, self.cp_cam)

8
selfdrive/car/nissan/carstate.py
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@ -3,10 +3,13 @@ from collections import deque
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import create_button_events
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
ButtonType = car.CarState.ButtonEvent.Type
TORQUE_SAMPLES = 12
@ -21,13 +24,12 @@ 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
prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
@ -122,6 +124,8 @@ class CarState(CarStateBase):
self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
return ret
@staticmethod

10
selfdrive/car/nissan/interface.py
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@ -1,11 +1,9 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car import 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):
@ -30,8 +28,4 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self):
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})
return ret
return self.CS.update(self.cp, self.cp_adas, self.cp_cam)

5
selfdrive/car/subaru/interface.py
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@ -98,10 +98,7 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
return ret
return self.CS.update(self.cp, self.cp_cam, self.cp_body)
@staticmethod
def init(CP, can_recv, can_send):

4
selfdrive/car/tesla/interface.py
Unescape View File

@ -40,6 +40,4 @@ class CarInterface(CarInterfaceBase):
return ret
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam)
return ret
return self.CS.update(self.cp, self.cp_cam)

11
selfdrive/car/toyota/carstate.py
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@ -3,7 +3,7 @@ import copy
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import DT_CTRL
from openpilot.selfdrive.car import DT_CTRL, create_button_events
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.filter_simple import FirstOrderFilter
from openpilot.selfdrive.car.helpers import mean
@ -11,6 +11,7 @@ from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
ButtonType = car.CarState.ButtonEvent.Type
SteerControlType = car.CarParams.SteerControlType
# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
@ -40,7 +41,6 @@ class CarState(CarStateBase):
self.accurate_steer_angle_seen = False
self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
self.prev_distance_button = 0
self.distance_button = 0
self.pcm_follow_distance = 0
@ -172,9 +172,10 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
# distance button is wired to the ACC module (camera or radar)
self.prev_distance_button = self.distance_button
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
prev_distance_button = self.distance_button
self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
return ret

10
selfdrive/car/toyota/interface.py
Unescape View File

@ -3,11 +3,10 @@ from panda import Panda
from panda.python import uds
from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
SteerControlType = car.CarParams.SteerControlType
@ -145,9 +144,4 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam)
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
return ret
return self.CS.update(self.cp, self.cp_cam)

4
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -99,6 +99,4 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
return ret
return self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)

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