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Toyota: don't send ACC_HUD on Prius V (#25539)

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* Prius v also doesn't send ACC_HUD

* common
old-commit-hash: fb99766323
This commit is contained in:
Shane Smiskol
2022-08-25 12:24:35 -07:00
committed by GitHub
parent d37b297076
commit ddcc417303
1 changed files with 20 additions and 19 deletions
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selfdrive/car/toyota/carcontroller.py
+20 -19
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@@ -109,28 +109,29 @@ class CarController:
can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2))
self.gas = interceptor_gas_cmd
# ui mesg is at 1Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
if self.CP.carFingerprint != CAR.PRIUS_V:
# ui mesg is at 1Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
elif pcm_cancel_cmd:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
elif pcm_cancel_cmd:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
if (self.frame % 100 == 0 or send_ui) and (self.CP.carFingerprint != CAR.PRIUS_V):
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
hud_control.rightLaneVisible, hud_control.leftLaneDepart,
hud_control.rightLaneDepart, CC.enabled))
if self.frame % 100 == 0 or send_ui:
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
hud_control.rightLaneVisible, hud_control.leftLaneDepart,
hud_control.rightLaneDepart, CC.enabled))
if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
# *** static msgs ***
for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS: