加入油門不取消 OP 選項

selfdrive/car/honda/carcontroller.py

@@ -168,6 +168,9 @@ class CarController(object):
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
 
     else:
+      if CS.car_gas > 0 and dragonconf.conf["allowGasOnOP"]:
+        apply_brake = 0
+        apply_gas = 0.
       # Send gas and brake commands.
       if (frame % 2) == 0:
         idx = frame // 2

selfdrive/car/honda/interface.py

@@ -11,7 +11,8 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
-
+from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
+dragonconf = dragonconf()
 
 # msgs sent for steering controller by camera module on can 0.
 # those messages are mutually exclusive on CRV and non-CRV cars
@@ -539,11 +540,13 @@ class CarInterface(object):
       events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
 
     # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
+    if ret.gasPressed and not self.gas_pressed_prev and not dragonconf.conf["allowGasOnOP"]:
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
+    if ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001):
+      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+
+    if ret.gasPressed and not dragonconf.conf["allowGasOnOP"]:
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     # it can happen that car cruise disables while comma system is enabled: need to

selfdrive/car/toyota/carcontroller.py

@@ -220,6 +220,9 @@ class CarController(object):
     elif ECU.APGS in self.fake_ecus:
       can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
 
+    if CS.gas_pressed and dragonconf.conf["allowGasOnOP"]:
+      apply_accel = 0
+      apply_gas = 0
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
       lead = lead or CS.v_ego < 12.    # at low speed we always assume the lead is present do ACC can be engaged

selfdrive/car/toyota/interface.py

@@ -7,6 +7,8 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR
 from selfdrive.swaglog import cloudlog
+from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
+dragonconf = dragonconf()
 
 
 class CarInterface(object):
@@ -373,10 +375,10 @@ class CarInterface(object):
         # while in standstill, send a user alert
         events.append(create_event('manualRestart', [ET.WARNING]))
 
-    # enable request in prius is simple, as we activate when Toyota is active (rising edge)
-    if ret.cruiseState.enabled and not self.cruise_enabled_prev:
-      events.append(create_event('pcmEnable', [ET.ENABLE]))
-    elif not ret.cruiseState.enabled:
+    if ret.gasPressed and not self.gas_pressed_prev and not dragonconf.conf["allowGasOnOP"]:
+      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+
+    if ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001):
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
     # disable on pedals rising edge or when brake is pressed and speed isn't zero
@@ -384,7 +386,7 @@ class CarInterface(object):
        (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
+    if ret.gasPressed and not dragonconf.conf["allowGasOnOP"]:
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     ret.events = events

selfdrive/dragonpilot/dragonconf/dragonconf.py

@@ -48,6 +48,14 @@ class dragonconf():
     if has_new_def:
       self.write(config)
 
+    # Allow Gas with OP, default False
+    if "allowGasOnOP" not in config:
+      config["allowGasOnOP"] = False
+      has_new_def = True
+    if has_new_def:
+      self.write(config)
+
+
     return config
 
   def write(self, config):