From a69e1715d4daa1eea41d15764a763d082e249235 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 3 Jun 2021 01:49:33 -0700
Subject: [PATCH] Honda: cleanup enable logic (#20749)

---
 selfdrive/car/honda/interface.py         | 29 ++++--------------------
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 5 insertions(+), 26 deletions(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 8e3a2ed562..f2b4858b74 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -2,10 +2,8 @@
 import numpy as np
 from cereal import car
 from common.numpy_fast import clip, interp
-from common.realtime import DT_CTRL
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.events import ET
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.controls.lib.longitudinal_planner import _A_CRUISE_MAX_V_FOLLOWING
@@ -75,9 +73,6 @@ class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
-    self.last_enable_pressed = 0
-    self.last_enable_sent = 0
-
     if self.CS.CP.carFingerprint == CAR.ACURA_ILX:
       self.compute_gb = get_compute_gb_acura()
     else:
@@ -488,7 +483,7 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = buttonEvents
 
     # events
-    events = self.create_common_events(ret, pcm_enable=False)
+    events = self.create_common_events(ret, pcm_enable=self.CP.enableCruise)
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
     if self.CS.brake_hold and self.CS.CP.openpilotLongitudinalControl:
@@ -511,34 +506,18 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
-    cur_time = self.frame * DT_CTRL
-    enable_pressed = False
     # handle button presses
     for b in ret.buttonEvents:
 
       # do enable on both accel and decel buttons
       if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
-        self.last_enable_pressed = cur_time
-        enable_pressed = True
+        if not self.CP.enableCruise:
+          events.add(EventName.buttonEnable)
 
       # do disable on button down
-      if b.type == "cancel" and b.pressed:
+      if b.type == ButtonType.cancel and b.pressed:
         events.add(EventName.buttonCancel)
 
-    if self.CP.enableCruise:
-      # KEEP THIS EVENT LAST! send enable event if button is pressed and there are
-      # NO_ENTRY events, so controlsd will display alerts. Also not send enable events
-      # too close in time, so a no_entry will not be followed by another one.
-      # TODO: button press should be the only thing that triggers enable
-      if ((cur_time - self.last_enable_pressed) < 0.2 and
-          (cur_time - self.last_enable_sent) > 0.2 and
-          ret.cruiseState.enabled) or \
-         (enable_pressed and events.any(ET.NO_ENTRY)):
-        events.add(EventName.buttonEnable)
-        self.last_enable_sent = cur_time
-    elif enable_pressed:
-      events.add(EventName.buttonEnable)
-
     ret.events = events.to_msg()
 
     self.CS.out = ret.as_reader()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 58f4b866ee..e6c001b1ad 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-de4fcc981f5a0ec6c43d9ee0918cdf9c3dbde494
+7751b7e14e53d1712e87c29c6bd8653d1bd03c71
\ No newline at end of file