Move gas/brake pedal event logic to controlsd (commaai#23850)

* move some state machine logic to controlsd

move some state machine logic to controlsd

* same order

same order

* move unsafeMode up

* disable at standstill

* save last CS

save last CS

* do we need to copy at all?

* don't copy

* rename

* Update selfdrive/controls/controlsd.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Revert "Update selfdrive/controls/controlsd.py"

This reverts commit 10bb51a.

* Update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
# Conflicts:
#	selfdrive/car/interfaces.py

Author: sshane

selfdrive/car/interfaces.py

@@ -74,7 +74,6 @@ def get_steer_feedforward_function(cls):
   def get_std_params(candidate, fingerprint):
     ret = car.CarParams.new_message()
     ret.carFingerprint = candidate
-    ret.unsafeMode = 1  # see panda/board/safety_declarations.h for allowed values
 
     # standard ALC params
     ret.steerControlType = car.CarParams.SteerControlType.torque
@@ -144,7 +143,6 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True):
     if cs_out.parkingBrake:
       events.add(EventName.parkBrake)
 
-
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
     if cs_out.steerFaultTemporary:
@@ -159,11 +157,6 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True):
     if cs_out.steerFaultPermanent:
       events.add(EventName.steerUnavailable)
 
-    # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
-    if (cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_gas) or \
-       (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
-      events.add(EventName.pedalPressed)
-
     # we engage when pcm is active (rising edge)
     if pcm_enable:
       if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:

selfdrive/controls/controlsd.py

@@ -94,6 +94,7 @@ def __init__(self, sm=None, pm=None, can_sock=None):
     get_one_can(self.can_sock)
 
     self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
+    self.CP.unsafeMode = 0  # see panda/board/safety_declarations.h for allowed values
 
     # read params
     self.is_metric = params.get_bool("IsMetric")
@@ -119,6 +120,7 @@ def __init__(self, sm=None, pm=None, can_sock=None):
     put_nonblocking("CarParamsCache", cp_bytes)
 
     self.CC = car.CarControl.new_message()
+    self.CS_prev = car.CarState.new_message()
     self.AM = AlertManager()
     self.events = Events()
 
@@ -192,6 +194,11 @@ def update_events(self, CS):
       self.events.add(EventName.controlsInitializing)
       return
 
+    # Disable on rising edge of gas or brake. Also disable on brake when speed > 0
+    if (CS.gasPressed and not self.CS_prev.gasPressed) or \
+      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)):
+      self.events.add(EventName.pedalPressed)
+
     self.events.add_from_msg(CS.events)
     self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
@@ -733,6 +740,7 @@ def step(self):
     self.prof.checkpoint("Sent")
 
     self.update_button_timers(CS.buttonEvents)
+    self.CS_prev = CS
 
   def controlsd_thread(self):
     while True:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6b5f707e5c58b0162044b2d5a07a35ec00296504
+927918307b45657df0a4ac0255c3e8e3dc62d7cd