Toyota: handle brake hold (#22810)

* disallow engagement if brake hold active

* we can check once

* move to common events

revert

* fix

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: a0e5eccb70ac9209307d0994252f5bf089ae48ae

selfdrive/car/honda/carstate.py

@@ -234,7 +234,7 @@ class CarState(CarStateBase):
 
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
       250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
-    self.brake_hold = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"]
+    ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
     if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
                                   CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):

selfdrive/car/honda/interface.py

@@ -380,8 +380,6 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, pcm_enable=False)
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
-    if self.CS.brake_hold and self.CS.CP.openpilotLongitudinalControl:
-      events.add(EventName.brakeHold)
     if self.CS.park_brake:
       events.add(EventName.parkBrake)
 

selfdrive/car/hyundai/carstate.py

@@ -67,6 +67,7 @@ class CarState(CarStateBase):
     # TODO: Find brake pressure
     ret.brake = 0
     ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
+    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
 
     if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
       if self.CP.carFingerprint in HYBRID_CAR:
@@ -108,7 +109,6 @@ class CarState(CarStateBase):
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.park_brake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    self.brake_hold = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
     self.prev_cruise_buttons = self.cruise_buttons
     self.cruise_buttons = cp.vl["CLU11"]["CF_Clu_CruiseSwState"]

selfdrive/car/hyundai/interface.py

@@ -294,8 +294,6 @@ class CarInterface(CarInterfaceBase):
 
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
-    if self.CS.brake_hold and self.CS.CP.openpilotLongitudinalControl:
-      events.add(EventName.brakeHold)
     if self.CS.park_brake:
       events.add(EventName.parkBrake)
 

selfdrive/car/interfaces.py

@@ -135,6 +135,8 @@ class CarInterfaceBase():
       events.add(EventName.speedTooHigh)
     if cs_out.cruiseState.nonAdaptive:
       events.add(EventName.wrongCruiseMode)
+    if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
+      events.add(EventName.brakeHold)
 
 
     # Handle permanent and temporary steering faults

selfdrive/car/toyota/carstate.py

@@ -33,6 +33,7 @@ class CarState(CarStateBase):
     ret.seatbeltUnlatched = cp.vl["SEATS_DOORS"]["SEATBELT_DRIVER_UNLATCHED"] != 0
 
     ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
+    ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
     if self.CP.enableGasInterceptor:
       ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
       ret.gasPressed = ret.gas > 15
@@ -138,6 +139,7 @@ class CarState(CarStateBase):
       ("DOOR_OPEN_RR", "SEATS_DOORS", 1),
       ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
       ("TC_DISABLED", "ESP_CONTROL", 1),
+      ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL", 1),
       ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
       ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
       ("CRUISE_ACTIVE", "PCM_CRUISE", 0),

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-94d3ebac800d4db32d2947ae81fe7969026f40a3
+59877743b76ee0a07e882342ff7ba8b492b4fe02