hmmmmm

selfdrive/car/toyota/carstate.py

@@ -94,6 +94,10 @@ def update(self, cp, cp_cam):
  event = car.CarState.ButtonEvent.new_message()
  event.type = car.CarState.ButtonEvent.Type.gapAdjustCruise
  event.pressed = fd_button
+ if fd_button:
+ print("carstate pressed: ")
+ else:
+ print("carstate not pressed: ")
  be.append(event)
  self.gapAdjustCruisePrev = fd_button
  ret.buttonEvents = be

selfdrive/controls/controlsd.py

@@ -600,13 +600,17 @@ def state_control(self, CS):
  for b in be:
  if b.type == car.CarState.ButtonEvent.Type.gapAdjustCruise:
  if b.pressed is True:
+ print("controlsd pressed")
  maneuver_reset = True
  elif b.pressed is False:
  maneuver_reset = True
+ print("controlsd not pressed")
 
+ if maneuver_reset:
+ print("controlsd maneuver reset")
  if not CC.latActive:
  self.LaC.reset()
- if not CC.longActive or maneuver_reset:
+ if not CC.longActive:
  self.LoC.reset(v_pid=CS.vEgo)
 
  if not self.joystick_mode:

selfdrive/controls/lib/longitudinal_planner.py

@@ -81,10 +81,12 @@ class LongitudinalPlanner:
  def maneuver_update(self, be, lmt):
  for b in be:
  if b.type == car.CarState.ButtonEvent.Type.gapAdjustCruise:
- if b.pressed is True:
+ if b.pressed is True and not self.maneuvering:
+ print("longplanner update maneuver pressed")
  self.maneuvering = True
  self.maneuverStartMonoTime = lmt
- if b.pressed is False:
+ if b.pressed is False and self.maneuvering:
+ print("longplanner update maneuver not pressed")
  self.maneuvering = False
  self.maneuverStartMonoTime = None
  def __init__(self, CP, init_v=0.0, init_a=0.0):