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Hyundai: Stock longitudinal: Prevent disengagement on cancel button release #34060

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Hyundai: Stock longitudinal: Prevent disengagement on cancel button release #34060

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Hyundai: Stock longitudinal: Prevent disengagement on cancel button r…
sunnyhaibin Nov 19, 2024
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sunnyhaibin Nov 19, 2024
2430b79
update
sunnyhaibin Nov 19, 2024
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where did this come from
sunnyhaibin Nov 19, 2024
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sunnyhaibin Nov 19, 2024
98d87be
Merge remote-tracking branch 'commaai/openpilot/master' into hyundai-…
sunnyhaibin Dec 18, 2024
ed4e2ab
Merge branch 'master' into hyundai-temp-button-fix
maxime-desroches Dec 19, 2024
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14 changes: 11 additions & 3 deletions selfdrive/car/car_specific.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@ def __init__(self, CP: structs.CarParams):
self.silent_steer_warning = True

self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
self.cancel_button: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)

def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
if self.CP.carName in ('body', 'mock'):
Expand Down Expand Up @@ -148,8 +149,13 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
# TODO: implement with proper solution to identify PAUSE/RESUME vs CANCEL button across different models
# Stock long: only allow cancel for rising edge
# OP long: allow cancel for both rising and falling edge
self.cancel_button.append(any(ev.type == ButtonType.cancel and ev.pressed if self.CP.pcmCruise else True for ev in CS.buttonEvents))
events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons),
allow_cancel=any(self.cancel_button))

# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
Expand All @@ -165,7 +171,8 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
return events

def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise),
allow_cancel=True):
events = Events()

if CS.doorOpen:
Expand Down Expand Up @@ -216,7 +223,8 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extr
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:
# Disable can optionally be blocked by the car interface
if b.type == ButtonType.cancel and allow_cancel:
events.add(EventName.buttonCancel)

# Handle permanent and temporary steering faults
Expand Down
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