rework. more similar to commaai#30850

csouers · Jan 14, 2024 · 99d4339 · 99d4339
1 parent 1df94dc
commit 99d4339
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
@@ -210,9 +210,8 @@ def update(self, CC, CS, now_nanos):
       elif self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS and CC.cruiseControl.resume:
         button = CruiseButtons.RES_ACCEL
       elif self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and CC.enabled and self.frame % 4 == 0:
-        # Radarless:
-        # Send buttons to the camera at 25hz when controls are allowed. panda forwards this when disengaged so controls remain
-        # tied to the PCM. Keep stock LKAS disabled as it can disengage cruise when the wheel touch timer expires.
+        # Radarless: send buttons at 25hz when engaged. panda forwards the car's buttons frame when disengaged.
+        # Keep stock LKAS disabled as it can disengage cruise when the wheel touch timer expires.
         # Priority: pcm_cancel > user cruise buttons > user setting buttons > auto resume > disable LKAS > none
         button = CruiseButtons.NONE
         if CS.cruise_buttons:

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -13,9 +13,9 @@
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
-BUTTONS_DICT = [{CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
-                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel},
-                {CruiseButtons.LKAS: ButtonType.altButton1, CruiseButtons.DISTANCE: ButtonType.gapAdjustCruise}]
+CRUISE_BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
+                       CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+SETTINGS_BUTTONS_DICT = {CruiseButtons.DISTANCE: ButtonType.gapAdjustCruise, CruiseButtons.LKAS: ButtonType.altButton1}
 
 
 class CarInterface(CarInterfaceBase):
@@ -313,8 +313,8 @@ def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
     ret.buttonEvents = [
-      *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT[0]),
-      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, BUTTONS_DICT[1]),
+      *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, CRUISE_BUTTONS_DICT),
+      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
     # events

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
@@ -58,7 +58,8 @@ class CruiseButtons:
   CANCEL = 2
   MAIN = 1
   NONE = 0
-  # For CRUISE_SETTING signal
+
+# CRUISE_SETTINGS
   DISTANCE = 3
   LKAS = 1