Vehicles - Disable openpilot Longitudinal Control

Disable openpilot longitudinal control and use stock ACC instead.

selfdrive/car/body/interface.py

@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]

selfdrive/car/car_helpers.py

@@ -191,7 +191,7 @@ def get_car_interface(CP):
   return CarInterface(CP, CarController, CarState)
 
 
-def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1):
+def get_car(logcan, sendcan, disable_openpilot_long, experimental_long_allowed, params, num_pandas=1):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
@@ -205,7 +205,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1):
     threading.Thread(target=sentry.capture_fingerprint, args=(candidate, params,)).start()
 
   CarInterface, _, _ = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, params, docs=False)
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, disable_openpilot_long, experimental_long_allowed, params, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source

selfdrive/car/card.py

@@ -47,8 +47,9 @@ class Car:
       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.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, self.params, 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.can_sock, self.pm.sock['sendcan'], disable_openpilot_long, experimental_long_allowed, self.params, num_pandas)
     else:
       self.CI, self.CP = CI, CI.CP
 

selfdrive/car/chrysler/interface.py

@@ -11,7 +11,7 @@ FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     ret.carName = "chrysler"
 
     # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842

selfdrive/car/ford/interface.py

@@ -14,7 +14,7 @@ GearShifter = car.CarState.GearShifter
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     ret.carName = "ford"
     ret.dashcamOnly = False
 

selfdrive/car/gm/interface.py

@@ -97,7 +97,7 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
@@ -142,7 +142,7 @@ 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
@@ -263,7 +263,7 @@ 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
 
@@ -287,7 +287,7 @@ 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.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)

selfdrive/car/honda/interface.py

@@ -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, candidate, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     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
 

selfdrive/car/hyundai/interface.py

@@ -21,7 +21,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 

selfdrive/car/interfaces.py

@@ -275,10 +275,10 @@ 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, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, params: Params, docs: bool):
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], disable_openpilot_long: bool, experimental_long: bool, params: Params, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
 
     platform = PLATFORMS[candidate]
@@ -291,7 +291,7 @@ class CarInterfaceBase(ABC):
     ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
     ret.flags |= int(platform.config.flags)
 
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params)
 
     # 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"):

selfdrive/car/mazda/interface.py

@@ -12,7 +12,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True

selfdrive/car/mock/interface.py

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

selfdrive/car/nissan/interface.py

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

selfdrive/car/subaru/interface.py

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

selfdrive/car/tesla/interface.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,
@@ -25,7 +25,7 @@ class CarInterface(CarInterfaceBase):
     # If so, we assume that it is connected to the longitudinal harness.
     flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_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),

selfdrive/car/toyota/interface.py

@@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     ret.carName = "toyota"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@@ -121,6 +121,7 @@ class CarInterface(CarInterfaceBase):
     #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
     #  - 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 &= not disable_openpilot_long
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
     ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
 

selfdrive/car/volkswagen/interface.py

@@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase):
       self.cp_ext = self.cp_cam
 
   @staticmethod
-  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs, params):
+  def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
     ret.carName = "volkswagen"
     ret.radarUnavailable = True
 

selfdrive/ui/qt/util.cc

@@ -247,9 +247,10 @@ QPixmap bootstrapPixmap(const QString &id) {
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
   // Using the experimental longitudinal toggle, returns whether longitudinal control
   // will be active without needing a restart of openpilot
-  return car_params.getExperimentalLongitudinalAvailable()
-             ? Params().getBool("ExperimentalLongitudinalEnabled")
-             : car_params.getOpenpilotLongitudinalControl();
+  Params params = Params();
+  return (car_params.getExperimentalLongitudinalAvailable()
+             ? params.getBool("ExperimentalLongitudinalEnabled")
+             : car_params.getOpenpilotLongitudinalControl()) && !params.getBool("DisableOpenpilotLongitudinal");
 }
 
 // ParamWatcher