car: common update_steering_pressed (#1774)

* common update_steering_pressed

* simplify

* clean up

Author: sshane

opendbc/car/interfaces.py

@@ -321,8 +321,8 @@ def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, r
 
   def update_steering_pressed(self, steering_pressed, steering_pressed_min_count):
     """Applies filtering on steering pressed for noisy driver torque signals."""
-    self.steering_pressed_cnt += 1 if steering_pressed else -1
-    self.steering_pressed_cnt = float(np.clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2))
+    self.steering_pressed_cnt = self.steering_pressed_cnt + 1 if steering_pressed else 0
+    self.steering_pressed_cnt = min(self.steering_pressed_cnt, steering_pressed_min_count + 1)
     return self.steering_pressed_cnt > steering_pressed_min_count
 
   def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):

opendbc/car/tesla/carstate.py

@@ -1,5 +1,4 @@
 import copy
-import numpy as np
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from opendbc.car import Bus, structs
@@ -19,13 +18,6 @@ def __init__(self, CP):
     self.hands_on_level = 0
     self.das_control = None
 
-  def update_steering_pressed(self, steering_pressed, steering_pressed_min_count):
-    """Applies filtering on steering pressed for noisy driver torque signals."""
-    # TODO: this differs from the base implementation by resetting the counter to 0 immediately, unify this
-    self.steering_pressed_cnt = self.steering_pressed_cnt + 1 if steering_pressed else 0
-    self.steering_pressed_cnt = float(np.clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2))
-    return self.steering_pressed_cnt > steering_pressed_min_count
-
   def update(self, can_parsers) -> structs.CarState:
     cp_party = can_parsers[Bus.party]
     cp_ap_party = can_parsers[Bus.ap_party]