From a9bcf732d0ddf3ff8c8ce02abee449ad18c9cd59 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 21 Jun 2023 07:33:00 -0400
Subject: [PATCH] Suppress panda siren if in park gear (#175)

* Suppress panda siren if in park gear

* bump panda
---
 panda                      | 2 +-
 selfdrive/boardd/boardd.cc | 5 +++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/panda b/panda
index dbc8ce299a..bb7d6dbdaa 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit dbc8ce299a6033f69a1f750385ec9ffefe6fae98
+Subproject commit bb7d6dbdaa15e95d04a3ea31eb5560aff296ef30
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 7cae1c7419..72c0a8c310 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -466,7 +466,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
   util::set_thread_name("boardd_panda_state");
 
   Params params;
-  SubMaster sm({"controlsState"});
+  SubMaster sm({"controlsState", "carState"});
 
   Panda *peripheral_panda = pandas[0];
   bool is_onroad = false;
@@ -526,9 +526,10 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
+    const bool parked = sm.allAliveAndValid({"carState"}) && (int(sm["carState"].getCarState().getGearShifter()) == 1);
 
     for (const auto &panda : pandas) {
-      panda->send_heartbeat(engaged);
+      panda->send_heartbeat(engaged && !parked);
     }
 
     uint64_t dt = nanos_since_boot() - start_time;