Car Interfaces: Refactor button state tracking with ButtonTracker

opendbc/car/__init__.py

@@ -33,19 +33,26 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
   return val_steady
 
 
-def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, structs.CarState.ButtonEvent.Type],
-                         unpressed_btn: int = 0) -> list[structs.CarState.ButtonEvent]:
-  events: list[structs.CarState.ButtonEvent] = []
+class ButtonTracker:
+  def __init__(self):
+    self.prev_buttons: dict = {}
 
-  if cur_btn == prev_btn:
-    return events
+  def create_button_events(self, cur_btn: int, buttons_dict: dict[int, structs.CarState.ButtonEvent.Type],
+                           unpressed_btn: int = 0) -> list[structs.CarState.ButtonEvent]:
+    events: list[structs.CarState.ButtonEvent] = []
+
+    button = id(buttons_dict)
+    prev_btn = self.prev_buttons.get(button, unpressed_btn)
 
-  # Add events for button presses, multiple when a button switches without going to unpressed
-  for pressed, btn in ((False, prev_btn), (True, cur_btn)):
-    if btn != unpressed_btn:
-      events.append(structs.CarState.ButtonEvent(pressed=pressed,
-                                                 type=buttons_dict.get(btn, ButtonType.unknown)))
-  return events
+    if cur_btn != prev_btn:
+      # Add events for button presses, multiple when a button switches without going to unpressed
+      for pressed, btn in ((False, prev_btn), (True, cur_btn)):
+        if btn != unpressed_btn:
+          events.append(structs.CarState.ButtonEvent(pressed=pressed,
+                                                     type=buttons_dict.get(btn, ButtonType.unknown)))
+
+    self.prev_buttons[button] = cur_btn
+    return events
 
 
 def gen_empty_fingerprint():

opendbc/car/chrysler/carstate.py

@@ -1,6 +1,6 @@
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from opendbc.car import create_button_events, structs
+from opendbc.car import structs
 from opendbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
@@ -29,7 +29,6 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
 
     ret = structs.CarState()
 
-    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
 
     # lock info
@@ -102,7 +101,7 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = self.button_tracker.create_button_events(self.distance_button, {1: ButtonType.gapAdjustCruise})
 
     return ret
 

opendbc/car/ford/carstate.py

@@ -1,6 +1,6 @@
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from opendbc.car import create_button_events, structs
+from opendbc.car import structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.fordcan import CanBus
 from opendbc.car.ford.values import DBC, CarControllerParams, FordFlags
@@ -85,7 +85,6 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
     # TODO: block this going to the camera otherwise it will enable stock TJA
     ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
-    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
 
     # lock info
@@ -105,7 +104,7 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
     self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
 
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = self.button_tracker.create_button_events(self.distance_button, {1: ButtonType.gapAdjustCruise})
 
     return ret
 

opendbc/car/gm/carstate.py

@@ -1,7 +1,7 @@
 import copy
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from opendbc.car import create_button_events, structs
+from opendbc.car import structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.numpy_fast import mean
 from opendbc.car.interfaces import CarStateBase
@@ -37,7 +37,6 @@ def update(self, pt_cp, cam_cp, _, __, loopback_cp) -> structs.CarState:
     ret = structs.CarState()
 
     prev_cruise_buttons = self.cruise_buttons
-    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"]
@@ -132,10 +131,8 @@ def update(self, pt_cp, cam_cp, _, __, loopback_cp) -> structs.CarState:
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
       ret.buttonEvents = [
-        *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
-                              unpressed_btn=CruiseButtons.UNPRESS),
-        *create_button_events(self.distance_button, prev_distance_button,
-                              {1: ButtonType.gapAdjustCruise})
+        *self.button_tracker.create_button_events(self.cruise_buttons, BUTTONS_DICT, unpressed_btn=CruiseButtons.UNPRESS),
+        *self.button_tracker.create_button_events(self.distance_button, {1: ButtonType.gapAdjustCruise})
       ]
 
     return ret

opendbc/car/honda/carstate.py

@@ -2,7 +2,7 @@
 
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from opendbc.car import create_button_events, structs
+from opendbc.car import structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.numpy_fast import interp
 from opendbc.car.honda.hondacan import CanBus, get_cruise_speed_conversion
@@ -116,9 +116,6 @@ def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
     v_weight_v = [0., 1.]  # don't trust smooth speed at low values to avoid premature zero snapping
     v_weight_bp = [1., 6.]   # smooth blending, below ~0.6m/s the smooth speed snaps to zero
 
-    # update prevs, update must run once per loop
-    prev_cruise_buttons = self.cruise_buttons
-    prev_cruise_setting = self.cruise_setting
     self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
 
@@ -264,8 +261,8 @@ def update(self, cp, cp_cam, _, cp_body, __) -> structs.CarState:
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
     ret.buttonEvents = [
-      *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT),
-      *create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
+      *self.button_tracker.create_button_events(self.cruise_buttons, BUTTONS_DICT),
+      *self.button_tracker.create_button_events(self.cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
     return ret

opendbc/car/hyundai/carstate.py

@@ -4,7 +4,7 @@
 
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from opendbc.car import create_button_events, structs
+from opendbc.car import structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
@@ -167,12 +167,11 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
 
     if self.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
+      ret.buttonEvents = self.button_tracker.create_button_events(self.cruise_buttons[-1], BUTTONS_DICT)
 
     return ret
 
@@ -246,7 +245,6 @@ def update_canfd(self, cp, cp_cam) -> structs.CarState:
     if self.CP.flags & HyundaiFlags.EV:
       ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
 
-    prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
@@ -257,7 +255,7 @@ def update_canfd(self, cp, cp_cam) -> structs.CarState:
                                           else cp_cam.vl["CAM_0x2a4"])
 
     if self.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
+      ret.buttonEvents = self.button_tracker.create_button_events(self.cruise_buttons[-1], BUTTONS_DICT)
 
     return ret
 

opendbc/car/interfaces.py

@@ -9,7 +9,7 @@
 from collections.abc import Callable
 from functools import cache
 
-from opendbc.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
+from opendbc.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG, ButtonTracker
 from opendbc.car import structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.common.basedir import BASEDIR
@@ -284,6 +284,7 @@ def __init__(self, CP: structs.CarParams):
     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.button_tracker = ButtonTracker()
 
     Q = [[0.0, 0.0], [0.0, 100.0]]
     R = 0.3

opendbc/car/mazda/carstate.py

@@ -1,6 +1,6 @@
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from opendbc.car import create_button_events, structs
+from opendbc.car import structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
@@ -27,7 +27,6 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
 
     ret = structs.CarState()
 
-    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -113,7 +112,7 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
     # TODO: add button types for inc and dec
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = self.button_tracker.create_button_events(self.distance_button, {1: ButtonType.gapAdjustCruise})
 
     return ret
 

opendbc/car/nissan/carstate.py

@@ -2,7 +2,7 @@
 from collections import deque
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from opendbc.car import create_button_events, structs
+from opendbc.car import structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.nissan.values import CAR, DBC, CarControllerParams
@@ -28,7 +28,6 @@ def __init__(self, CP):
   def update(self, cp, cp_cam, cp_adas, *_) -> structs.CarState:
     ret = structs.CarState()
 
-    prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
 
     if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
@@ -123,7 +122,7 @@ def update(self, cp, cp_cam, cp_adas, *_) -> structs.CarState:
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = self.button_tracker.create_button_events(self.distance_button, {1: ButtonType.gapAdjustCruise})
 
     return ret
 

opendbc/car/toyota/carstate.py

@@ -2,7 +2,7 @@
 
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from opendbc.car import DT_CTRL, create_button_events, structs
+from opendbc.car import DT_CTRL, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.common.numpy_fast import mean
@@ -185,10 +185,9 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
 
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       # distance button is wired to the ACC module (camera or radar)
-      prev_distance_button = self.distance_button
       self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
 
-      ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+      ret.buttonEvents = self.button_tracker.create_button_events(self.distance_button, {1: ButtonType.gapAdjustCruise})
 
     return ret