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Prevent OP engagement when in "Cruise Mode" #770

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Prevent OP engagement when in "Cruise Mode" #770

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3 changes: 3 additions & 0 deletions selfdrive/car/honda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,7 @@ def get_can_signals(CP):
checks += [("BRAKE_MODULE", 50)]
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
("EPB_STATE", "EPB_STATUS", 0),
("CRUISE_SPEED", "ACC_HUD", 0)]
checks += [("GAS_PEDAL_2", 100)]
Expand Down Expand Up @@ -187,6 +188,7 @@ def __init__(self, CP):
self.left_blinker_on = 0
self.right_blinker_on = 0

self.cruise_mode = 0
self.stopped = 0

# vEgo kalman filter
Expand Down Expand Up @@ -303,6 +305,7 @@ def update(self, cp, cp_cam):
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']

if self.CP.radarOffCan:
self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL']
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH, CAR.CRV_HYBRID):
Expand Down
4 changes: 2 additions & 2 deletions selfdrive/car/honda/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -410,7 +410,7 @@ def update(self, c, can_strings):
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.available = bool(self.CS.main_on) and not bool(self.CS.cruise_mode)
ret.cruiseState.speedOffset = self.CS.cruise_speed_offset
ret.cruiseState.standstill = False

Expand Down Expand Up @@ -487,7 +487,7 @@ def update(self, c, can_strings):
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on:
if not self.CS.main_on or self.CS.cruise_mode:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == 'reverse':
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
Expand Down