From 153d90c2e5c246d44d765aa5cb6cd8f9bad4fd32 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 5 Oct 2025 21:35:41 -0400
Subject: [PATCH] Mazda: Parse cruise control buttons (#307)

* Mazda: parse cruise control buttons

* use them properly

* lint

* Reapply "Mazda: Intelligent Cruise Button Management support (#303)" (#306)

This reverts commit e345c21761ad401ed352cbaff6158a119b736620.

* should be append instead

* should be extend

* just btns
---
 opendbc/car/mazda/carstate.py                | 14 ++++++--
 opendbc/sunnypilot/car/mazda/__init__.py     |  0
 opendbc/sunnypilot/car/mazda/carstate_ext.py | 36 ++++++++++++++++++++
 opendbc/sunnypilot/car/mazda/values.py       | 20 +++++++++++
 4 files changed, 67 insertions(+), 3 deletions(-)
 create mode 100644 opendbc/sunnypilot/car/mazda/__init__.py
 create mode 100644 opendbc/sunnypilot/car/mazda/carstate_ext.py
 create mode 100644 opendbc/sunnypilot/car/mazda/values.py

diff --git a/opendbc/car/mazda/carstate.py b/opendbc/car/mazda/carstate.py
index f594dce8..97542c84 100644
--- a/opendbc/car/mazda/carstate.py
+++ b/opendbc/car/mazda/carstate.py
@@ -4,12 +4,15 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.mazda.values import DBC, LKAS_LIMITS
 
+from opendbc.sunnypilot.car.mazda.carstate_ext import CarStateExt
+
 ButtonType = structs.CarState.ButtonEvent.Type
 
 
-class CarState(CarStateBase):
+class CarState(CarStateBase, CarStateExt):
   def __init__(self, CP, CP_SP):
-    super().__init__(CP, CP_SP)
+    CarStateBase.__init__(self, CP, CP_SP)
+    CarStateExt.__init__(self, CP, CP_SP)
 
     can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
     self.shifter_values = can_define.dv["GEAR"]["GEAR"]
@@ -113,8 +116,13 @@ class CarState(CarStateBase):
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
     ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
+    CarStateExt.update(self, ret, ret_sp, can_parsers)
+
     # TODO: add button types for inc and dec
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *self.button_events,
+    ]
 
     return ret, ret_sp
 
diff --git a/opendbc/sunnypilot/car/mazda/__init__.py b/opendbc/sunnypilot/car/mazda/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/opendbc/sunnypilot/car/mazda/carstate_ext.py b/opendbc/sunnypilot/car/mazda/carstate_ext.py
new file mode 100644
index 00000000..4686fcca
--- /dev/null
+++ b/opendbc/sunnypilot/car/mazda/carstate_ext.py
@@ -0,0 +1,36 @@
+
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from enum import StrEnum
+
+from opendbc.car import Bus, structs
+from opendbc.can.parser import CANParser
+from opendbc.sunnypilot.car.mazda.values import BUTTONS
+
+
+class CarStateExt:
+  def __init__(self, CP, CP_SP):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
+    self.button_events = []
+    self.button_states = {button.event_type: False for button in BUTTONS}
+
+  def update(self, ret: structs.CarState, ret_sp: structs.CarStateSP, can_parsers: dict[StrEnum, CANParser]):
+    cp = can_parsers[Bus.pt]
+
+    button_events = []
+    for button in BUTTONS:
+      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      if self.button_states[button.event_type] != state:
+        event = structs.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        button_events.append(event)
+      self.button_states[button.event_type] = state
+    self.button_events = button_events
diff --git a/opendbc/sunnypilot/car/mazda/values.py b/opendbc/sunnypilot/car/mazda/values.py
new file mode 100644
index 00000000..d2b9c597
--- /dev/null
+++ b/opendbc/sunnypilot/car/mazda/values.py
@@ -0,0 +1,20 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from collections import namedtuple
+
+from opendbc.car import structs
+
+ButtonType = structs.CarState.ButtonEvent.Type
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+
+BUTTONS = [
+  Button(ButtonType.accelCruise, "CRZ_BTNS", "SET_P", [1]),
+  Button(ButtonType.decelCruise, "CRZ_BTNS", "SET_M", [1]),
+  Button(ButtonType.cancel, "CRZ_BTNS", "CAN_OFF", [1]),
+  Button(ButtonType.resumeCruise, "CRZ_BTNS", "RES", [1]),
+]