force standstill

common/params_keys.h

@@ -261,6 +261,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ForceOffroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"ForceOnroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"ForceStops", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2}},
     {"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
     {"FPSCounter", {PERSISTENT, BOOL, "1", "0", 3}},
     {"StarPilotApiToken", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-6099e109-DEBUG";
+const uint8_t gitversion[19] = "DEV-f8c5e90e-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-6099e109-DEBUG
+DEV-f8c5e90e-DEBUG

selfdrive/selfdrived/events.py

@@ -417,6 +417,13 @@ def custom_startup_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 
 def forcing_stop_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, starpilot_toggles: SimpleNamespace) -> Alert:
+  if CS.standstill:
+    return Alert(
+      "Holding the car at a stop",
+      "Press the gas pedal or 'Resume' button to override",
+      StarPilotAlertStatus.starpilot, AlertSize.mid,
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 1.)
+
   model_length = sm["starpilotPlan"].forcingStopLength
   model_length_msg = f"{model_length:.1f} meters" if metric else f"{model_length * CV.METER_TO_FOOT:.1f} feet"
 

selfdrive/ui/layouts/settings/starpilot/longitudinal.py

@@ -521,6 +521,13 @@ class StarPilotLongitudinalQOLLayout(StarPilotPanel):
         "set_state": lambda s: self._params.put_bool("ForceStops", s),
         "color": "#597497",
       },
+      {
+        "title": tr_noop("Force Standstill State"),
+        "type": "toggle",
+        "get_state": lambda: self._params.get_bool("ForceStandstill"),
+        "set_state": lambda s: self._params.put_bool("ForceStandstill", s),
+        "color": "#597497",
+      },
       {
         "title": tr_noop("Stopped Distance"),
         "type": "value",

starpilot/common/safe_mode.py

@@ -66,6 +66,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "TacoTune",
   "QOLLongitudinal",
   "ForceStops",
+  "ForceStandstill",
   "IncreasedStoppedDistance",
   "MapGears",
   "MapAcceleration",

starpilot/common/starpilot_variables.py

@@ -842,6 +842,7 @@ class StarPilotVariables:
     toggle.cruise_increase = self.get_value("CustomCruise", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise))
     toggle.cruise_increase_long = self.get_value("CustomCruiseLong", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise))
     toggle.force_stops = self.get_value("ForceStops", condition=quality_of_life_longitudinal)
+    toggle.force_standstill = self.get_value("ForceStandstill", condition=quality_of_life_longitudinal)
     toggle.increase_stopped_distance = self.get_value("IncreasedStoppedDistance", cast=float, condition=quality_of_life_longitudinal, conversion=distance_conversion)
     map_gears = self.get_value("MapGears", condition=quality_of_life_longitudinal)
     toggle.map_acceleration = self.get_value("MapAcceleration", condition=map_gears)

starpilot/controls/lib/starpilot_vcruise.py

@@ -19,6 +19,7 @@ class StarPilotVCruise:
 
     self.forcing_stop = False
     self.override_force_stop = False
+    self.override_force_standstill = False
 
     self.override_force_stop_timer = 0
     self.force_stop_timer = 0.0
@@ -42,6 +43,13 @@ class StarPilotVCruise:
     elif self.override_force_stop_timer > 0:
       self.override_force_stop_timer -= DT_MDL
 
+    force_standstill_enabled = controls_enabled and starpilot_toggles.force_standstill and sm["carState"].standstill
+    if force_standstill_enabled:
+      self.override_force_standstill |= sm["carState"].gasPressed
+      self.override_force_standstill |= sm["starpilotCarState"].accelPressed
+    else:
+      self.override_force_standstill = False
+
     v_cruise_cluster = max(sm["carState"].vCruiseCluster * CV.KPH_TO_MS, v_cruise)
     v_cruise_diff = v_cruise_cluster - v_cruise
 
@@ -81,7 +89,12 @@ class StarPilotVCruise:
       self.slc_offset = 0
       self.slc_target = 0
 
-    if force_stop_enabled and not self.override_force_stop:
+    if force_standstill_enabled and not self.override_force_standstill:
+      self.forcing_stop = True
+      self.tracked_model_length = 0.0
+      v_cruise = 0.0
+
+    elif force_stop_enabled and not self.override_force_stop:
       self.forcing_stop |= not sm["carState"].standstill
 
       self.tracked_model_length = max(self.tracked_model_length - (v_ego * DT_MDL), 0)

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -928,6 +928,14 @@
         "ui_type": "toggle",
         "parent_key": "QOLLongitudinal"
       },
+      {
+        "key": "ForceStandstill",
+        "label": "Force Standstill State",
+        "description": "Keep openpilot in the standstill state until you press the gas pedal or the Resume/+ cruise button.\n\nThis applies to any engaged stop, not just red lights or stop signs.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "parent_key": "QOLLongitudinal"
+      },
       {
         "key": "IncreasedStoppedDistance",
         "label": "Increase Stopped Distance by:",

starpilot/ui/qt/offroad/longitudinal_settings.cc

@@ -155,6 +155,7 @@ StarPilotLongitudinalPanel::StarPilotLongitudinalPanel(StarPilotSettingsWindow *
     {"CustomCruise", tr("Cruise Interval"), tr("<b>How much the set speed increases or decreases</b> for each + or – cruise control button press."), ""},
     {"CustomCruiseLong", tr("Cruise Interval (Hold)"), tr("<b>How much the set speed increases or decreases while holding the + or – cruise control buttons.</b>"), ""},
     {"ForceStops", tr("Force Stop at \"Detected\" Stop Lights/Signs"), tr("<b>Force openpilot to stop whenever the driving model \"detects\" a red light or stop sign.</b><br><br><i><b>Disclaimer</b>: openpilot does not explicitly detect traffic lights or stop signs. In \"Experimental Mode\", openpilot makes end-to-end driving decisions from camera input, which means it may stop even when there's no clear reason!</i>"), ""},
+    {"ForceStandstill", tr("Force Standstill State"), tr("<b>Keep openpilot in the standstill state until you press the gas pedal or the Resume/+ cruise button.</b><br><br>This applies to any engaged stop, not just red lights or stop signs."), ""},
     {"IncreasedStoppedDistance", tr("Increase Stopped Distance by:"), tr("<b>Add extra space when stopped behind vehicles.</b> Increase for more room; decrease for shorter gaps."), ""},
     {"MapGears", tr("Map Accel/Decel to Gears"), tr("<b>Map the Acceleration or Deceleration profiles to the vehicle's \"Eco\" and \"Sport\" gear modes.</b>"), ""},
     {"SetSpeedOffset", tr("Offset Set Speed by:"), tr("<b>Increase the set speed by the chosen offset.</b> For example, set +5 if you usually drive 5 over the limit."), ""},

starpilot/ui/qt/offroad/longitudinal_settings.h

@@ -34,7 +34,7 @@ private:
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
   QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
   QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune"};
-  QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset", "WeatherPresets"};
+  QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "ForceStandstill", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset", "WeatherPresets"};
   QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
   QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};
   QSet<QString> speedLimitControllerOffsetsKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "Offset5", "Offset6", "Offset7"};