Use a safety param for gas interceptor (#30719)

* bump

* bump

* space

* remove from boardd

* set flag for honda to pass tests

* migrate

* Update ref_commit

* final bump

* bump cereal

* bump to master
old-commit-hash: 582743fdb5a20fbbe841aa154cf36304771d52a6

selfdrive/boardd/boardd.cc

@@ -351,7 +351,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setIgnitionLine(health.ignition_line_pkt);
     ps.setIgnitionCan(health.ignition_can_pkt);
     ps.setControlsAllowed(health.controls_allowed_pkt);
-    ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt);
     ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
     ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
     ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);

selfdrive/car/honda/interface.py

@@ -285,6 +285,9 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
+    if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR
+
     if candidate in HONDA_BOSCH_RADARLESS:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
 

selfdrive/car/toyota/interface.py

@@ -222,6 +222,9 @@ class CarInterface(CarInterfaceBase):
                                         and not (ret.flags & ToyotaFlags.SMART_DSU)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
 
+    if ret.enableGasInterceptor:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
+
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)

selfdrive/test/process_replay/migration.py

@@ -40,7 +40,7 @@ def migrate_pandaStates(lr):
   # TODO: safety param migration should be handled automatically
   safety_param_migration = {
     "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
-    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE | Panda.FLAG_TOYOTA_GAS_INTERCEPTOR,
     "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-921222d49db204071f0a7006fc895690e1045b5d
+ea96f935a7a16c53623c3b03e70c0fbfa6b249e7