From ccd2838745f824ba44c52c5e89ca82a0356b9efa Mon Sep 17 00:00:00 2001
From: Jason Young <jyoung8607@gmail.com>
Date: Mon, 12 Oct 2020 23:01:22 -0400
Subject: [PATCH] Allow disabling of disengage-on-gas enforcement

---
 selfdrive/boardd/boardd.cc  | 3 ++-
 selfdrive/car/interfaces.py | 6 +++++-
 selfdrive/manager.py        | 1 +
 3 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 1033c0825..530a4c20c 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -109,7 +109,8 @@ void safety_setter_thread() {
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
   cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
 
-  panda->set_unsafe_mode(0);  // see safety_declarations.h for allowed values
+  LOGW("setting unsafe mode: disable enforcement of disengage on gas");
+  panda->set_unsafe_mode(1);  // see safety_declarations.h for allowed values
 
   auto safety_param = car_params.getSafetyParam();
   LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index f7078ed23..502cc087b 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -2,6 +2,7 @@ import os
 import time
 from cereal import car
 from common.kalman.simple_kalman import KF1D
+from common.params import Params
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.config import Conversions as CV
@@ -33,6 +34,9 @@ class CarInterfaceBase():
     if CarController is not None:
       self.CC = CarController(self.cp.dbc_name, CP, self.VM)
 
+    params = Params()
+    self.is_disengage_on_gas_enabled = params.get("IsDisengageOnGasEnabled", encoding='utf8') == "1"
+
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
     return 1.
@@ -119,7 +123,7 @@ class CarInterfaceBase():
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.
     # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
-    if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
+    if (cs_out.gasPressed and (not self.is_disengage_on_gas_enabled) and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
        (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
       events.add(EventName.pedalPressed)
 
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 1775c6388..a6cd99946 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -561,6 +561,7 @@ def main():
     ("OpenpilotEnabledToggle", "1"),
     ("LaneChangeEnabled", "1"),
     ("IsDriverViewEnabled", "0"),
+    ("IsDisengageOnGasEnabled", "1"),
   ]
 
   # set unset params