Nissan: Parse cruise control buttons (#341)

* Nissan: Parse cruise control buttons

* Remove cancel and resumeCruise buttons

Removed cancel and resumeCruise buttons from BUTTONS list.

* Apply suggestions from code review

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* restore gapAdjustCruise button event handling in Nissan CarState

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

opendbc/car/nissan/carstate.py

@@ -5,15 +5,17 @@ from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.nissan.values import CAR, DBC, CarControllerParams
+from opendbc.sunnypilot.car.nissan.carstate_ext import CarStateExt
 
 ButtonType = structs.CarState.ButtonEvent.Type
 
 TORQUE_SAMPLES = 12
 
 
-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.lkas_hud_msg = {}
@@ -127,7 +129,12 @@ class CarState(CarStateBase):
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    CarStateExt.update(self, ret, ret_sp, can_parsers)
+
+    ret.buttonEvents = [
+      *create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *self.button_events,
+    ]
 
     return ret, ret_sp
 

opendbc/sunnypilot/car/nissan/carstate_ext.py

@@ -0,0 +1,34 @@
+"""
+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.nissan.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

opendbc/sunnypilot/car/nissan/values.py

@@ -5,7 +5,20 @@ 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
+
 
 class NissanSafetyFlagsSP:
   DEFAULT = 0
   LEAF = 1
+
+
+ButtonType = structs.CarState.ButtonEvent.Type
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+
+
+BUTTONS = [
+  Button(ButtonType.accelCruise, "CRUISE_THROTTLE", "RES_BUTTON", [1]),
+  Button(ButtonType.decelCruise, "CRUISE_THROTTLE", "SET_BUTTON", [1]),
+]