Toyota: prepare to disable radar (#29542)

* try to disable radar

* fix bug and bump panda

* prep

* always attempt longitudinal for testers

* fix rav4

* send ACC_HUD

* bump panda

* revert

* check for failure to disable

* fix arg

* bump to master

* revert to master

* comments only

* correct check

* carcontroller

* something like this

* or this

* use flag

* send PCS HUD

* clean up

* carstate checks

* fix from test models

* consistent
old-commit-hash: 0aa6e2ce41113a8f129ab88762037254f2951f91

selfdrive/car/toyota/carcontroller.py

@@ -6,7 +6,7 @@ from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, creat
                                            create_accel_command, create_acc_cancel_command, \
                                            create_fcw_command, create_lta_steer_command
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
-                                        MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \
+                                        MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
                                         UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 
@@ -166,7 +166,7 @@ class CarController:
                                            hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                            hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
 
-      if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
+      if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
         can_sends.append(create_fcw_command(self.packer, fcw_alert))
 
     # *** static msgs ***
@@ -174,6 +174,10 @@ class CarController:
       if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars:
         can_sends.append(make_can_msg(addr, vl, bus))
 
+    # keep radar disabled
+    if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+      can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])
+
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer

selfdrive/car/toyota/carstate.py

@@ -130,7 +130,7 @@ class CarState(CarStateBase):
 
     cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
 
-    if self.CP.carFingerprint in TSS2_CAR:
+    if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
         self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
@@ -153,7 +153,7 @@ class CarState(CarStateBase):
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
 
-    if not self.CP.enableDsu:
+    if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
 
     if self.CP.enableBsm:
@@ -201,7 +201,7 @@ class CarState(CarStateBase):
     if CP.enableBsm:
       messages.append(("BSM", 1))
 
-    if CP.carFingerprint in RADAR_ACC_CAR:
+    if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       if not CP.flags & ToyotaFlags.SMART_DSU.value:
         messages += [
           ("ACC_CONTROL", 33),

selfdrive/car/toyota/interface.py

@@ -2,9 +2,11 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda import Panda
+from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                         MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
 from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 EventName = car.CarEvent.EventName
@@ -218,7 +220,12 @@ class CarInterface(CarInterfaceBase):
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
     if candidate in RADAR_ACC_CAR:
       ret.experimentalLongitudinalAvailable = use_sdsu
-      use_sdsu = use_sdsu and experimental_long
+
+      if not use_sdsu:
+        if experimental_long and False:  # TODO: disabling radar isn't supported yet
+          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
+      else:
+        use_sdsu = use_sdsu and experimental_long
 
     # openpilot longitudinal enabled by default:
     #  - non-(TSS2 radar ACC cars) w/ smartDSU installed
@@ -226,7 +233,8 @@ class CarInterface(CarInterfaceBase):
     #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
     # openpilot longitudinal behind experimental long toggle:
     #  - TSS2 radar ACC cars w/ smartDSU installed
-    ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
+    #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
+    ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:
@@ -261,6 +269,13 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
+  @staticmethod
+  def init(CP, logcan, sendcan):
+    # disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU
+    if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+      communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
+      disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
+
   # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)

selfdrive/car/toyota/toyotacan.py

@@ -56,7 +56,7 @@ def create_acc_cancel_command(packer):
 
 def create_fcw_command(packer, fcw):
   values = {
-    "PCS_INDICATOR": 1,
+    "PCS_INDICATOR": 1,  # PCS turned off
     "FCW": fcw,
     "SET_ME_X20": 0x20,
     "SET_ME_X10": 0x10,

selfdrive/car/toyota/values.py

@@ -42,6 +42,7 @@ class CarControllerParams:
 class ToyotaFlags(IntFlag):
   HYBRID = 1
   SMART_DSU = 2
+  DISABLE_RADAR = 4
 
 
 class CAR: