Loopback Resume Button

commaai · Jan 10, 2025 · b7c516d · b7c516d
1 parent 0877994
commit b7c516d
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Showing 2 changed files with 10 additions and 3 deletions.
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
@@ -25,6 +25,7 @@
 REPLAY = "REPLAY" in os.environ
 
 EventName = log.OnroadEvent.EventName
+ButtonType = car.CarState.ButtonEvent.Type
 
 # forward
 carlog.addHandler(ForwardingHandler(cloudlog))
@@ -73,6 +74,7 @@ def __init__(self, CI=None, RI=None) -> None:
 
     self.CC_prev = car.CarControl.new_message()
     self.initialized_prev = False
+    self.resume_prev = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
 
@@ -239,7 +241,7 @@ def step(self):
     CS, RD = self.state_update()
 
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.resume_prev)
 
     self.state_publish(CS, RD)
 
@@ -250,6 +252,11 @@ def step(self):
 
     self.initialized_prev = initialized
 
+    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents):
+      self.resume_prev = True
+    else:
+      self.resume_prev = False
+
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")

diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
@@ -120,14 +120,14 @@ def update_button_timers(self, CS, enabled):
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool, resume_prev: bool) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
 
     initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
 
-    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
+    if resume_prev and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
       self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))