Move events out of car interfaces (#33280)

* chrysler down

* honda and ford

* we can pass the class for this

* do the rest

* clean that up

* remove EventName

* fix CI

* move smallest bodies to top

* rm todo

* eps_timer_soft_disable_alert is too ingrained in carcontroller

* re-did everything w/ no diff (except just passing cereal instead of class)

.importlinter

@@ -25,7 +25,6 @@ forbidden_modules =
     openpilot.tinygrad
 ignore_imports =
     # remove these
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
     openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
     openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
     openpilot.selfdrive.car.docs -> openpilot.common.basedir
@@ -62,4 +61,5 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
+    openpilot.selfdrive.car.car_specific -> openpilot.selfdrive.controls.lib.events
 unmatched_ignore_imports_alerting = warn

selfdrive/car/__init__.py

@@ -24,7 +24,6 @@ DT_CTRL = 0.01  # car state and control loop timestep (s)
 STD_CARGO_KG = 136.
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
 
 

selfdrive/car/car_specific.py

@@ -0,0 +1,238 @@
+from cereal import car
+from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car.interfaces import MAX_CTRL_SPEED
+from openpilot.selfdrive.car.volkswagen.values import CarControllerParams as VWCarControllerParams
+from openpilot.selfdrive.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
+
+from openpilot.selfdrive.controls.lib.events import Events
+
+ButtonType = car.CarState.ButtonEvent.Type
+GearShifter = car.CarState.GearShifter
+EventName = car.CarEvent.EventName
+NetworkLocation = car.CarParams.NetworkLocation
+
+
+class CarSpecificEvents:
+  def __init__(self, CP: car.CarParams):
+    self.CP = CP
+
+    self.steering_unpressed = 0
+    self.low_speed_alert = False
+    self.no_steer_warning = False
+    self.silent_steer_warning = True
+
+  def update(self, CS, CS_prev, CC, CC_prev):
+    if self.CP.carName in ('body', 'mock'):
+      events = Events()
+
+    elif self.CP.carName in ('tesla', 'subaru'):
+      events = self.create_common_events(CS.out, CS_prev)
+
+    elif self.CP.carName == 'ford':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.manumatic])
+
+    elif self.CP.carName == 'nissan':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
+
+      if CS.lkas_enabled:
+        events.add(EventName.invalidLkasSetting)
+
+    elif self.CP.carName == 'mazda':
+      events = self.create_common_events(CS.out, CS_prev)
+
+      if CS.lkas_disabled:
+        events.add(EventName.lkasDisabled)
+      elif CS.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+    elif self.CP.carName == 'chrysler':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
+
+      # Low speed steer alert hysteresis logic
+      if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5):
+        self.low_speed_alert = True
+      elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+    elif self.CP.carName == 'honda':
+      events = self.create_common_events(CS.out, CS_prev, pcm_enable=False)
+
+      if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed:
+        events.add(EventName.belowEngageSpeed)
+
+      if self.CP.pcmCruise:
+        # we engage when pcm is active (rising edge)
+        if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled:
+          events.add(EventName.pcmEnable)
+        elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
+          # it can happen that car cruise disables while comma system is enabled: need to
+          # keep braking if needed or if the speed is very low
+          if CS.out.vEgo < self.CP.minEnableSpeed + 2.:
+            # non loud alert if cruise disables below 25mph as expected (+ a little margin)
+            events.add(EventName.speedTooLow)
+          else:
+            events.add(EventName.cruiseDisabled)
+      if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
+        events.add(EventName.manualRestart)
+
+    elif self.CP.carName == 'toyota':
+      events = self.create_common_events(CS.out, CS_prev)
+
+      if self.CP.openpilotLongitudinalControl:
+        if CS.out.cruiseState.standstill and not CS.out.brakePressed:
+          events.add(EventName.resumeRequired)
+        if CS.low_speed_lockout:
+          events.add(EventName.lowSpeedLockout)
+        if CS.out.vEgo < self.CP.minEnableSpeed:
+          events.add(EventName.belowEngageSpeed)
+          if CC_prev.actuators.accel > 0.3:
+            # some margin on the actuator to not false trigger cancellation while stopping
+            events.add(EventName.speedTooLow)
+          if CS.out.vEgo < 0.001:
+            # while in standstill, send a user alert
+            events.add(EventName.manualRestart)
+
+    elif self.CP.carName == 'gm':
+      # The ECM allows enabling on falling edge of set, but only rising edge of resume
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                                       GearShifter.eco, GearShifter.manumatic],
+                                         pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
+      if not self.CP.pcmCruise:
+        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.out.buttonEvents):
+          events.add(EventName.buttonEnable)
+
+      # Enabling at a standstill with brake is allowed
+      # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
+      below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward
+      if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
+                                         self.CP.networkLocation == NetworkLocation.fwdCamera):
+        events.add(EventName.belowEngageSpeed)
+      if CS.out.cruiseState.standstill:
+        events.add(EventName.resumeRequired)
+      if CS.out.vEgo < self.CP.minSteerSpeed:
+        events.add(EventName.belowSteerSpeed)
+
+    elif self.CP.carName == 'volkswagen':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+                                         pcm_enable=not self.CP.openpilotLongitudinalControl,
+                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
+
+      # Low speed steer alert hysteresis logic
+      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.out.vEgo < (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = True
+      elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+      if self.CP.openpilotLongitudinalControl:
+        if CS.out.vEgo < self.CP.minEnableSpeed + 0.5:
+          events.add(EventName.belowEngageSpeed)
+        if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
+          events.add(EventName.speedTooLow)
+
+      if CC.eps_timer_soft_disable_alert:
+        events.add(EventName.steerTimeLimit)
+
+    elif self.CP.carName == 'hyundai':
+      # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
+      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
+      # Main button also can trigger an engagement on these cars
+      allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons)
+      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
+
+      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
+      if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
+        self.low_speed_alert = True
+      if CS.out.vEgo > (self.CP.minSteerSpeed + 4.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+    else:
+      raise ValueError(f"Unsupported car: {self.CP.carName}")
+
+    return events
+
+  def create_common_events(self, CS, CS_prev, extra_gears=None, pcm_enable=True, allow_enable=True,
+                           enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+    events = Events()
+
+    if CS.doorOpen:
+      events.add(EventName.doorOpen)
+    if CS.seatbeltUnlatched:
+      events.add(EventName.seatbeltNotLatched)
+    if CS.gearShifter != GearShifter.drive and (extra_gears is None or
+       CS.gearShifter not in extra_gears):
+      events.add(EventName.wrongGear)
+    if CS.gearShifter == GearShifter.reverse:
+      events.add(EventName.reverseGear)
+    if not CS.cruiseState.available:
+      events.add(EventName.wrongCarMode)
+    if CS.espDisabled:
+      events.add(EventName.espDisabled)
+    if CS.espActive:
+      events.add(EventName.espActive)
+    if CS.stockFcw:
+      events.add(EventName.stockFcw)
+    if CS.stockAeb:
+      events.add(EventName.stockAeb)
+    if CS.vEgo > MAX_CTRL_SPEED:
+      events.add(EventName.speedTooHigh)
+    if CS.cruiseState.nonAdaptive:
+      events.add(EventName.wrongCruiseMode)
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
+      events.add(EventName.brakeHold)
+    if CS.parkingBrake:
+      events.add(EventName.parkBrake)
+    if CS.accFaulted:
+      events.add(EventName.accFaulted)
+    if CS.steeringPressed:
+      events.add(EventName.steerOverride)
+    if CS.brakePressed and CS.standstill:
+      events.add(EventName.preEnableStandstill)
+    if CS.gasPressed:
+      events.add(EventName.gasPressedOverride)
+    if CS.vehicleSensorsInvalid:
+      events.add(EventName.vehicleSensorsInvalid)
+
+    # Handle button presses
+    for b in CS.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 and falling edge of cancel for both stock and OP long
+      if b.type == ButtonType.cancel:
+        events.add(EventName.buttonCancel)
+
+    # Handle permanent and temporary steering faults
+    self.steering_unpressed = 0 if CS.steeringPressed else self.steering_unpressed + 1
+    if CS.steerFaultTemporary:
+      if CS.steeringPressed and (not CS_prev.steerFaultTemporary or self.no_steer_warning):
+        self.no_steer_warning = True
+      else:
+        self.no_steer_warning = False
+
+        # if the user overrode recently, show a less harsh alert
+        if self.silent_steer_warning or CS.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
+          self.silent_steer_warning = True
+          events.add(EventName.steerTempUnavailableSilent)
+        else:
+          events.add(EventName.steerTempUnavailable)
+    else:
+      self.no_steer_warning = False
+      self.silent_steer_warning = False
+    if CS.steerFaultPermanent:
+      events.add(EventName.steerUnavailable)
+
+    # we engage when pcm is active (rising edge)
+    # enabling can optionally be blocked by the car interface
+    if pcm_enable:
+      if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and allow_enable:
+        events.add(EventName.pcmEnable)
+      elif not CS.cruiseState.enabled:
+        events.add(EventName.pcmDisable)
+
+    return events

selfdrive/car/card.py

@@ -15,6 +15,7 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 from openpilot.selfdrive.car.fw_versions import ObdCallback
 from openpilot.selfdrive.car.car_helpers import get_car
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -131,6 +132,8 @@ class Car:
 
     self.events = Events()
 
+    self.car_events = CarSpecificEvents(self.CP)
+
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -157,6 +160,8 @@ class Car:
   def update_events(self, CS: car.CarState) -> car.CarState:
     self.events.clear()
 
+    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
+
     self.events.add_from_msg(CS.events)
 
     if self.CP.notCar:

selfdrive/car/chrysler/interface.py

@@ -81,17 +81,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    # events
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
-
-    # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
-      self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
-      self.low_speed_alert = False
-    if self.low_speed_alert:
-      events.add(car.CarEvent.EventName.belowSteerSpeed)
-
-    ret.events = events.to_msg()
-
     return ret

selfdrive/car/ford/interface.py

@@ -72,8 +72,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
-
-    ret.events = events.to_msg()
-
     return ret

selfdrive/car/gm/interface.py

@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -213,25 +212,4 @@ class CarInterface(CarInterfaceBase):
                               {1: ButtonType.gapAdjustCruise})
       ]
 
-    # The ECM allows enabling on falling edge of set, but only rising edge of resume
-    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
-                                                         GearShifter.eco, GearShifter.manumatic],
-                                       pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
-    if not self.CP.pcmCruise:
-      if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
-        events.add(EventName.buttonEnable)
-
-    # Enabling at a standstill with brake is allowed
-    # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-    below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
-    if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
-                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
-      events.add(EventName.belowEngageSpeed)
-    if ret.cruiseState.standstill:
-      events.add(EventName.resumeRequired)
-    if ret.vEgo < self.CP.minSteerSpeed:
-      events.add(EventName.belowSteerSpeed)
-
-    ret.events = events.to_msg()
-
     return ret

selfdrive/car/honda/interface.py

@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -230,26 +229,4 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
-    # events
-    events = self.create_common_events(ret, pcm_enable=False)
-    if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
-      events.add(EventName.belowEngageSpeed)
-
-    if self.CP.pcmCruise:
-      # we engage when pcm is active (rising edge)
-      if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
-        events.add(EventName.pcmEnable)
-      elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
-        # it can happen that car cruise disables while comma system is enabled: need to
-        # keep braking if needed or if the speed is very low
-        if ret.vEgo < self.CP.minEnableSpeed + 2.:
-          # non loud alert if cruise disables below 25mph as expected (+ a little margin)
-          events.add(EventName.speedTooLow)
-        else:
-          events.add(EventName.cruiseDisabled)
-    if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
-      events.add(EventName.manualRestart)
-
-    ret.events = events.to_msg()
-
     return ret

selfdrive/car/hyundai/interface.py

@@ -11,7 +11,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 Ecu = car.CarParams.Ecu
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 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}
@@ -156,20 +155,4 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.openpilotLongitudinalControl:
       ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
 
-    # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
-    # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
-    # Main button also can trigger an engagement on these cars
-    allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
-
-    # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
-    if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
-      self.low_speed_alert = True
-    if ret.vEgo > (self.CP.minSteerSpeed + 4.):
-      self.low_speed_alert = False
-    if self.low_speed_alert:
-      events.add(car.CarEvent.EventName.belowSteerSpeed)
-
-    ret.events = events.to_msg()
-
     return ret

selfdrive/car/interfaces.py

@@ -16,11 +16,8 @@ from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, Ca
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.events import Events
 
-ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
-EventName = car.CarEvent.EventName
 
 V_CRUISE_MAX = 145
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
@@ -91,10 +88,6 @@ class CarInterfaceBase(ABC):
     self.CP = CP
 
     self.frame = 0
-    self.steering_unpressed = 0
-    self.low_speed_alert = False
-    self.no_steer_warning = False
-    self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
     self.CS: CarStateBase = CarState(CP)
@@ -259,88 +252,6 @@ class CarInterfaceBase(ABC):
     return ret
 
 
-  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:
-      events.add(EventName.doorOpen)
-    if cs_out.seatbeltUnlatched:
-      events.add(EventName.seatbeltNotLatched)
-    if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
-       cs_out.gearShifter not in extra_gears):
-      events.add(EventName.wrongGear)
-    if cs_out.gearShifter == GearShifter.reverse:
-      events.add(EventName.reverseGear)
-    if not cs_out.cruiseState.available:
-      events.add(EventName.wrongCarMode)
-    if cs_out.espDisabled:
-      events.add(EventName.espDisabled)
-    if cs_out.espActive:
-      events.add(EventName.espActive)
-    if cs_out.stockFcw:
-      events.add(EventName.stockFcw)
-    if cs_out.stockAeb:
-      events.add(EventName.stockAeb)
-    if cs_out.vEgo > MAX_CTRL_SPEED:
-      events.add(EventName.speedTooHigh)
-    if cs_out.cruiseState.nonAdaptive:
-      events.add(EventName.wrongCruiseMode)
-    if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
-      events.add(EventName.brakeHold)
-    if cs_out.parkingBrake:
-      events.add(EventName.parkBrake)
-    if cs_out.accFaulted:
-      events.add(EventName.accFaulted)
-    if cs_out.steeringPressed:
-      events.add(EventName.steerOverride)
-    if cs_out.brakePressed and cs_out.standstill:
-      events.add(EventName.preEnableStandstill)
-    if cs_out.gasPressed:
-      events.add(EventName.gasPressedOverride)
-    if cs_out.vehicleSensorsInvalid:
-      events.add(EventName.vehicleSensorsInvalid)
-
-    # Handle button presses
-    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 and falling edge of cancel for both stock and OP long
-      if b.type == ButtonType.cancel:
-        events.add(EventName.buttonCancel)
-
-    # Handle permanent and temporary steering faults
-    self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
-    if cs_out.steerFaultTemporary:
-      if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning):
-        self.no_steer_warning = True
-      else:
-        self.no_steer_warning = False
-
-        # if the user overrode recently, show a less harsh alert
-        if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
-          self.silent_steer_warning = True
-          events.add(EventName.steerTempUnavailableSilent)
-        else:
-          events.add(EventName.steerTempUnavailable)
-    else:
-      self.no_steer_warning = False
-      self.silent_steer_warning = False
-    if cs_out.steerFaultPermanent:
-      events.add(EventName.steerUnavailable)
-
-    # we engage when pcm is active (rising edge)
-    # enabling can optionally be blocked by the car interface
-    if pcm_enable:
-      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
-        events.add(EventName.pcmEnable)
-      elif not cs_out.cruiseState.enabled:
-        events.add(EventName.pcmDisable)
-
-    return events
-
-
 class RadarInterfaceBase(ABC):
   def __init__(self, CP: car.CarParams):
     self.CP = CP

selfdrive/car/mazda/interface.py

@@ -6,7 +6,6 @@ from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
 
@@ -37,14 +36,4 @@ class CarInterface(CarInterfaceBase):
      # 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})
 
-    # events
-    events = self.create_common_events(ret)
-
-    if self.CS.lkas_disabled:
-      events.add(EventName.lkasDisabled)
-    elif self.CS.low_speed_alert:
-      events.add(EventName.belowSteerSpeed)
-
-    ret.events = events.to_msg()
-
     return ret

selfdrive/car/nissan/interface.py

@@ -34,11 +34,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
-
-    if self.CS.lkas_enabled:
-      events.add(car.CarEvent.EventName.invalidLkasSetting)
-
-    ret.events = events.to_msg()
-
     return ret

selfdrive/car/subaru/interface.py

@@ -101,8 +101,6 @@ class CarInterface(CarInterfaceBase):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
-    ret.events = self.create_common_events(ret).to_msg()
-
     return ret
 
   @staticmethod

selfdrive/car/tesla/interface.py

@@ -42,6 +42,4 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.events = self.create_common_events(ret).to_msg()
-
     return ret

selfdrive/car/toyota/interface.py

@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 SteerControlType = car.CarParams.SteerControlType
 
 
@@ -151,23 +150,4 @@ class CarInterface(CarInterfaceBase):
     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})
 
-    # events
-    events = self.create_common_events(ret)
-
-    if self.CP.openpilotLongitudinalControl:
-      if ret.cruiseState.standstill and not ret.brakePressed:
-        events.add(EventName.resumeRequired)
-      if self.CS.low_speed_lockout:
-        events.add(EventName.lowSpeedLockout)
-      if ret.vEgo < self.CP.minEnableSpeed:
-        events.add(EventName.belowEngageSpeed)
-        if c.actuators.accel > 0.3:
-          # some margin on the actuator to not false trigger cancellation while stopping
-          events.add(EventName.speedTooLow)
-        if ret.vEgo < 0.001:
-          # while in standstill, send a user alert
-          events.add(EventName.manualRestart)
-
-    ret.events = events.to_msg()
-
     return ret

selfdrive/car/volkswagen/interface.py

@@ -2,10 +2,9 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
+from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, VolkswagenFlags
 
 ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
 
 
 class CarInterface(CarInterfaceBase):
@@ -104,28 +103,5 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     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,
-                                       enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
-
-    # Low speed steer alert hysteresis logic
-    if (self.CP.minSteerSpeed - 1e-3) > CarControllerParams.DEFAULT_MIN_STEER_SPEED and ret.vEgo < (self.CP.minSteerSpeed + 1.):
-      self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
-      self.low_speed_alert = False
-    if self.low_speed_alert:
-      events.add(EventName.belowSteerSpeed)
-
-    if self.CS.CP.openpilotLongitudinalControl:
-      if ret.vEgo < self.CP.minEnableSpeed + 0.5:
-        events.add(EventName.belowEngageSpeed)
-      if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
-        events.add(EventName.speedTooLow)
-
-    if self.CC.eps_timer_soft_disable_alert:
-      events.add(EventName.steerTimeLimit)
-
-    ret.events = events.to_msg()
-
     return ret