toyota

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -38,6 +38,11 @@ def calculate_speed_limit(cp_cam):
     return 0
 
 
+def calculate_interceptor_gas_pressed(cp) -> bool:
+  interceptor_gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2
+  return interceptor_gas > 805
+
+
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
@@ -100,8 +105,7 @@ class CarState(CarStateBase):
       can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"])
     else:
       if self.CP.enableGasInterceptorDEPRECATED:
-        ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2
-        ret.gasPressed = ret.gas > 805
+        ret.gasPressed = calculate_interceptor_gas_pressed(cp)
       else:
         ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0  # TODO: these also have GAS_PEDAL, come back and unify
       can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])

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

@@ -8,6 +8,7 @@ from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
 from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.carcontroller import CarController, update_permit_braking
+from opendbc.car.toyota.carstate import calculate_interceptor_gas_pressed
 from opendbc.car.toyota.fingerprints import FW_VERSIONS
 from opendbc.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, SECOC_CAR, \
                                                   FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
@@ -322,3 +323,22 @@ class TestToyotaCarController:
     )
 
     assert gas_cmd == 0.0
+
+
+class TestToyotaCarState:
+  def test_interceptor_gas_pressed_threshold(self):
+    cp = SimpleNamespace(vl={
+      "GAS_SENSOR": {
+        "INTERCEPTOR_GAS": 900,
+        "INTERCEPTOR_GAS2": 910,
+      }
+    })
+    assert calculate_interceptor_gas_pressed(cp) is True
+
+    cp = SimpleNamespace(vl={
+      "GAS_SENSOR": {
+        "INTERCEPTOR_GAS": 700,
+        "INTERCEPTOR_GAS2": 710,
+      }
+    })
+    assert calculate_interceptor_gas_pressed(cp) is False