Restore Toyota camera pedal configurations

opendbc_repo/opendbc/car/toyota/pedal.py

@@ -1,4 +1,4 @@
-"""Dom pedal protocol for the qualified Corolla/RAV4 TSS2 camera-longitudinal owners."""
+"""Dom pedal protocol for the qualified TSS2 camera-longitudinal owners."""
 import numpy as np
 from opendbc.can import CANParser
 from opendbc.car.toyota.toyotacan import toyota_checksum
@@ -7,7 +7,22 @@ from opendbc.car.toyota.values import CAR, ToyotaFlags, MIN_ACC_SPEED, PEDAL_TRA
 
 LONG_WORD = 0x2049
 STOCK_WORD = 0x2249
-CAMERA_PEDAL_CARS = frozenset((CAR.TOYOTA_COROLLA_TSS2, CAR.TOYOTA_RAV4_TSS2))
+CAMERA_PEDAL_CARS = frozenset((
+  CAR.TOYOTA_ALPHARD_TSS2,
+  CAR.TOYOTA_AVALON_TSS2,
+  CAR.TOYOTA_CAMRY_TSS2,
+  CAR.TOYOTA_COROLLA_TSS2,
+  CAR.TOYOTA_HIGHLANDER_TSS2,
+  CAR.TOYOTA_PRIUS_TSS2,
+  CAR.TOYOTA_RAV4_TSS2,
+  CAR.TOYOTA_MIRAI,
+  CAR.LEXUS_ES_TSS2,
+  CAR.LEXUS_NX_TSS2,
+  CAR.LEXUS_LC_TSS2,
+  CAR.LEXUS_RX_TSS2,
+  CAR.LEXUS_IS_TSS2,
+  CAR.LEXUS_RC_TSS2,
+))
 
 
 def checksum(data):

openpilot/starpilot/car/toyota/tests/test_camera_pedal_extension.py

@@ -0,0 +1,21 @@
+import pytest
+from opendbc.car import gen_empty_fingerprint
+from opendbc.car.toyota.interface import CarInterface
+from opendbc.car.toyota.values import ToyotaFlags
+from openpilot.starpilot.car.toyota.tests.test_camera_pedal_extension_callers import NEW_MODELS
+from openpilot.starpilot.car.toyota.tests.test_pedal_caller_native import firmware
+from openpilot.starpilot.car.toyota.aol import qualified
+
+
+@pytest.mark.parametrize('candidate', NEW_MODELS)
+def test_pedal_admission_changes_only_hardware_flags_and_native_owner(candidate):
+  fp = gen_empty_fingerprint()
+  fw = firmware(candidate)
+  baseline = CarInterface.get_params(candidate, fp, fw, False, False, False)
+  fp[0][0x201] = 6
+  cp = CarInterface.get_params(candidate, fp, fw, False, False, False)
+  expected = baseline.to_dict()
+  expected['flags'] |= int(ToyotaFlags.GAS_INTERCEPTOR)
+  expected['safetyConfigs'][0]['safetyParam'] = 0x2049
+  assert cp.to_dict() == expected
+  assert qualified(cp)

openpilot/starpilot/car/toyota/tests/test_camera_pedal_extension_callers.py

@@ -0,0 +1,28 @@
+"""Actual caller/native pedal qualification for added camera-longitudinal models."""
+import pytest
+from opendbc.car.toyota.values import CAR
+from openpilot.starpilot.car.toyota.tests import test_pedal_caller_native as helpers
+
+source_matched_native = helpers.source_matched_native
+daemon_gc_scope = helpers.daemon_gc_scope
+
+NEW_MODELS = (
+  CAR.TOYOTA_ALPHARD_TSS2,
+  CAR.TOYOTA_AVALON_TSS2,
+  CAR.TOYOTA_CAMRY_TSS2,
+  CAR.TOYOTA_HIGHLANDER_TSS2,
+  CAR.TOYOTA_PRIUS_TSS2,
+  CAR.TOYOTA_MIRAI,
+  CAR.LEXUS_ES_TSS2,
+  CAR.LEXUS_NX_TSS2,
+  CAR.LEXUS_LC_TSS2,
+  CAR.LEXUS_RX_TSS2,
+  CAR.LEXUS_IS_TSS2,
+  CAR.LEXUS_RC_TSS2,
+)
+
+@pytest.mark.parametrize('candidate', NEW_MODELS)
+@pytest.mark.parametrize('stock', [False, True])
+@pytest.mark.parametrize('scenario', ['physical', 'main_dropout'])
+def test_added_camera_pedal_actual_callers(candidate, stock, scenario):
+  helpers.run_case(stock, scenario, candidate=candidate)

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "6f439146d603280b53e80ff75795615c7bde92ea18b3d1d9872c232d45fcf2ce", "schema_version": 1}
+{"protected_inventory_sha256": "ebc12f616a72e4a946b56c2f83176afb0581750a0b8add23f9074badfa7fce43", "schema_version": 1}