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Refactor car specific events #36939

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rj-lynch wants to merge 2 commits into from
+17 −17
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Refactor car specific events #36939

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53205db
Abstracted repeated below engagement speed logic into static method.
Dec 12, 2025
8b4253f
Merge remote-tracking branch 'upstream/master'
Dec 20, 2025
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34 changes: 17 additions & 17 deletions selfdrive/car/car_specific.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,11 @@ def __init__(self, CP: structs.CarParams):
self.no_steer_warning = False
self.silent_steer_warning = True

@staticmethod
def add_if_below_engage_speed(speed: float, threshold: float, events: Events):
if speed < threshold:
events.add(EventName.belowEngageSpeed)

def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)

Expand All @@ -67,18 +72,16 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
elif self.CP.brand == 'honda':
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)

if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)

if self.CP.pcmCruise:
CarSpecificEvents.add_if_below_engage_speed(CS.vEgo, self.CP.minEnableSpeed, events)
# we engage when pcm is active (rising edge)
if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
# it can happen that car cruise disables while comma system is enabled: need to
# keep braking if needed or if the speed is very low
if CS.vEgo < self.CP.minEnableSpeed + 2.:
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
# non-loud alert if cruise disables below 25mph as expected (+ a little margin)
events.add(EventName.speedTooLow)
else:
events.add(EventName.cruiseDisabled)
Expand All @@ -93,32 +96,29 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
# Only can leave standstill when planner wants to move
if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
events.add(EventName.resumeRequired)
if CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if CC.actuators.accel > 0.3:
# some margin on the actuator to not false trigger cancellation while stopping
events.add(EventName.speedTooLow)
if CS.vEgo < 0.001:
# while in standstill, send a user alert
events.add(EventName.manualRestart)
CarSpecificEvents.add_if_below_engage_speed(CS.vEgo, self.CP.minEnableSpeed, events)
if CC.actuators.accel > 0.3:
# some margin on the actuator to not false trigger cancellation while stopping
events.add(EventName.speedTooLow)
if CS.vEgo < 0.001:
# while in standstill, send a user alert
events.add(EventName.manualRestart)

elif self.CP.brand == 'gm':
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)

# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if not (CS.standstill and CS.brake >= 20 and self.CP.networkLocation == NetworkLocation.fwdCamera):
CarSpecificEvents.add_if_below_engage_speed(CS.vEgo, self.CP.minEnableSpeed, events)
if CS.cruiseState.standstill:
events.add(EventName.resumeRequired)

elif self.CP.brand == 'volkswagen':
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)

if self.CP.openpilotLongitudinalControl:
if CS.vEgo < self.CP.minEnableSpeed + 0.5:
events.add(EventName.belowEngageSpeed)
CarSpecificEvents.add_if_below_engage_speed(CS.vEgo, (self.CP.minEnableSpeed + 0.5), events)
if CC.enabled and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)

Expand Down