MADS: Volkswagen control logic fix (commaai#36)

* use old method

* can't miss this

selfdrive/car/volkswagen/carstate.py

@@ -4,7 +4,7 @@
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
-                                            CarControllerParams
+                                            CarControllerParams, BUTTON_STATES
 
 
 class CarState(CarStateBase):
@@ -14,6 +14,8 @@ def __init__(self, CP):
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
+    self.buttonStates = BUTTON_STATES.copy()
+    self.buttonStatesPrev = BUTTON_STATES.copy()
 
   def create_button_events(self, pt_cp, buttons):
     button_events = []
@@ -36,6 +38,7 @@ def update(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret = car.CarState.new_message()
 
     self.prev_mads_enabled = self.mads_enabled
+    self.buttonStatesPrev = self.buttonStates.copy()
 
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -137,6 +140,14 @@ def update(self, pt_cp, cam_cp, ext_cp, trans_type):
       if ret.cruiseState.speed > 90:
         ret.cruiseState.speed = 0
 
+    # Update control button states for turn signals and ACC controls.
+    self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"])
+    self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Runter"])
+    self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Abbrechen"])
+    self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Setzen"])
+    self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Wiederaufnahme"])
+    self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
+
     # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
     ret.leftBlinker = ret.leftBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
     ret.rightBlinker = ret.rightBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
@@ -156,6 +167,7 @@ def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret = car.CarState.new_message()
 
     self.prev_mads_enabled = self.mads_enabled
+    self.buttonStatesPrev = self.buttonStates.copy()
 
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -247,6 +259,14 @@ def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
     if ret.cruiseState.speed > 70:  # 255 kph in m/s == no current setpoint
       ret.cruiseState.speed = 0
 
+    # Update control button states for turn signals and ACC controls.
+    self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Up_kurz"])
+    self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Down_kurz"])
+    self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Abbrechen"])
+    self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Neu_Setzen"])
+    self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Recall"])
+    self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"])
+
     # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
     ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
                                                                                                                       pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])

selfdrive/car/volkswagen/interface.py

@@ -3,7 +3,7 @@
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, get_safety_config, create_mads_event
 from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -20,6 +20,8 @@ def __init__(self, CP, CarController, CarState):
       self.ext_bus = CANBUS.cam
       self.cp_ext = self.cp_cam
 
+    self.buttonStatesPrev = BUTTON_STATES.copy()
+
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "volkswagen"
@@ -222,10 +224,21 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
+    buttonEvents = []
+
+    # Check for and process state-change events (button press or release) from
+    # the turn stalk switch or ACC steering wheel/control stalk buttons.
+    for button in self.CS.buttonStates:
+      if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
+        be = car.CarState.ButtonEvent.new_message()
+        be.type = button
+        be.pressed = self.CS.buttonStates[button]
+        buttonEvents.append(be)
+
     self.CS.mads_enabled = False if not self.CS.control_initialized else ret.cruiseState.available
 
     self.CS.accEnabled, buttonEvents = self.get_sp_v_cruise_non_pcm_state(ret.cruiseState.available, self.CS.accEnabled,
-                                                                          ret.buttonEvents, c.vCruise,
+                                                                          buttonEvents, c.vCruise,
                                                                           enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     if ret.cruiseState.available:
@@ -260,6 +273,8 @@ def _update(self, c):
         buttonEvents.append(create_mads_event(self.mads_event_lock))
         self.mads_event_lock = True
 
+    ret.buttonEvents = buttonEvents
+
     events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                        pcm_enable=False,
                                        enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
@@ -283,6 +298,9 @@ def _update(self, c):
 
     ret.events = events.to_msg()
 
+    # update previous car states
+    self.buttonStatesPrev = self.CS.buttonStates.copy()
+
     return ret
 
   def apply(self, c, now_nanos):

selfdrive/car/volkswagen/values.py

@@ -103,6 +103,16 @@ class CANBUS:
   cam = 2
 
 
+BUTTON_STATES = {
+  "accelCruise": False,
+  "decelCruise": False,
+  "cancel": False,
+  "setCruise": False,
+  "resumeCruise": False,
+  "gapAdjustCruise": False
+}
+
+
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
 # FW_VERSIONS for that existing CAR.