toyboy button

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -23,6 +23,7 @@ TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
 # - lka/lta msg drop out: 3 (recoverable)
 # - prolonged high driver torque: 17 (permanent)
 PERM_STEER_FAULTS = (3, 17)
+LKAS_BUTTON_CAR = TSS2_CAR | {CAR.TOYOTA_PRIUS}
 
 
 # Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team!
@@ -43,6 +44,13 @@ def calculate_interceptor_gas_pressed(cp) -> bool:
   return interceptor_gas > 805
 
 
+def create_lkas_button_events(lkas_button: int, prev_lkas_button: int) -> list[structs.CarState.ButtonEvent]:
+  if lkas_button != 0 and lkas_button != prev_lkas_button:
+    return (create_button_events(1, 0, {1: ButtonType.lkas}) +
+            create_button_events(0, 1, {1: ButtonType.lkas}))
+  return []
+
+
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
@@ -220,16 +228,12 @@ class CarState(CarStateBase):
       self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
     buttonEvents = []
-    if self.CP.carFingerprint in TSS2_CAR:
-      # lkas button is wired to the camera
+    if self.CP.carFingerprint in LKAS_BUTTON_CAR:
       prev_lkas_button = self.lkas_button
       self.lkas_button = cp_cam.vl["LKAS_HUD"]["LDA_ON_MESSAGE"]
+      buttonEvents += create_lkas_button_events(self.lkas_button, prev_lkas_button)
 
-      # Cycles between 1 and 2 when pressing the button, then rests back at 0 after ~3s
-      if self.lkas_button != 0 and self.lkas_button != prev_lkas_button:
-        buttonEvents.extend(create_button_events(1, 0, {1: ButtonType.lkas}) +
-                            create_button_events(0, 1, {1: ButtonType.lkas}))
-
+    if self.CP.carFingerprint in TSS2_CAR:
       if self.CP.carFingerprint not in (RADAR_ACC_CAR | SECOC_CAR):
         # distance button is wired to the ACC module (camera or radar)
         prev_distance_button = self.distance_button

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -11,7 +11,7 @@ from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.carcontroller import CarController, get_long_tune, get_prius_positive_feedforward_scale, limit_interceptor_pcm_accel, \
                                              limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
                                              limit_prius_stopping_accel, update_permit_braking
-from opendbc.car.toyota.carstate import calculate_interceptor_gas_pressed
+from opendbc.car.toyota.carstate import LKAS_BUTTON_CAR, calculate_interceptor_gas_pressed, create_lkas_button_events
 from opendbc.car.toyota.fingerprints import FW_VERSIONS
 from opendbc.car.toyota.interface import CarInterface
 from opendbc.car.toyota.radar_interface import RadarInterface, TSSP_RADAR_EGO_SPEED_SCALE
@@ -610,6 +610,29 @@ class TestToyotaCarController:
 
 
 class TestToyotaCarState:
+  def test_lkas_button_platforms(self):
+    assert CAR.TOYOTA_PRIUS in LKAS_BUTTON_CAR
+    assert TSS2_CAR <= LKAS_BUTTON_CAR
+    assert CAR.TOYOTA_CAMRY not in LKAS_BUTTON_CAR
+    assert CAR.LEXUS_RX not in LKAS_BUTTON_CAR
+
+  @pytest.mark.parametrize("lkas_button,prev_lkas_button,event_count", [
+    (0, 0, 0),
+    (1, 0, 2),
+    (1, 1, 0),
+    (0, 1, 0),
+    (2, 1, 2),
+  ])
+  def test_lkas_button_events(self, lkas_button, prev_lkas_button, event_count):
+    events = create_lkas_button_events(lkas_button, prev_lkas_button)
+
+    assert len(events) == event_count
+    if events:
+      assert [(event.type, event.pressed) for event in events] == [
+        (structs.CarState.ButtonEvent.Type.lkas, True),
+        (structs.CarState.ButtonEvent.Type.lkas, False),
+      ]
+
   def test_interceptor_gas_pressed_threshold(self):
     cp = SimpleNamespace(vl={
       "GAS_SENSOR": {

starpilot/controls/tests/test_starpilot_card.py

@@ -556,6 +556,19 @@ def test_cancel_button_short_press_can_run_independent_mapping(monkeypatch, tmp_
   assert card.params_memory.get_int("WheelButtonBookmarkCounter") == 1
 
 
+def test_lkas_button_press_creates_bookmark(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(SimpleNamespace(brand="toyota"), SimpleNamespace(alternativeExperience=0))
+  car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
+
+  card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), make_toggles(bookmark_via_lkas=True))
+
+  assert card.params_memory.get_int("WheelButtonBookmarkCounter") == 1
+
+
 def test_favorite_wheel_action_toggles_hidden_onroad_slot(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)