Revert "card: create pedal pressed event" (#32414)

Revert "card: create pedal pressed event (#32393)"

This reverts commit d18da895d3.

selfdrive/car/card.py

@@ -14,12 +14,9 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
 
-EventName = car.CarEvent.EventName
-
 
 class CarD:
   CI: CarInterfaceBase
@@ -50,9 +47,9 @@ class CarD:
       self.CI, self.CP = CI, CI.CP
 
     # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not self.disengage_on_accelerator:
+    if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
@@ -76,9 +73,6 @@ class CarD:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.CS_prev = car.CarState.new_message()
-    self.events = Events()
-
   def initialize(self):
     """Initialize CarInterface, once controls are ready"""
     self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
@@ -106,26 +100,10 @@ class CarD:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    self.update_events(CS)
     self.state_publish(CS)
 
-    CS = CS.as_reader()
-    self.CS_prev = CS
     return CS
 
-  def update_events(self, CS: car.CarState) -> car.CarState:
-    self.events.clear()
-
-    self.events.add_from_msg(CS.events)
-
-    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
-      self.events.add(EventName.pedalPressed)
-
-    CS.events = self.events.to_msg()
-
   def state_publish(self, CS: car.CarState):
     """carState and carParams publish loop"""
 

selfdrive/car/interfaces.py

@@ -242,10 +242,11 @@ class CarInterfaceBase(ABC):
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
     # copy back for next iteration
+    reader = ret.as_reader()
     if self.CS is not None:
-      self.CS.out = ret.as_reader()
+      self.CS.out = reader
 
-    return ret
+    return reader
 
 
   def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,

selfdrive/controls/controlsd.py

@@ -96,6 +96,7 @@ class Controls:
     self.joystick_mode = self.params.get_bool("JoystickDebugMode")
 
     # read params
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
@@ -110,6 +111,7 @@ class Controls:
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
+    self.CS_prev = car.CarState.new_message()
     self.AM = AlertManager()
     self.events = Events()
 
@@ -203,6 +205,12 @@ class Controls:
     if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
+    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
+      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+      self.events.add(EventName.pedalPressed)
+
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
@@ -807,6 +815,8 @@ class Controls:
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
 
+    self.CS_prev = CS
+
   def read_personality_param(self):
     try:
       return int(self.params.get('LongitudinalPersonality'))

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-e5a385503e4307ae77c73736a602380b08e61334
+ef0c8cb36b9cda6381412493555c21a87360e539