From d1dee4625a9f47cdfa0a379f63daf652eb6b7e1f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 29 Nov 2022 17:34:10 -0800
Subject: [PATCH] controlsd: preEnable on brake at a standstill (#26273)

* pre-enable on brake at standstill

* test by getting rid of noTarget

* Update events.py

* rename

* stash what we got so far

* cmt

* not sure if best way to fix, but enabled with current states defs is fine

* no noEntry in preEnabled

* bumpcereal

* uncomment

* Update ref_commit

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: dbe512d167a51f02fe276e17a8794de2137d0e14
---
 cereal                                   | 2 +-
 selfdrive/controls/controlsd.py          | 5 ++++-
 selfdrive/controls/lib/events.py         | 4 ++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 4 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/cereal b/cereal
index 3bae09cf65..7f55399fde 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 3bae09cf6527674d7eda3a9956242aad94a8f3d2
+Subproject commit 7f55399fde0b6a70c1bf7df4f86b90b0060e31ac
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index d99357fbb6..e5c981aa6b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -249,6 +249,9 @@ class Controls:
       (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
       self.events.add(EventName.pedalPressed)
 
+    if CS.brakePressed and CS.standstill:
+      self.events.add(EventName.preEnableStandstill)
+
     if CS.gasPressed:
       self.events.add(EventName.gasPressedOverride)
 
@@ -579,7 +582,7 @@ class Controls:
     # Check which actuators can be enabled
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
-    CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
+    CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index ad10b8f0bd..5d5000ff54 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -615,9 +615,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
                               visual_alert=VisualAlert.brakePressed),
   },
 
-  EventName.pedalPressedPreEnable: {
+  EventName.preEnableStandstill: {
     ET.PRE_ENABLE: Alert(
-      "Release Pedal to Engage",
+      "Release Brake to Engage",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 71da0dff44..4641299458 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ddfaab44ae64a0d064b847e81080993b51b6b423
\ No newline at end of file
+f17412941a0e8229eea308c33189a5bdb1a17ae8