Use a safety param for gas interceptor (#30719)

* bump * bump * space * remove from boardd * set flag for honda to pass tests * migrate * Update ref_commit * final bump * bump cereal * bump to master
1 year ago · 582743fdb5
parent 5b909c7d52
commit 582743fdb5
7 changed files with 10 additions and 5 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit d11688a90a1cebacb3fe00dcfbba5f27551b2d89
+Subproject commit 8ae5c51a6515c171f3a82c9511a18d79a9e55c07
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit a88fe8c883758951ba2854eb2f6726d5365df099
+Subproject commit bb75afc84e4d33af1554ada81851547db648e33e
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -351,7 +351,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
    ps.setIgnitionLine(health.ignition_line_pkt);
    ps.setIgnitionCan(health.ignition_can_pkt);
    ps.setControlsAllowed(health.controls_allowed_pkt);
-    ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt);
    ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
    ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
    ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -285,6 +285,9 @@ class CarInterface(CarInterfaceBase):
    if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG

+    if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR
+
    if candidate in HONDA_BOSCH_RADARLESS:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS

--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -222,6 +222,9 @@ class CarInterface(CarInterfaceBase):
                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
    ret.enableGasInterceptor = 0x201 in fingerprint[0]

+    if ret.enableGasInterceptor:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
+
    # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@ -40,7 +40,7 @@ def migrate_pandaStates(lr):
  # TODO: safety param migration should be handled automatically
  safety_param_migration = {
    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
-    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE | Panda.FLAG_TOYOTA_GAS_INTERCEPTOR,
    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
  }

--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-921222d49db204071f0a7006fc895690e1045b5d
+ea96f935a7a16c53623c3b03e70c0fbfa6b249e7