Disable openpilot longitudinal control

Added toggle to disable openpilot longitudinal control and use stock ACC instead.

common/params.cc

@@ -249,6 +249,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DecelerationProfile", PERSISTENT},
     {"DeviceManagement", PERSISTENT},
     {"DeviceShutdown", PERSISTENT},
+    {"DisableOpenpilotLongitudinal", PERSISTENT},
     {"DisengageVolume", PERSISTENT},
     {"DynamicPathWidth", PERSISTENT},
     {"EngageVolume", PERSISTENT},
@@ -257,6 +258,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GoatScream", PERSISTENT},
     {"HideAOLStatusBar", PERSISTENT},
     {"HideCEMStatusBar", PERSISTENT},
+    {"HideDisableOpenpilotLongitudinal", PERSISTENT},
     {"HideLeadMarker", PERSISTENT},
     {"IncreaseThermalLimits", PERSISTENT},
     {"LaneLinesWidth", PERSISTENT},

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, 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)]

selfdrive/car/car_helpers.py

@@ -199,7 +199,7 @@ 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:
@@ -211,7 +211,7 @@ def get_car(params, logcan, sendcan, experimental_long_allowed, num_pandas=1):
     candidate = "mock"
 
   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

selfdrive/car/card.py

@@ -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
 

selfdrive/car/chrysler/interface.py

@@ -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
 

selfdrive/car/ford/interface.py

@@ -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 = bool(ret.flags & FordFlags.CANFD)
 

selfdrive/car/gm/interface.py

@@ -89,7 +89,9 @@ 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
@@ -241,7 +243,7 @@ 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.]

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, 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
 

selfdrive/car/hyundai/interface.py

@@ -20,7 +20,7 @@ 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
 

selfdrive/car/interfaces.py

@@ -120,10 +120,10 @@ 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]
@@ -136,7 +136,7 @@ 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)
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:

selfdrive/car/mazda/interface.py

@@ -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

selfdrive/car/mock/interface.py

@@ -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

selfdrive/car/nissan/interface.py

@@ -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

selfdrive/car/subaru/interface.py

@@ -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:

selfdrive/car/tesla/interface.py

@@ -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),

selfdrive/car/toyota/interface.py

@@ -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]
@@ -136,6 +136,7 @@ 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

@@ -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
 

selfdrive/frogpilot/ui/qt/offroad/control_settings.cc

@@ -289,6 +289,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
 }
 
 void FrogPilotControlsPanel::showEvent(QShowEvent *event, const UIState &s) {
+  hasOpenpilotLongitudinal = hasOpenpilotLongitudinal && !params.getBool("DisableOpenpilotLongitudinal");
+
   online = s.scene.online;
   bool parked = s.scene.parked;
   started = s.scene.started;

selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -1,6 +1,25 @@
 #include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h"
 
 FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
+  bool disableOpenpilotLongState = params.getBool("DisableOpenpilotLongitudinal");
+  disableOpenpilotLong = new ToggleControl(tr("Disable openpilot Longitudinal Control"), tr("Disable openpilot longitudinal control and use stock ACC instead."), "", disableOpenpilotLongState);
+  QObject::connect(disableOpenpilotLong, &ToggleControl::toggleFlipped, [=](bool state) {
+    if (state) {
+      if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely disable openpilot longitudinal control?"), this)) {
+        params.putBool("DisableOpenpilotLongitudinal", state);
+        if (started) {
+          if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) {
+            Hardware::reboot();
+          }
+        }
+      }
+    } else {
+      params.putBool("DisableOpenpilotLongitudinal", state);
+    }
+    updateCarToggles();
+  });
+  addItem(disableOpenpilotLong);
+
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
     {"LongitudinalTune", tr("Longitudinal Tune"), tr("Use a custom Toyota longitudinal tune.\n\nCydia = More focused on TSS-P vehicles but works for all Toyotas\n\nDragonPilot = Focused on TSS2 vehicles\n\nFrogPilot = Takes the best of both worlds with some personal tweaks focused around FrogsGoMoo's 2019 Lexus ES 350"), ""},
   };
@@ -104,6 +123,8 @@ void FrogPilotVehiclesPanel::updateCarToggles() {
 }
 
 void FrogPilotVehiclesPanel::hideToggles() {
+  disableOpenpilotLong->setVisible(hasOpenpilotLongitudinal && !hasExperimentalOpenpilotLongitudinal && !params.getBool("HideDisableOpenpilotLongitudinal"));
+
   bool gm = carMake == "Buick" || carMake == "Cadillac" || carMake == "Chevrolet" || carMake == "GM" || carMake == "GMC";
   bool subaru = carMake == "Subaru";
   bool toyota = carMake == "Lexus" || carMake == "Toyota";
@@ -118,7 +139,7 @@ void FrogPilotVehiclesPanel::hideToggles() {
     if (toggle) {
       toggle->setVisible(false);
 
-      if (!hasOpenpilotLongitudinal && longitudinalKeys.find(key.c_str()) != longitudinalKeys.end()) {
+      if ((!hasOpenpilotLongitudinal || params.getBool("DisableOpenpilotLongitudinal")) && longitudinalKeys.find(key.c_str()) != longitudinalKeys.end()) {
         continue;
       }
 

selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -20,6 +20,8 @@ private:
   void updateState(const UIState &s);
   void updateToggles();
 
+  ToggleControl *disableOpenpilotLong;
+
   std::set<QString> gmKeys = {};
   std::set<QString> subaruKeys = {};
   std::set<QString> toyotaKeys = {"LongitudinalTune"};

selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc

@@ -180,6 +180,10 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
   updateMetric();
 }
 
+void FrogPilotVisualsPanel::showEvent(QShowEvent *event) {
+  hasOpenpilotLongitudinal = hasOpenpilotLongitudinal && !params.getBool("DisableOpenpilotLongitudinal");
+}
+
 void FrogPilotVisualsPanel::updateState(const UIState &s) {
   if (!isVisible()) return;
 
@@ -202,7 +206,7 @@ void FrogPilotVisualsPanel::updateCarToggles() {
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
     hasBSM = CP.getEnableBsm();
-    hasOpenpilotLongitudinal = CP.getOpenpilotLongitudinalControl();
+    hasOpenpilotLongitudinal = CP.getOpenpilotLongitudinalControl() && !params.getBool("DisableOpenpilotLongitudinal");
   } else {
     hasBSM = true;
     hasOpenpilotLongitudinal = true;

selfdrive/frogpilot/ui/qt/offroad/visual_settings.h

@@ -17,6 +17,7 @@ signals:
 
 private:
   void hideToggles();
+  void showEvent(QShowEvent *event);
   void updateCarToggles();
   void updateMetric();
   void updateState(const UIState &s);