controls: block resume if cruise not previously engaged (#25402)

* see if this works at all

* can revert this

* think adding a no entry conditionally is nicer

* then we can revert this

* 0 makes more sense

* Revert "0 makes more sense"

This reverts commit efc89e8a2389ef58fbc0cec0a2872d24db524867.

* gm CC uses > 70

* bump cereal

* comment

* test on Honda

* whoops

* works

* add exception with todo

* moved button enable events to controlsd

* get rid of that

get rid of that

* different values for now

* car interfaces add enable event, controlsd can block it

* Regen and update refs

* delete if not set

* One place

one place

* regen routes are uninitialized first few frames

* Trim start of segment so it's like original segment

* stash

* regen

* not working

* clean up

* more cleanup

* revert

* bump ceral

* actually check resume button

* whoops

* pcmCruise cars don't use setSpeed, so we're good

* engage correctly in sim

* Update ref_commit

* Update refs
old-commit-hash: 5ed587ebeff24bacf70c44879616c51756730bba

selfdrive/controls/controlsd.py

@@ -16,7 +16,7 @@ from system.version import get_short_branch
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
-from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise
 from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
 from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.longcontrol import LongControl
@@ -50,6 +50,7 @@ LaneChangeState = log.LateralPlan.LaneChangeState
 LaneChangeDirection = log.LateralPlan.LaneChangeDirection
 EventName = car.CarEvent.EventName
 ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -162,8 +163,8 @@ class Controls:
     self.active = False
     self.can_rcv_error = False
     self.soft_disable_timer = 0
-    self.v_cruise_kph = 255
-    self.v_cruise_cluster_kph = 255
+    self.v_cruise_kph = V_CRUISE_INITIAL
+    self.v_cruise_cluster_kph = V_CRUISE_INITIAL
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
@@ -228,6 +229,11 @@ class Controls:
       self.events.add(EventName.controlsInitializing)
       return
 
+    # Block resume if cruise never previously enabled
+    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
+    if not self.CP.pcmCruise and self.v_cruise_kph == V_CRUISE_INITIAL 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)):
@@ -460,18 +466,18 @@ class Controls:
 
     self.v_cruise_kph_last = self.v_cruise_kph
 
-    # if stock cruise is completely disabled, then we can use our own set speed logic
-    if not self.CP.pcmCruise:
-      self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
-                                          self.button_timers, self.enabled, self.is_metric)
-      self.v_cruise_cluster_kph = self.v_cruise_kph
-    else:
-      if CS.cruiseState.available:
+    if CS.cruiseState.available:
+      # if stock cruise is completely disabled, then we can use our own set speed logic
+      if not self.CP.pcmCruise:
+        self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
+                                            self.button_timers, self.enabled, self.is_metric)
+        self.v_cruise_cluster_kph = self.v_cruise_kph
+      else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
-      else:
-        self.v_cruise_kph = 0
-        self.v_cruise_cluster_kph = 0
+    else:
+      self.v_cruise_kph = V_CRUISE_INITIAL
+      self.v_cruise_cluster_kph = V_CRUISE_INITIAL
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state

selfdrive/controls/lib/drive_helpers.py

@@ -11,6 +11,7 @@ from selfdrive.modeld.constants import T_IDXS
 V_CRUISE_MAX = 145  # kph
 V_CRUISE_MIN = 8  # kph
 V_CRUISE_ENABLE_MIN = 40  # kph
+V_CRUISE_INITIAL = 255  # kph
 
 LAT_MPC_N = 16
 LON_MPC_N = 32

selfdrive/controls/lib/events.py

@@ -635,6 +635,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: wrong_car_mode_alert,
   },
 
+  EventName.resumeBlocked: {
+    ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"),
+  },
+
   EventName.wrongCruiseMode: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
     ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"),

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-29e406826b1d7b0cc7e05153b623fbedcd8fd9e9
+35899d5137e298220e91063f3078109227cc8715

tools/sim/tests/test_carla_integration.py

@@ -77,7 +77,7 @@ class TestCarlaIntegration(unittest.TestCase):
     while time.monotonic() < start_time + max_time_per_step:
       sm.update()
 
-      q.put("cruise_up")  # Try engaging
+      q.put("cruise_down")  # Try engaging
 
       if sm.all_alive() and sm['controlsState'].active:
         control_active += 1