Merge branch 'devel-en' into devel-zht

common/params.py

@@ -92,6 +92,7 @@ keys = {
   "DragonCachedModel": [TxType.PERSISTENT],
   "DragonCachedFP": [TxType.PERSISTENT],
   "DragonCachedVIN": [TxType.PERSISTENT],
+  "DragonAllowGas": [TxType.PERSISTENT],
 }
 
 

selfdrive/car/honda/carcontroller.py

@@ -182,6 +182,16 @@ class CarController(object):
         idx = frame // 2
         ts = frame * DT_CTRL
         pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
+        # DragonAllowGas
+        # if we detect gas pedal pressed, we do not want OP to apply gas or brake
+        # gasPressed code from interface.py
+        if not CS.CP.enableGasInterceptor:
+          gasPressed = CS.pedal_gas > 0
+        else:
+          gasPressed = CS.user_gas_pressed
+        if params.get("DragonAllowGas") == "1" and gasPressed:
+          apply_brake = 0
+          apply_gas = 0
         can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
           pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx))
         self.apply_brake_last = apply_brake

selfdrive/car/honda/interface.py

@@ -504,13 +504,18 @@ class CarInterface(object):
     if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
       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)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    # DragonAllowGas
+    if params.get("DragonAllowGas") == "0":
+      # 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)):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      if ret.gasPressed:
+        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+    else:
+      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]))
 
     # it can happen that car cruise disables while comma system is enabled: need to
     # keep braking if needed or if the speed is very low

selfdrive/car/toyota/carcontroller.py

@@ -229,6 +229,19 @@ class CarController(object):
     elif ECU.APGS in self.fake_ecus:
       can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
 
+    # DragonAllowGas
+    # if we detect gas pedal pressed, we do not want OP to apply gas or brake
+    # gasPressed code from interface.py
+    if CS.CP.enableGasInterceptor:
+      # use interceptor values to disengage on pedal press
+      gasPressed = CS.pedal_gas > 15
+    else:
+      gasPressed = CS.pedal_gas > 0
+
+    if params.get("DragonAllowGas") == "1" and gasPressed:
+      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

@@ -370,13 +370,18 @@ class CarInterface(object):
     elif not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # 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)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    # DragonAllowGas
+    if params.get("DragonAllowGas") == "0":
+      # 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)):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      if ret.gasPressed:
+        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+    else:
+      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]))
 
     ret.events = events
 

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -17,6 +17,7 @@ default_conf = {
   'DragonCachedModel': '', # for cache car
   'DragonCachedFP': '', # for cache car
   'DragonCachedVIN': '', # for cache car
+  'DragonAllowGas': '0',
 }
 
 def dragonpilot_set_params(params):