From c697234845c984832279b5323958bb9ba090da64 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Fri, 10 May 2024 23:44:26 -0700
Subject: [PATCH] Vehicles - Disable openpilot Longitudinal Control

Disable openpilot longitudinal control and use stock ACC instead.
---
 selfdrive/car/body/interface.py       | 2 +-
 selfdrive/car/car_helpers.py          | 4 ++--
 selfdrive/car/card.py                 | 5 +++--
 selfdrive/car/chrysler/interface.py   | 2 +-
 selfdrive/car/ford/interface.py       | 2 +-
 selfdrive/car/gm/interface.py         | 8 ++++----
 selfdrive/car/honda/interface.py      | 4 ++--
 selfdrive/car/hyundai/interface.py    | 2 +-
 selfdrive/car/interfaces.py           | 6 +++---
 selfdrive/car/mazda/interface.py      | 2 +-
 selfdrive/car/mock/interface.py       | 2 +-
 selfdrive/car/nissan/interface.py     | 2 +-
 selfdrive/car/subaru/interface.py     | 2 +-
 selfdrive/car/tesla/interface.py      | 4 ++--
 selfdrive/car/toyota/interface.py     | 3 ++-
 selfdrive/car/volkswagen/interface.py | 2 +-
 16 files changed, 27 insertions(+), 25 deletions(-)

diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 8d14bd6af..93b4207cd 100644
--- a/selfdrive/car/body/interface.py
+++ b/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)]
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 0cadf124f..e48979547 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -195,7 +195,7 @@ 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):
     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
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 4fa74b060..a0f9743aa 100755
--- a/selfdrive/car/card.py
+++ b/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.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
 
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index f9e27afcb..0f74827b6 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/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 = False
 
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 627668b61..fee7d0c5a 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -14,7 +14,7 @@ GearShifter = car.CarState.GearShifter
 
 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
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 51bb2d3e6..a0bf66f20 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -97,7 +97,7 @@ 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):
     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.longitudinalTuning.deadzoneBP = [0.]
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 26fc97c4d..19d537315 100755
--- a/selfdrive/car/honda/interface.py
+++ b/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
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index e612d7e7c..b39f24e90 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/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, 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
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index b66ed8c62..66cc79c94 100644
--- a/selfdrive/car/interfaces.py
+++ b/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, params: 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: 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]
@@ -291,7 +291,7 @@ 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"):
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 7c4179c8a..208eddb37 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -12,7 +12,7 @@ EventName = car.CarEvent.EventName
 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
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index e80f5d3dd..3749878c1 100755
--- a/selfdrive/car/mock/interface.py
+++ b/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
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index c2d94f1de..e7087ccb3 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/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
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 85b80580b..1bd472739 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/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:
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index dd40cfeb4..4792c32ee 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/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,
@@ -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),
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 3e632de5c..c167b982b 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/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]
@@ -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
 
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index aa4bae815..dce2a82ee 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase):
       self.cp_ext = self.cp_cam
 
   @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