Merge branch 'master' into dev-priv/master

# Conflicts:
#	selfdrive/controls/controlsd.py

selfdrive/car/toyota/carcontroller.py

@@ -1,5 +1,6 @@
 from cereal import car
 from common.numpy_fast import clip, interp
+from common.params import Params
 from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
@@ -34,6 +35,9 @@ class CarController:
     self.gas = 0
     self.accel = 0
 
+    self.param_s = Params()
+    self._reverse_acc_change = self.param_s.get_bool("ReverseAccChange")
+
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -111,15 +115,16 @@ class CarController:
     # we can spam can to cancel the system even if we are using lat only control
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
+      reverse_acc = 2 if self._reverse_acc_change else 1
 
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
+        can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, reverse_acc))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type))
+        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, reverse_acc))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.

selfdrive/car/toyota/toyotacan.py

@@ -27,7 +27,7 @@ def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, reverse_acc):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
@@ -37,7 +37,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
     "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,
     "CANCEL_REQ": pcm_cancel,
-    "ALLOW_LONG_PRESS": 1,
+    "ALLOW_LONG_PRESS": reverse_acc,
   }
   return packer.make_can_msg("ACC_CONTROL", 0, values)
 

selfdrive/controls/controlsd.py

@@ -199,6 +199,8 @@ class Controls:
     self.experimental_mode = False
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
+    self.reverse_acc_change = False
+
     # TODO: no longer necessary, aside from process replay
     self.sm['liveParameters'].valid = True
     self.can_log_mono_time = 0
@@ -497,7 +499,7 @@ class Controls:
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
-    self.v_cruise_helper.update_v_cruise(CS, self.enabled_long, self.is_metric)
+    self.v_cruise_helper.update_v_cruise(CS, self.enabled_long, self.is_metric, self.reverse_acc_change)
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -879,6 +881,8 @@ class Controls:
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
 
+    self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
+
     # Sample data from sockets and get a carState
     CS = self.data_sample()
     cloudlog.timestamp("Data sampled")

selfdrive/controls/lib/drive_helpers.py

@@ -51,13 +51,13 @@ class VCruiseHelper:
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
 
-  def update_v_cruise(self, CS, enabled, is_metric):
+  def update_v_cruise(self, CS, enabled, is_metric, reverse_acc):
     self.v_cruise_kph_last = self.v_cruise_kph
 
     if CS.cruiseState.available:
       if not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_acc)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -67,7 +67,7 @@ class VCruiseHelper:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
-  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
+  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_acc):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
     # would have the effect of both enabling and changing speed is checked after the state transition
     if not enabled:
@@ -77,6 +77,7 @@ class VCruiseHelper:
     button_type = None
 
     v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
+    v_cruise_delta_mltplr = 10 if is_metric else 5
 
     for b in CS.buttonEvents:
       if b.type.raw in self.button_timers and not b.pressed:
@@ -103,8 +104,10 @@ class VCruiseHelper:
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
-    if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
+    pressed_value = (1 if long_press else v_cruise_delta_mltplr) if reverse_acc else (v_cruise_delta_mltplr if long_press else 1)
+    long_press_state = not long_press if reverse_acc else long_press
+    v_cruise_delta = v_cruise_delta * pressed_value
+    if long_press_state and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
     else:
       self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]