card: move all car events (#32427)

* move last event over

* fix
old-commit-hash: 8f46028bd4

selfdrive/car/card.py

@@ -14,11 +14,13 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper
 from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
 
 EventName = car.CarEvent.EventName
+ButtonType = car.CarState.ButtonEvent.Type
 
 
 class CarD:
@@ -33,6 +35,7 @@ class CarD:
     self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
 
     self.CC_prev = car.CarControl.new_message()
+    self.CS_prev = car.CarState.new_message()
 
     self.last_actuators = None
 
@@ -76,8 +79,8 @@ class CarD:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.CS_prev = car.CarState.new_message()
     self.events = Events()
+    self.v_cruise_helper = VCruiseHelper(self.CP)
 
   def initialize(self):
     """Initialize CarInterface, once controls are ready"""
@@ -118,6 +121,11 @@ class CarD:
 
     self.events.add_from_msg(CS.events)
 
+    # Block resume if cruise never previously enabled
+    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
+    if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
+      self.events.add(EventName.resumeBlocked)
+
     # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
     if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \

selfdrive/controls/controlsd.py

@@ -21,7 +21,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.car.car_helpers import get_startup_event
 from openpilot.selfdrive.car.card import CarD
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -143,7 +143,6 @@ class Controls:
     self.desired_curvature = 0.0
     self.experimental_mode = False
     self.personality = self.read_personality_param()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
 
     self.can_log_mono_time = 0
@@ -169,7 +168,7 @@ class Controls:
       controls_state = self.params.get("ReplayControlsState")
       if controls_state is not None:
         with log.ControlsState.from_bytes(controls_state) as controls_state:
-          self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
+          self.card.v_cruise_helper.v_cruise_kph = controls_state.vCruise
 
       if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
         self.state = State.enabled
@@ -198,11 +197,6 @@ class Controls:
     if self.CP.passive:
       return
 
-    # Block resume if cruise never previously enabled
-    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
-    if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
-      self.events.add(EventName.resumeBlocked)
-
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
@@ -431,7 +425,7 @@ class Controls:
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
-    self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
+    self.card.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -506,7 +500,7 @@ class Controls:
           else:
             self.state = State.enabled
           self.current_alert_types.append(ET.ENABLE)
-          self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+          self.card.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -562,7 +556,7 @@ class Controls:
 
     if not self.joystick_mode:
       # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
+      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.card.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
       t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 
@@ -665,7 +659,7 @@ class Controls:
       CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
 
     hudControl = CC.hudControl
-    hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
+    hudControl.setSpeed = float(self.card.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
@@ -749,8 +743,8 @@ class Controls:
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.vPid = float(self.LoC.v_pid)
-    controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
-    controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
+    controlsState.vCruise = float(self.card.v_cruise_helper.v_cruise_kph)
+    controlsState.vCruiseCluster = float(self.card.v_cruise_helper.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)