Common button enable/cancel event creation (#25445)

* handle button presses in create_common_events

* remove from imports

* Handle

* Fix Honda (it hardcodes pcmCruise)

* Update selfdrive/car/volkswagen/interface.py

* Update selfdrive/car/volkswagen/interface.py

selfdrive/car/gm/interface.py

@@ -4,7 +4,7 @@ from math import fabs
 from panda import Panda
 
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -195,9 +195,6 @@ class CarInterface(CarInterfaceBase):
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/honda/interface.py

@@ -4,7 +4,7 @@ from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
-from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
 
@@ -352,9 +352,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
-    # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise))
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/hyundai/interface.py

@@ -4,7 +4,7 @@ from panda import Panda
 from common.conversions import Conversions as CV
 from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
 
@@ -326,6 +326,14 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
+      buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
+      # Handle CF_Clu_CruiseSwState changing buttons mid-press
+      if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
+        buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
+
+      ret.buttonEvents = buttonEvents
+
     # 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
@@ -335,15 +343,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
 
-    if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
-      buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
-      # Handle CF_Clu_CruiseSwState changing buttons mid-press
-      if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
-        buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
-
-      ret.buttonEvents = buttonEvents
-      events.events.extend(create_button_enable_events(ret.buttonEvents))
-
     # 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

selfdrive/car/interfaces.py

@@ -9,7 +9,7 @@ from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
-from selfdrive.car import gen_empty_fingerprint
+from selfdrive.car import create_button_enable_events, gen_empty_fingerprint
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -213,6 +213,9 @@ class CarInterfaceBase(ABC):
     if cs_out.accFaulted:
       events.add(EventName.accFaulted)
 
+    # Handle button presses
+    events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))
+
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
     if cs_out.steerFaultTemporary:

selfdrive/car/volkswagen/interface.py

@@ -1,12 +1,11 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \
                           gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
 
-
 EventName = car.CarEvent.EventName
 
 
@@ -225,7 +224,6 @@ class CarInterface(CarInterfaceBase):
       if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.speedTooLow)
 
-    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
     ret.events = events.to_msg()
 
     return ret