card: create pedal pressed event (#32417)

* card: create pedal pressed event (#32393)

* move pedalPressed to card

* rm

* needs to be a builder

* move these

* clean up

* reader later

* Update ref_commit

* moved to card

selfdrive/car/card.py

@@ -14,9 +14,12 @@ 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.events import Events
 
 REPLAY = "REPLAY" in os.environ
 
+EventName = car.CarEvent.EventName
+
 
 class CarD:
   CI: CarInterfaceBase
@@ -47,9 +50,9 @@ class CarD:
       self.CI, self.CP = CI, CI.CP
 
     # set alternative experiences from parameters
-    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not disengage_on_accelerator:
+    if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
@@ -73,6 +76,9 @@ 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()
+
   def initialize(self):
     """Initialize CarInterface, once controls are ready"""
     self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
@@ -100,10 +106,26 @@ class CarD:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
+    self.update_events(CS)
     self.state_publish(CS)
 
+    CS = CS.as_reader()
+    self.CS_prev = CS
     return CS
 
+  def update_events(self, CS: car.CarState) -> car.CarState:
+    self.events.clear()
+
+    self.events.add_from_msg(CS.events)
+
+    # 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 \
+      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+      self.events.add(EventName.pedalPressed)
+
+    CS.events = self.events.to_msg()
+
   def state_publish(self, CS: car.CarState):
     """carState and carParams publish loop"""
 

selfdrive/car/interfaces.py

@@ -242,11 +242,10 @@ class CarInterfaceBase(ABC):
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
     # copy back for next iteration
-    reader = ret.as_reader()
     if self.CS is not None:
-      self.CS.out = reader
+      self.CS.out = ret.as_reader()
 
-    return reader
+    return ret
 
 
   def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,

selfdrive/car/tests/test_models.py

@@ -15,12 +15,12 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.card import CarD
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
-from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
@@ -406,8 +406,7 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    controlsd = Controls(CI=self.CI)
+    card = CarD(CI=self.CI)
-    controlsd.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -452,10 +451,10 @@ class TestCarModelBase(unittest.TestCase):
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
-        controlsd.update_events(CS)
+        card.update_events(CS)
-        controlsd.CS_prev = CS
+        card.CS_prev = CS
         button_enable = (any(evt.enable for evt in CS.events) and
-                         not any(evt == EventName.pedalPressed for evt in controlsd.events.names))
+                         not any(evt == EventName.pedalPressed for evt in card.events.names))
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()

selfdrive/controls/controlsd.py

@@ -96,7 +96,6 @@ class Controls:
     self.joystick_mode = self.params.get_bool("JoystickDebugMode")
 
     # read params
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
@@ -111,7 +110,6 @@ class Controls:
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
-    self.CS_prev = car.CarState.new_message()
     self.AM = AlertManager()
     self.events = Events()
 
@@ -205,12 +203,6 @@ class Controls:
     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 \
-      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
-      self.events.add(EventName.pedalPressed)
-
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
@@ -815,8 +807,6 @@ class Controls:
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
 
-    self.CS_prev = CS
-
   def read_personality_param(self):
     try:
       return int(self.params.get('LongitudinalPersonality'))

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-ef0c8cb36b9cda6381412493555c21a87360e539
+e5a385503e4307ae77c73736a602380b08e61334