MADS: better doorOpen event logic (commaai#65)

* MADS: better doorOpen event logic

* unnecessary

selfdrive/car/chrysler/interface.py

@@ -142,7 +142,7 @@ def _update(self, c):
     ret.buttonEvents = buttonEvents
 
     # events
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low], pcm_enable=False)
+    events = self.create_common_events(ret, c, extra_gears=[car.CarState.GearShifter.low], pcm_enable=False)
 
     events, ret = self.create_sp_events(self.CS, ret, events)
 

selfdrive/car/gm/interface.py

@@ -278,7 +278,7 @@ def _update(self, c):
     ret.buttonEvents = buttonEvents
 
     # 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,
+    events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low,
                                                          GearShifter.eco, GearShifter.manumatic],
                                        pcm_enable=False, enable_buttons=(ButtonType.decelCruise,))
     #if not self.CP.pcmCruise:

selfdrive/car/honda/interface.py

@@ -354,7 +354,7 @@ def _update(self, c):
     ret.buttonEvents = buttonEvents
 
     # events
-    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
+    events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
 
     events, ret = self.create_sp_events(self.CS, ret, events)
 

selfdrive/car/hyundai/interface.py

@@ -372,7 +372,7 @@ def _update(self, c):
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
     # Main button also can trigger an engagement on these cars
     allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.manumatic],
+    events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.manumatic],
                                        pcm_enable=False, allow_enable=allow_enable)
 
     events, ret = self.create_sp_events(self.CS, ret, events, main_enabled=True, allow_enable=allow_enable)

selfdrive/car/interfaces.py

@@ -271,11 +271,11 @@ def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState:
   def apply(self, c: car.CarControl, now_nanos: int) -> Tuple[car.CarControl.Actuators, List[bytes]]:
     pass
 
-  def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
+  def create_common_events(self, cs_out, c, extra_gears=None, pcm_enable=True, allow_enable=True,
                            enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 
-    if cs_out.doorOpen:
+    if cs_out.doorOpen and (c.latActive or c.longActive):
       events.add(EventName.doorOpen)
     if cs_out.seatbeltUnlatched and cs_out.gearShifter != GearShifter.park:
       events.add(EventName.seatbeltNotLatched)

selfdrive/car/mazda/interface.py

@@ -100,7 +100,7 @@ def _update(self, c):
     ret.buttonEvents = buttonEvents
 
     # events
-    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
+    events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
     events, ret = self.create_sp_events(self.CS, ret, events)

selfdrive/car/nissan/interface.py

@@ -87,7 +87,7 @@ def _update(self, c):
 
     ret.buttonEvents = buttonEvents
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
+    events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
     events, ret = self.create_sp_events(self.CS, ret, events)

selfdrive/car/subaru/interface.py

@@ -158,7 +158,7 @@ def _update(self, c):
 
     ret.buttonEvents = buttonEvents
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
+    events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
 
     events, ret = self.create_sp_events(self.CS, ret, events)
 

selfdrive/car/toyota/interface.py

@@ -336,7 +336,7 @@ def _update(self, c):
     ret.buttonEvents = buttonEvents
 
     # events
-    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
+    events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
     events, ret = self.create_sp_events(self.CS, ret, events)

selfdrive/car/volkswagen/interface.py

@@ -281,7 +281,7 @@ def _update(self, c):
 
     ret.buttonEvents = buttonEvents
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+    events = self.create_common_events(ret, c, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                        pcm_enable=False,
                                        enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))