Add Disengage on Accelerator Toggle (#23977)

* Squashed commit of the following:

commit 953bcf0ecf8d03f0fec9ce0d5442cc660ae2347d
Merge: b4198608d efd04715e
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 19:58:06 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit b4198608dac9595bfeb9443f95cd6c5d385cd62d
Merge: 24f90b2c8 0e983562d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 14:32:54 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 24f90b2c8d6ae509c0776b6e33b743467aa08dee
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 14:07:52 2022 -0700

    revert changes and get ready for override

commit aa514df6b5e8431f0faa07f6b25eb5cb6c9f2749
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 30 20:52:24 2022 -0700

    temporary

commit c874e10c2555968c683f629c4582ab22e51d431f
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 30 00:30:13 2022 -0700

    move gasPressed to controlsd

commit fe670439dff5bc6dfc5963d79ca2febe0c5920c7
Merge: 49d3b6d11 c78701e47
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 30 00:15:48 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 49d3b6d1162893fa94b2294152f0718eeb4698ed
Merge: 475b27e74 3e819bc5a
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 13:06:08 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 475b27e74fd6479f1d148e9ded1eca6ee476865c
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 20:24:59 2022 -0700

    update SAFETY.md

commit 0798eadb82749e12ecbaa86f4e57b21bd3dbc7e8
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 17:52:06 2022 -0700

    ⛽ ➡️ 🔋

    bump

commit d2b64b89cf8d7265bc90848b4e3a2276c9a4cb78
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 16:19:34 2022 -0700

    these changes will be in border PR

    these changes will be border PR

commit bed31e63de2244c161729773978fef8a9246ddb5
Merge: 491417640 603e07793
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 16:17:31 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 49141764098e3a701ff123ead52de4656b31db4d
Merge: 9291e9f00 46ed8bb8e
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 19:00:26 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 9291e9f0045780669b2ffa7f08fb10373c03b070
Merge: 2aed64157 2c947f193
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Mar 18 19:03:13 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 2aed64157d6e9dc993d103a2c6abf7e643410562
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Mar 18 19:03:03 2022 -0700

    Revert "send pre-enable state when gas is pressed"

    This reverts commit 8d82e697dc2efade307413e767d14b56b4d2d079.

commit a219defe5342efa731a957b2ff4fd86292c1f239
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 17 12:50:46 2022 -0700

    bump cereal

commit 8d82e697dc2efade307413e767d14b56b4d2d079
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 16 22:40:13 2022 -0700

    send pre-enable state when gas is pressed

    formatting and it's out

    forgot one

    allow gas press

    show toggle

    revert changes

    revert changes

commit 5eb4d1ab1b77ac65bdd901f692ebfb848d5187ca
Merge: bad1bdc74 d0ef25959
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 16 22:29:43 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit bad1bdc7428c5d8a4a765b259da504f0ade84424
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 23:03:56 2022 -0700

    clean up a bit

commit 7516ed9b786536a07f00a92b9c1742ca252a01d1
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:55:09 2022 -0700

    these are null checks right now

commit 408f5f1d633521b29b08d966c9b387fa79dff0d6
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:51:14 2022 -0700

    should work

commit be1978e29c03d8843cf073cc9ddf84020fd2b378
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:36:16 2022 -0700

    stash

commit f0bd4c47e9d27061c6cd3b88765a7c10995f42db
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:26:24 2022 -0700

    this was flipped

commit d5b6e30389a727e8559331acd706422e1b246f60
Merge: 820b19894 c814c1383
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:25:49 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 820b198949
Merge: 91763f9ff 6d2483ff9
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 14 23:39:34 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 91763f9ff4
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Feb 24 20:15:26 2022 -0800

    add icon from jozef 🔥

commit 1885c9e2ba
Merge: 1f591736a eae207a84
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Feb 24 20:08:07 2022 -0800

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 1f591736a2
Merge: 465811f0b ebf5b27a7
Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date:   Sat Feb 12 10:24:29 2022 -0500

    Merge branch 'master' into disengage-on-gas

commit 465811f0b4
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 11:20:32 2022 -0500

    Add param to process replay

commit 0344363a53
Merge: 700efcb3f 1175355b7
Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date:   Fri Feb 11 11:07:31 2022 -0500

    Merge branch 'master' into disengage-on-gas

commit 700efcb3f4
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 11:04:39 2022 -0500

    Add param to unsafeMode

commit 220ce272fe
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 10:54:16 2022 -0500

    Add param to unsafeMode

commit d273bb78ac
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 10:52:22 2022 -0500

    Resolve conflicts

commit 1a85afd60c
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 10:51:50 2022 -0500

    Resolve conflicts

commit e3be32afc2
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 10:51:08 2022 -0500

    Resolve conflicts

commit f27203af3a
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Wed Jan 19 00:30:09 2022 -0500

    Add param to process replay

commit 04c0ad1a54
Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date:   Wed Jan 19 00:28:49 2022 -0500

    Update interfaces.py

    Co-authored-by: Willem Melching <willem.melching@gmail.com>

commit 99cf13caeb
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Sat Jan 15 00:03:38 2022 -0500

    Fix missing params lib

commit 2230254ca7
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Jan 14 23:38:46 2022 -0500

    Disengage on gas toggle

commit 87475e02cb
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Jan 14 23:24:00 2022 -0500

    Disengage on gas toggle

* bump

* use ALTERNATIVE_EXPERIENCE

* or it

* de-bump

* update refs

* update refs!

* you can just ctrl+click ALTERNATIVE_EXPERIENCE!

* already have a params

* update text
old-commit-hash: f1f40c117a

docs/SAFETY.md

@@ -22,7 +22,7 @@ Following Hazard and Risk Analysis and FMEA, at a very high level, we have desig
 ensuring two main safety requirements.
 
 1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on either pedal or by pressing the cancel button.
+   by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
    react. This means that while the system is engaged, the actuators are constrained
    to operate within reasonable limits.

selfdrive/assets/offroad/icon_disengage_on_accelerator.svg

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5252412f2225c89ea7e78ad0fbd6544170aea157693ce0f9778f26a64f582ec2
+size 6821

selfdrive/car/interfaces.py

@@ -124,8 +124,6 @@ class CarInterfaceBase(ABC):
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
-    if cs_out.gasPressed:
-      events.add(EventName.pedalPressedPreEnable)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
     if cs_out.stockAeb:

selfdrive/common/params.cc

@@ -98,6 +98,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableRadar_Allow", PERSISTENT},
     {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
     {"DisableUpdates", PERSISTENT},
+    {"DisengageOnAccelerator", PERSISTENT},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},

selfdrive/controls/controlsd.py

@@ -10,6 +10,7 @@ from common.profiler import Profiler
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
+from panda import ALTERNATIVE_EXPERIENCE
 from selfdrive.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
@@ -100,7 +101,11 @@ class Controls:
     else:
       self.CI, self.CP = CI, CI.CP
 
-    self.CP.alternativeExperience = 0  # see panda/board/safety_declarations.h for allowed values
+    # set alternative experiences from parameters
+    self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
+    self.CP.alternativeExperience = 0
+    if not self.disengage_on_accelerator:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     # read params
     self.is_metric = params.get_bool("IsMetric")
@@ -200,11 +205,15 @@ class Controls:
       self.events.add(EventName.controlsInitializing)
       return
 
-    # Disable on rising edge of gas or brake. Also disable on brake when speed > 0
+    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-    if (CS.gasPressed and not self.CS_prev.gasPressed) or \
+    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)):
       self.events.add(EventName.pedalPressed)
 
+    if CS.gasPressed:
+      self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else
+                      EventName.gasPressedOverride)
+
     self.events.add_from_msg(CS.events)
 
     if not self.CP.notCar:

selfdrive/controls/lib/longcontrol.py

@@ -87,7 +87,7 @@ class LongControl():
                                                        v_target, v_target_future, CS.brakePressed,
                                                        CS.cruiseState.standstill)
 
-    if self.long_control_state == LongCtrlState.off or CS.gasPressed:
+    if self.long_control_state == LongCtrlState.off:
       self.reset(CS.vEgo)
       output_accel = 0.
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -71,7 +71,6 @@ class Planner:
 
     # Reset current state when not engaged, or user is controlling the speed
     reset_state = long_control_state == LongCtrlState.off
-    reset_state = reset_state or sm['carState'].gasPressed
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)

selfdrive/manager/manager.py

@@ -38,6 +38,7 @@ def manager_init() -> None:
 
   default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
+    ("DisengageOnAccelerator", "1"),
     ("HasAcceptedTerms", "0"),
     ("OpenpilotEnabledToggle", "1"),
   ]

selfdrive/test/process_replay/process_replay.py

@@ -346,6 +346,7 @@ def setup_env(simulation=False):
   params.clear_all()
   params.put_bool("OpenpilotEnabledToggle", True)
   params.put_bool("Passive", False)
+  params.put_bool("DisengageOnAccelerator", True)
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-ad17c3c1d11691bc35efe3de78a7cef3daf5dbdf
+5f9efe721de4d947567eae55a8dd331f0bae4ded

selfdrive/ui/qt/offroad/settings.cc

@@ -65,6 +65,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
       "../assets/offroad/icon_road.png",
     },
+    {
+      "DisengageOnAccelerator",
+      "Disengage On Accelerator Pedal",
+      "When enabled, openpilot will disengage when the accelerator pedal is pressed.",
+      "../assets/offroad/icon_disengage_on_accelerator.svg",
+    },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",