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Vehicles - Disable openpilot Longitudinal Control

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Disable openpilot longitudinal control and use stock ACC instead.
This commit is contained in:
FrogAi 2024-05-10 23:44:26 -07:00
parent a1c4130165
commit c0b14e1c8d
16 changed files with 29 additions and 25 deletions
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2
selfdrive/car/body/interface.py
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@ -7,7 +7,7 @@ from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.notCar = True
ret.carName = "body"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]

4
selfdrive/car/car_helpers.py
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@ -201,7 +201,7 @@ def get_car_interface(CP):
return CarInterface(CP, CarController, CarState)
def get_car(params, logcan, sendcan, experimental_long_allowed, num_pandas=1):
def get_car(params, logcan, sendcan, disable_openpilot_long, experimental_long_allowed, num_pandas=1):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
if candidate is None:
@ -218,7 +218,7 @@ def get_car(params, logcan, sendcan, experimental_long_allowed, num_pandas=1):
fingerprint_log.start()
CarInterface, _, _ = interfaces[candidate]
CP = CarInterface.get_params(params, candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
CP = CarInterface.get_params(params, candidate, fingerprints, car_fw, disable_openpilot_long, experimental_long_allowed, docs=False)
CP.carVin = vin
CP.carFw = car_fw
CP.fingerprintSource = source

5
selfdrive/car/card.py
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@ -43,8 +43,9 @@ class CarD:
get_one_can(self.can_sock)
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
self.CI, self.CP = get_car(self.params, self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
disable_openpilot_long = self.params.get_bool("DisableOpenpilotLongitudinal")
experimental_long_allowed = not disable_openpilot_long and self.params.get_bool("ExperimentalLongitudinalEnabled")
self.CI, self.CP = get_car(self.params, self.can_sock, self.pm.sock['sendcan'], disable_openpilot_long, experimental_long_allowed, num_pandas)
else:
self.CI, self.CP = CI, CI.CP

2
selfdrive/car/chrysler/interface.py
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@ -11,7 +11,7 @@ FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "chrysler"
ret.dashcamOnly = candidate in RAM_HD

2
selfdrive/car/ford/interface.py
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@ -14,7 +14,7 @@ FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "ford"
ret.dashcamOnly = False

10
selfdrive/car/gm/interface.py
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@ -92,7 +92,9 @@ class CarInterface(CarInterfaceBase):
return self.torque_from_lateral_accel_linear
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
params.put_bool("HideDisableOpenpilotLongitudinal", candidate not in (SDGM_CAR | CAMERA_ACC_CAR))
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
@ -143,7 +145,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.openpilotLongitudinalControl = not disable_openpilot_long
ret.networkLocation = NetworkLocation.gateway
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
@ -250,7 +252,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = -1
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.openpilotLongitudinalControl = not disable_openpilot_long
ret.stoppingControl = True
ret.autoResumeSng = True
@ -276,7 +278,7 @@ class CarInterface(CarInterfaceBase):
ret.radarUnavailable = True
ret.experimentalLongitudinalAvailable = False
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
ret.openpilotLongitudinalControl = True
ret.openpilotLongitudinalControl = not disable_openpilot_long
ret.pcmCruise = False
ret.longitudinalTuning.deadzoneBP = [0.]

4
selfdrive/car/honda/interface.py
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@ -41,7 +41,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "honda"
CAN = CanBus(ret, fingerprint)
@ -58,7 +58,7 @@ class CarInterface(CarInterfaceBase):
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
ret.openpilotLongitudinalControl = True
ret.openpilotLongitudinalControl = not disable_openpilot_long
ret.pcmCruise = not ret.enableGasInterceptor

2
selfdrive/car/hyundai/interface.py
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@ -21,7 +21,7 @@ FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "hyundai"
ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None

6
selfdrive/car/interfaces.py
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@ -251,10 +251,10 @@ class CarInterfaceBase(ABC):
"""
Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
"""
return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False, False)
@classmethod
def get_params(cls, params, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
def get_params(cls, params, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], disable_openpilot_long: bool, experimental_long: bool, docs: bool):
ret = CarInterfaceBase.get_std_params(candidate)
platform = PLATFORMS[candidate]
@ -267,7 +267,7 @@ class CarInterfaceBase(ABC):
ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
ret.flags |= int(platform.config.flags)
ret = cls._get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs)
ret = cls._get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs)
# Enable torque controller for all cars that do not use angle based steering
if ret.steerControlType != car.CarParams.SteerControlType.angle and params.get_bool("LateralTune") and params.get_bool("NNFF"):

2
selfdrive/car/mazda/interface.py
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@ -12,7 +12,7 @@ FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "mazda"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
ret.radarUnavailable = True

2
selfdrive/car/mock/interface.py
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@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "mock"
ret.mass = 1700.
ret.wheelbase = 2.70

2
selfdrive/car/nissan/interface.py
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@ -11,7 +11,7 @@ FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "nissan"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
ret.autoResumeSng = False

2
selfdrive/car/subaru/interface.py
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@ -10,7 +10,7 @@ FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "subaru"
ret.radarUnavailable = True
# for HYBRID CARS to be upstreamed, we need:

4
selfdrive/car/tesla/interface.py
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@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "tesla"
# There is no safe way to do steer blending with user torque,
@ -30,7 +30,7 @@ class CarInterface(CarInterfaceBase):
# If so, we assume that it is connected to the longitudinal harness.
flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.MODELS_RAVEN else 0)
if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
ret.openpilotLongitudinalControl = True
ret.openpilotLongitudinalControl = not disable_openpilot_long
flags |= Panda.FLAG_TESLA_LONG_CONTROL
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.tesla, flags),

3
selfdrive/car/toyota/interface.py
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@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "toyota"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@ -127,6 +127,7 @@ class CarInterface(CarInterfaceBase):
# - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
ret.openpilotLongitudinalControl |= bool(ret.flags & ToyotaFlags.DSU_BYPASS.value)
ret.openpilotLongitudinalControl &= not disable_openpilot_long
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl

2
selfdrive/car/volkswagen/interface.py
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@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
self.eps_timer_soft_disable_alert = False
@staticmethod
def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "volkswagen"
ret.radarUnavailable = True