card

[sshane]

each bullet point should be shippable on its own

• move everything car-related to card:
  • move all car events to card such as pedal pressed, need to read ndog param.
    • CarInterface: move stateless, common car events to car interface #32394
  • move all lateral and long controllers to card
  • v cruise manager
  • add a very simple state machine for only car-specific events
    • This solves safety mismatch issues such as controlsd dropping a button cancel event and not disengaging while panda puts controlsAllowed low. card publishes something like carState.enabled which controlsd's larger state machine should take into account, along with non-car-specific events like DM or device-related
  • v cruise
• run in testing closet to ensure consistent timings
• enable as a separate process

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^{I tried a project, but I like this discussion format better!}