From c5766e9f201330b6b80e8d03172ef753c97fb77b Mon Sep 17 00:00:00 2001
From: Jafar Al-Gharaibeh <to.jafar@gmail.com>
Date: Fri, 1 May 2020 01:12:16 -0500
Subject: [PATCH] Drop redundant call, use Ecu, move warning to carstate, fix
 cruise speed

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
---
 selfdrive/car/mazda/carstate.py  | 17 +++++++++++------
 selfdrive/car/mazda/interface.py |  9 ++-------
 selfdrive/car/mazda/values.py    |  8 ++++----
 3 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index bfa1a56f60..bf638c028f 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -17,7 +17,7 @@ class CarState(CarStateBase):
     super().__init__(CP)
 
     self.steer_lkas = STEER_LKAS()
-
+    self.cruise_speed = 0
     self.acc_active_last = False
     self.speed_kph = 0
     self.lkas_speed_lock = False
@@ -97,7 +97,7 @@ class CarState(CarStateBase):
                 cp.vl["CRZ_BTNS"]['SET_P'],
                 cp.vl["CRZ_BTNS"]['SET_M']]):
       self.acc_active = True
-      ret.cruiseState.speed = self.speed_kph
+      self.cruise_speed = self.speed_kph
       if self.low_speed_lockout_last:
         self.acc_press_update = True
     elif self.acc_press_update:
@@ -108,19 +108,24 @@ class CarState(CarStateBase):
       self.acc_active = False
 
     if self.acc_active != self.acc_active_last:
-      ret.cruiseState.speed = self.speed_kph
       self.acc_active_last = self.acc_active
 
     ret.cruiseState.enabled = self.acc_active
 
-    self.steer_error = False
+    if ret.cruiseState.enabled:
+      ret.cruiseState.speed = self.cruise_speed
+      if self.lkas_speed_lock:
+        ret.steerWarning = True
+    else:
+      ret.cruiseState.speed = 0
+
+
     self.brake_error = False
 
     self.low_speed_lockout_last = self.low_speed_lockout
 
-    #self.steer_not_allowed = self.steer_lkas.block == 1
-
     self.cam_lkas = cp_cam.vl["CAM_LKAS"]
+    self.steer_error = cp_cam.vl["CAM_LKAS"]['ERR_BIT_1'] == 1
 
     return ret
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index ea4fbfbd4d..9bbc0e0a85 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
-from selfdrive.car.mazda.values import CAR,  FINGERPRINTS, ECU_FINGERPRINT, ECU
+from selfdrive.car.mazda.values import CAR,  FINGERPRINTS, ECU_FINGERPRINT, Ecu
 from selfdrive.car.mazda.carstate import CarState
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -66,7 +66,7 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
 
     return ret
 
@@ -82,8 +82,6 @@ class CarInterface(CarInterfaceBase):
     # TODO: button presses
     ret.buttonEvents = []
 
-    events = self.create_common_events(ret)
-
     if ret.cruiseState.enabled and self.CS.lkas_speed_lock:
       self.low_speed_alert = True
     else:
@@ -97,9 +95,6 @@ class CarInterface(CarInterfaceBase):
       if ret.cruiseState.enabled:
         ret.cruiseState.enabled = False
 
-    if self.low_speed_alert:
-      events.append(create_event('belowSteerSpeed', [ET.WARNING]))
-
     if self.CS.steer_lkas.handsoff:
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
 
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 63af2ec112..70f477e558 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,4 +1,7 @@
 from selfdrive.car import dbc_dict
+from cereal import car
+Ecu = car.CarParams.Ecu
+
 
 # Steer torque limits
 
@@ -55,11 +58,8 @@ FINGERPRINTS = {
 
 }
 
-class ECU:
-  CAM = 0
-
 ECU_FINGERPRINT = {
-  ECU.CAM: [579],   # steer torque cmd
+  Ecu.fwdCamera: [579],   # steer torque cmd
 }