Carstate: Parse follow distance button from steering wheel

selfdrive/car/chrysler/carstate.py

@@ -25,6 +25,9 @@ def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+
     # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_FR"],

selfdrive/car/chrysler/interface.py

@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -90,6 +92,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    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])
 

selfdrive/car/ford/carstate.py

@@ -23,6 +23,9 @@ def __init__(self, CP):
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
+    self.prev_distance_buttons = self.distance_button
+    self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
+
     # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums,
     # this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem.
     # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants

selfdrive/car/ford/interface.py

@@ -1,11 +1,12 @@
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
+ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
 
@@ -102,6 +103,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    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])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)

selfdrive/car/gm/carstate.py

@@ -30,7 +30,9 @@ def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
+    self.prev_distance_button = self.distance_button
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0

selfdrive/car/gm/interface.py

@@ -258,10 +258,16 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
+    cruise_btns_events = []
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
-                                              unpressed_btn=CruiseButtons.UNPRESS)
+      cruise_btns_events = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
+                                                unpressed_btn=CruiseButtons.UNPRESS)
+
+    distance_btn_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
+                                               {1: ButtonType.gapAdjustCruise})
+
+    ret.buttonEvents = [*cruise_btns_events, *distance_btn_events]
 
     # 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,

selfdrive/car/honda/interface.py

@@ -3,8 +3,8 @@
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.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 openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
+  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -15,6 +15,7 @@
 TransmissionType = car.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
 
 
 class CarInterface(CarInterfaceBase):
@@ -313,7 +314,7 @@ def _update(self, c):
 
     ret.buttonEvents = [
       *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
-      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}),
+      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
     # events

selfdrive/car/honda/values.py

@@ -59,6 +59,11 @@ class CruiseButtons:
   MAIN = 1
 
 
+class CruiseSettings:
+  DISTANCE = 3
+  LKAS = 1
+
+
 # See dbc files for info on values
 VISUAL_HUD = {
   VisualAlert.none: 0,

selfdrive/car/interfaces.py

@@ -336,6 +336,8 @@ def __init__(self, CP):
     self.right_blinker_prev = False
     self.cluster_speed_hyst_gap = 0.0
     self.cluster_min_speed = 0.0  # min speed before dropping to 0
+    self.distance_button = 0
+    self.prev_distance_button = 0
 
     Q = [[0.0, 0.0], [0.0, 100.0]]
     R = 0.3

selfdrive/car/mazda/carstate.py

@@ -21,6 +21,10 @@ def __init__(self, CP):
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
+
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
+
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["WHEEL_SPEEDS"]["FL"],
       cp.vl["WHEEL_SPEEDS"]["FR"],

selfdrive/car/mazda/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -52,6 +52,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     # events
     events = self.create_common_events(ret)
 

selfdrive/car/nissan/carstate.py

@@ -23,6 +23,9 @@ def __init__(self, CP):
   def update(self, cp, cp_adas, cp_cam):
     ret = car.CarState.new_message()
 
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
+
     if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
       ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
     elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):

selfdrive/car/nissan/interface.py

@@ -1,9 +1,11 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -47,6 +49,8 @@ def _update(self, c):
     be.type = car.CarState.ButtonEvent.Type.accelCruise
     buttonEvents.append(be)
 
+    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:

selfdrive/car/subaru/carstate.py

@@ -116,6 +116,12 @@ def update(self, cp, cp_cam, cp_body):
     if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
       self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
 
+    self.prev_distance_button = self.distance_button
+    if self.car_fingerprint in PREGLOBAL_CARS:
+      self.distance_button = cp_cam.vl["ES_Distance"]["Distance_Swap"]
+    elif self.car_fingerprint not in HYBRID_CARS:
+      self.distance_button = cp_es_distance.vl["ES_Distance"]["Distance_Swap"]
+
     return ret
 
   @staticmethod

selfdrive/car/subaru/interface.py

@@ -1,10 +1,11 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
 
+ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
 
@@ -140,6 +141,9 @@ def _update(self, c):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
+    if self.CP.carFingerprint not in HYBRID_CARS:
+      ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     ret.events = self.create_common_events(ret).to_msg()
 
     return ret

selfdrive/car/toyota/carstate.py

@@ -160,6 +160,13 @@ def update(self, cp, cp_cam):
     if self.CP.carFingerprint != CAR.PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
+    if self.CP.carFingerprint in TSS2_CAR or (self.CP.flags & ToyotaFlags.SMART_DSU):
+      self.prev_distance_button = self.distance_button
+      dist_bus = cp if self.CP.flags & ToyotaFlags.SMART_DSU else cp_acc
+      dist_src = "SDSU" if self.CP.flags & ToyotaFlags.SMART_DSU else "ACC_CONTROL"
+      dist_sig = "FD_BUTTON" if self.CP.flags & ToyotaFlags.SMART_DSU else "DISTANCE"
+      self.distance_button = dist_bus.vl[dist_src][dist_sig]
+
     return ret
 
   @staticmethod
@@ -207,6 +214,9 @@ def get_can_parser(CP):
         ("PRE_COLLISION", 33),
       ]
 
+    if CP.flags & ToyotaFlags.SMART_DSU:
+      messages.append(("SDSU", 33))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod

selfdrive/car/toyota/interface.py

@@ -4,10 +4,11 @@
 from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                         MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 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
 
@@ -287,6 +288,8 @@ def init(CP, logcan, sendcan):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     # events
     events = self.create_common_events(ret)