dragonpilot 2023-02-08T03:42:25 for EON/C2

version: dragonpilot v0.9.1 beta for EON/C2
date: 2023-02-08T03:42:25
dp-dev(priv2) master commit: 806adddf718b97255ba36d4a9dbd5f6bad383787

common/dp_conf.py

@@ -107,7 +107,7 @@ confs = [
   {'name': 'dp_dm', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   {'name': 'dp_temp_check', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_vag_resume_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_vag_resume_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   # # lat ctrl
   # {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   # {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "2023.02.07"
+#define COMMA_VERSION "2023.02.08"

panda/python/__init__.py

@@ -131,6 +131,7 @@ class ALTERNATIVE_EXPERIENCE:
   DISABLE_DISENGAGE_ON_GAS = 1
   DISABLE_STOCK_AEB = 2
   RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
+  ALKA = 16
 
 class Panda:
 
@@ -206,13 +207,11 @@ class Panda:
   # first byte is for EPS scaling factor
   FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
   FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
-  FLAG_TOYOTA_ALKA = (4 << 8)
 
   FLAG_HONDA_ALT_BRAKE = 1
   FLAG_HONDA_BOSCH_LONG = 2
   FLAG_HONDA_NIDEC_ALT = 4
   FLAG_HONDA_RADARLESS = 8
-  FLAG_HONDA_ALKA = 16
 
   FLAG_HYUNDAI_EV_GAS = 1
   FLAG_HYUNDAI_HYBRID_GAS = 2
@@ -221,13 +220,11 @@ class Panda:
   FLAG_HYUNDAI_CANFD_HDA2 = 16
   FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
   FLAG_HYUNDAI_ALT_LIMITS = 64
-  FLAG_HYUNDAI_ALKA = 128
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2
 
   FLAG_VOLKSWAGEN_LONG_CONTROL = 1
-  FLAG_VOLKSWAGEN_ALKA = 2
 
   FLAG_CHRYSLER_RAM_DT = 1
   FLAG_CHRYSLER_RAM_HD = 2

selfdrive/car/honda/interface.py

@@ -53,14 +53,11 @@ class CarInterface(CarInterfaceBase):
 
     # dp - attempt to disable op long
     params = Params()
-    dp_atl = int(params.get("dp_atl").decode('utf-8'))
-    if dp_atl > 0:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALKA
-      if dp_atl == 1:
-        ret.openpilotLongitudinalControl = False
-        # update pcmCruise again
-        if candidate in HONDA_BOSCH:
-          ret.pcmCruise = not ret.openpilotLongitudinalControl
+    if int(params.get("dp_atl").decode('utf-8')) == 1:
+      ret.openpilotLongitudinalControl = False
+      # update pcmCruise again
+      if candidate in HONDA_BOSCH:
+        ret.pcmCruise = True
 
     if candidate == CAR.CRV_5G:
       ret.enableBsm = 0x12f8bfa7 in fingerprint[0]

selfdrive/car/hyundai/interface.py

@@ -229,6 +229,9 @@ class CarInterface(CarInterfaceBase):
       ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
 
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
+    params = Params()
+    if int(params.get("dp_atl").decode('utf-8')) == 1:
+      ret.openpilotLongitudinalControl = False
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
     ret.stoppingControl = True
@@ -269,15 +272,6 @@ class CarInterface(CarInterfaceBase):
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
-    params = Params()
-    dp_atl = int(params.get("dp_atl").decode('utf-8'))
-    if dp_atl > 0:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_ALKA
-      if dp_atl == 1:
-        ret.openpilotLongitudinalControl = False
-        # update pcmCruise again
-        ret.pcmCruise = not ret.openpilotLongitudinalControl
-
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if candidate in HYBRID_CAR:

selfdrive/car/toyota/interface.py

@@ -222,15 +222,8 @@ class CarInterface(CarInterfaceBase):
     ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
-    dp_atl = int(Params().get("dp_atl").decode('utf-8'))
-    if dp_atl > 0:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALKA
-
-      if dp_atl == 1:
-        ret.openpilotLongitudinalControl = False
-
-      if smartDsu and dp_atl == 2:
-        ret.openpilotLongitudinalControl = True
+    if int(Params().get("dp_atl").decode('utf-8')) == 1:
+      ret.openpilotLongitudinalControl = False
 
     if candidate == CAR.CHR_TSS2:
       ret.enableBsm = True

selfdrive/car/volkswagen/interface.py

@@ -82,10 +82,8 @@ class CarInterface(CarInterfaceBase):
     # Global longitudinal tuning defaults, can be overridden per-vehicle
 
     dp_atl = int(Params().get("dp_atl").decode('utf-8'))
-    if dp_atl > 0:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_ALKA
-      if dp_atl == 1:
-        ret.openpilotLongitudinalControl = False
+    if dp_atl == 1:
+      ret.openpilotLongitudinalControl = False
 
     ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or use_off_car_defaults
     if experimental_long and dp_atl != 1:

selfdrive/controls/controlsd.py

@@ -114,10 +114,6 @@ class Controls:
       self.CI, self.CP = CI, CI.CP
 
     self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
-    # dp
-    self.sm['dragonConf'].dpAtl = int(self.params.get('dp_atl', encoding='utf8'))
-    self.dp_temp_check = self.params.get_bool('dp_temp_check')
-    self.dp_vag_resume_fix = self.params.get_bool('dp_vag_resume_fix')
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
@@ -128,6 +124,12 @@ class Controls:
     if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"):
       self.CP.dashcamOnly = False
 
+    # dp
+    self.sm['dragonConf'].dpAtl = int(self.params.get('dp_atl', encoding='utf8'))
+    if self.sm['dragonConf'].dpAtl:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALKA
+    self.dp_temp_check = self.params.get_bool('dp_temp_check')
+
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
@@ -597,16 +599,12 @@ class Controls:
         pass
       elif not CS.cruiseState.available:
         pass
-        # CC.latActive = False
       elif CS.steerFaultTemporary:
         pass
-        # CC.latActive = False
       elif CS.steerFaultPermanent:
         pass
-        # CC.latActive = False
       elif CS.standstill:
         pass
-        # CC.latActive = False
       elif CS.gearShifter == car.CarState.GearShifter.reverse:
         pass
       else:

selfdrive/controls/lib/events.py

@@ -195,7 +195,7 @@ class NormalPermanentAlert(Alert):
 
 
 class StartupAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = _("Always keep hands on wheel and eyes on road"), alert_status=AlertStatus.normal):
+  def __init__(self, alert_text_1: str, alert_text_2: str = _("Happy Holiday / New Years! Safe Travel, cya in 2023"), alert_status=AlertStatus.normal):
     super().__init__(alert_text_1, alert_text_2,
                      alert_status, AlertSize.mid,
                      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),