Support shared Toyota pedal and brake hold paths

opendbc_repo/opendbc/bluepilot_lateral/safety/ford_bp.h

@@ -66,8 +66,13 @@ static bool ford_bp_configure(uint16_t param) {
 static bool ford_bp_health(uint32_t now);
 
 static bool ford_bp_permission(void) {
-  return ford_aol_enabled ? ((ford_aol_permission_mask() & 1U) != 0U) :
-    (lateral_controls_allowed() && controls_allowed && !brake_pressed && !gas_pressed);
+  bool permitted = false;
+  if (ford_aol_enabled) {
+    permitted = (ford_aol_permission_mask() & 1U) != 0U;
+  } else {
+    permitted = lateral_controls_allowed() && controls_allowed && !brake_pressed && !gas_pressed;
+  }
+  return permitted;
 }
 
 static void ford_bp_rx(const CANPacket_t *msg) {

opendbc_repo/opendbc/car/toyota/advert_filter.py

@@ -57,6 +57,8 @@ def apply(cp, *, camera_twoaa=False):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   from opendbc.car.toyota import camera_2aa_filter
   if camera_2aa_filter.configured(cp):
     return True
@@ -94,6 +96,9 @@ def enabled(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   from opendbc.car.toyota import camera_2aa_filter
   if camera_2aa_filter.configured(cp):
     return camera_2aa_filter.prepare_stock(cp)

opendbc_repo/opendbc/car/toyota/camera_2aa_filter.py

@@ -54,6 +54,8 @@ def apply(cp):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   try:
     if (cp is None or cp.brand != 'toyota' or cp.carFingerprint not in CARS or cp.notCar or cp.passive or cp.dashcamOnly or
         cp.secOcRequired or not cp.pcmCruise or len(cp.safetyConfigs) != 1 or
@@ -74,6 +76,9 @@ def enabled(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   if not configured(cp):
     return False
   cp.openpilotLongitudinalControl = False

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -74,7 +74,7 @@ class CarController(CarControllerBase):
     self.door_locks = DoorLocks()
     self.reverse_cruise_input = None
     self.prius_filter_input = None
-    self.original_prius_sdsu = prius_sdsu.configured(CP)
+    self.original_prius_sdsu = prius_sdsu.configured(CP) or prius_longitudinal.eps73_status_configured(CP)
     self.original_prius_filter = self.original_prius_sdsu or prius_advert_filter.configured(CP)
     self.pedal_input = None
     self.rav4h_filter_input = None
@@ -177,6 +177,20 @@ class CarController(CarControllerBase):
     if guarded_advert:
       filter_allowed = filter_allowed and legacy_advert_source_ready
     pedal_owner = pedal.configured(self.CP)
+    hold_source_ready = filter_allowed and bool(
+      CS.out.canValid and not CS.out.canTimeout and CS.out.cruiseState.available and not CS.out.accFaulted and
+      not CS.out.stockAeb and not CS.out.steerFaultTemporary and not CS.out.steerFaultPermanent and not CS.out.doorOpen and
+      not CS.out.seatbeltUnlatched and CS.out.gearShifter in (structs.CarState.GearShifter.drive, structs.CarState.GearShifter.sport))
+    if pedal_owner:
+      hold_source_ready = hold_source_ready and bool(self.pedal_input is not None and self.pedal_input.update(now_nanos) and CS.pedal_ready)
+    if bypass_long:
+      hold_source_ready = hold_source_ready and bool(self.bypass_input is not None and self.bypass_input.update(now_nanos))
+    if pedal_composite.configured(self.CP):
+      filter_allowed = filter_allowed and bool(
+        CS.out.canValid and not CS.out.canTimeout and CS.out.cruiseState.available and not CS.out.accFaulted and not CS.out.stockAeb and
+        not CS.out.steerFaultTemporary and not CS.out.steerFaultPermanent and not CS.out.doorOpen and not CS.out.seatbeltUnlatched and
+        not CS.out.gasPressed and not CS.out.brakePressed and
+        CS.out.gearShifter in (structs.CarState.GearShifter.drive, structs.CarState.GearShifter.sport))
     if pedal_owner:
       filter_allowed = filter_allowed and bool(self.pedal_input is not None and self.pedal_input.update(now_nanos) and CS.pedal_ready)
     if bypass_long:
@@ -304,7 +318,7 @@ class CarController(CarControllerBase):
     lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
 
     # *** gas and brake ***
-    if supports_toyota_auto_hold(self.CP) and CS.out.canValid and not CS.out.canTimeout and (not rav4h_long or filter_allowed):
+    if supports_toyota_auto_hold(self.CP) and CS.out.canValid and not CS.out.canTimeout and hold_source_ready:
       self.update_auto_hold_state(CS, pcm_cancel_cmd if not uses_toyota_auto_hold_aeb(self.CP) else False)
       if (uses_toyota_auto_hold_aeb(self.CP) and self.frame % 2 == 0 and
           CS.out.standstill and CS.out.cruiseState.available and not CS.out.gasPressed):
@@ -432,7 +446,8 @@ class CarController(CarControllerBase):
           self.permit_braking = True
           self.standstill_req = True
 
-        if (bypass_long or rav4h_long or pedal_owner or advert_long or original_prius_long) and not long_active:
+        if ((bypass_long or rav4h_long or pedal_owner or advert_long or original_prius_long) and not long_active and
+            not (self.brake_hold_active and not uses_toyota_auto_hold_aeb(self.CP))):
           pcm_accel_cmd = 0.
         main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
         can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -2,7 +2,9 @@ import copy
 import math
 
 from opendbc.can import CANDefine, CANParser
-from opendbc.car.toyota import dsu_bypass, pedal_composite, pedal, legacy_sdsu, advert_filter, legacy_advert_filter, prius_sdsu, prius_advert_filter
+from opendbc.car.toyota import (
+  prius_longitudinal, dsu_bypass, pedal_composite, pedal, legacy_sdsu, advert_filter, legacy_advert_filter, prius_sdsu, prius_advert_filter
+)
 from opendbc.car.toyota.lexus_is import LexusIsCANParser
 from opendbc.car import Bus, DT_CTRL, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
@@ -291,7 +293,7 @@ class CarState(CarStateBase):
           elif abs(ret.steeringAngleDeg - (zorro - self.zss_offset)) < 4.0:
             ret.steeringAngleDeg = zorro - self.zss_offset
 
-    original_prius_sdsu = prius_sdsu.configured(self.CP)
+    original_prius_sdsu = prius_sdsu.configured(self.CP) or prius_longitudinal.eps73_status_configured(self.CP)
     if rav4h_filter_configured(self.CP) or original_prius_sdsu:
       self.sdsu_state = int(cp.vl["SDSU"]["STATE"])
       source_ns, valid_until_ns = parser_expiry(cp, "SDSU", "STATE")
@@ -327,7 +329,8 @@ class CarState(CarStateBase):
   def get_can_parsers(CP):
     if pedal_composite.configured(CP):
       parent = CarState.get_can_parsers(pedal_composite.parent_cp(CP))
-      parent[Bus.pt] = pedal_composite.ParentPedalParser(parent[Bus.pt])
+      for bus in parent:
+        parent[bus] = pedal_composite.ParentPedalParser(parent[bus])
       parent[Bus.alt] = pedal.PedalCANParser(DBC[CP.carFingerprint][Bus.pt], [('GAS_SENSOR', 50)], 0)
       return parent
     if dsu_bypass.configured(CP):
@@ -356,9 +359,10 @@ class CarState(CarStateBase):
     if CP.carFingerprint == CAR.LEXUS_IS or alternate_sdsu_main:
       pt_messages.append(("DSU_CRUISE", 10))
 
-    if (advert_filter.configured(CP) and not alternate_sdsu_main) or prius_sdsu.configured(CP) or prius_advert_filter.configured(CP):
+    if ((advert_filter.configured(CP) and not alternate_sdsu_main) or prius_sdsu.configured(CP) or
+        prius_longitudinal.eps73_status_configured(CP) or prius_advert_filter.configured(CP)):
       pt_messages.append(("PCM_CRUISE_2", 10))
-    if prius_sdsu.configured(CP) or prius_advert_filter.configured(CP):
+    if prius_sdsu.configured(CP) or prius_longitudinal.eps73_status_configured(CP) or prius_advert_filter.configured(CP):
       pt_messages.append(("EPS_STATUS", 25))
     if CP.flags & ToyotaFlags.LONG_FILTER and not prius_advert_filter.configured(CP):
       pt_messages.append(("SDSU", 50))
@@ -368,7 +372,7 @@ class CarState(CarStateBase):
     if pedal.configured(CP):
       pt_messages.append(("GAS_SENSOR", 50))
     pt_parser = (prius_advert_filter.PriusAdvertCANParser if prius_advert_filter.configured(CP) else
-                 prius_sdsu.PriusSDSUCANParser if prius_sdsu.configured(CP) else
+                 prius_sdsu.PriusSDSUCANParser if prius_sdsu.configured(CP) or prius_longitudinal.eps73_status_configured(CP) else
                  camera_2aa_filter.CameraTwoAACANParser if camera_twoaa else
                  legacy_advert_filter.LegacyAdvertCANParser if legacy_advert else
                  legacy_sdsu.AlternateMainSDSUCANParser if alternate_sdsu_main else

opendbc_repo/opendbc/car/toyota/dsu_bypass.py

@@ -79,6 +79,8 @@ def apply(cp):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   if (
     cp is None
     or cp.brand != 'toyota'
@@ -110,6 +112,9 @@ def enabled(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   if not configured(cp):
     return False
   cp.openpilotLongitudinalControl = False

opendbc_repo/opendbc/car/toyota/eps8_sdsu.py

@@ -71,6 +71,8 @@ def apply(cp, alpha_long):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   if (
     cp is None
     or cp.brand != "toyota"
@@ -101,6 +103,9 @@ def configured(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   if not configured(cp):
     return False
   cp.openpilotLongitudinalControl = False

opendbc_repo/opendbc/car/toyota/interface.py

@@ -12,15 +12,17 @@ SteerControlType = structs.CarParams.SteerControlType
 
 
 def toyota_auto_hold_supported(CP) -> bool:
-  from opendbc.car.toyota.rav4h_filter import enabled as rav4h_filter_enabled
-  if CP.carFingerprint == CAR.TOYOTA_RAV4H and rav4h_filter_enabled(CP):
-    return True
-  return bool(CP.brand == "toyota" and CP.carFingerprint in TOYOTA_AUTO_HOLD_CARS and
-              CP.openpilotLongitudinalControl and not CP.flags & ToyotaFlags.SECOC and
-              not CP.notCar and not CP.dashcamOnly and not CP.passive and len(CP.safetyConfigs) == 1 and
-              CP.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.toyota and
-              (CP.safetyConfigs[0].safetyParam & 0xFF) == EPS_SCALE[CP.carFingerprint] and
-              not CP.safetyConfigs[0].safetyParam & ~(0xFF | int(ToyotaSafetyFlags.ALT_BRAKE) | int(ToyotaSafetyFlags.LTA)))
+  from opendbc.car.toyota import pedal, pedal_composite
+  if not (CP.brand == "toyota" and CP.carFingerprint in TOYOTA_AUTO_HOLD_CARS and
+          CP.openpilotLongitudinalControl and not CP.flags & ToyotaFlags.SECOC and
+          not CP.notCar and not CP.dashcamOnly and not CP.passive and len(CP.safetyConfigs) == 1 and
+          CP.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.toyota):
+    return False
+  parent = pedal_composite.parent_cp(CP)
+  return (any(module.configured(parent) for module in pedal_composite.parent_modules()) or
+          pedal.configured(CP) or
+          ((parent.safetyConfigs[0].safetyParam & 0xFF) == EPS_SCALE[parent.carFingerprint] and
+           not parent.safetyConfigs[0].safetyParam & ~(0xFF | int(ToyotaSafetyFlags.ALT_BRAKE) | int(ToyotaSafetyFlags.LTA))))
 
 
 def apply_toyota_auto_hold(CP, enabled: bool) -> bool:
@@ -184,7 +186,7 @@ class CarInterface(CarInterfaceBase):
 
     if smart_dsu:
       ret.flags |= int(ToyotaFlags.HYBRID | ToyotaFlags.LONG_FILTER)
-      ret.safetyConfigs[0].safetyParam = 4169
+      ret.safetyConfigs[0].safetyParam = 0x8049  # EPS73 status uses the existing EPS8 smartDSU receiver.
       ret.openpilotLongitudinalControl = True
     from opendbc.car.toyota import legacy_advert_filter
     legacy_advert = legacy_advert_filter.hardware_supported(candidate, fingerprint, car_fw)

opendbc_repo/opendbc/car/toyota/legacy_advert_filter.py

@@ -47,6 +47,8 @@ def apply(cp):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   if cp is not None and cp.carFingerprint == CAR.TOYOTA_MATRIX_RETROFIT:
     from opendbc.car.toyota import matrix_filter
     return matrix_filter.configured(cp, length=4)
@@ -70,6 +72,9 @@ def enabled(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   if not configured(cp):
     return False
   cp.openpilotLongitudinalControl = False

opendbc_repo/opendbc/car/toyota/legacy_sdsu.py

@@ -58,6 +58,8 @@ def apply(cp):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   if cp is not None and cp.carFingerprint == CAR.TOYOTA_MATRIX_RETROFIT:
     from opendbc.car.toyota import matrix_filter
     return matrix_filter.configured(cp, length=8)
@@ -82,6 +84,9 @@ def configured(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   if not configured(cp):
     return False
   cp.openpilotLongitudinalControl = False

opendbc_repo/opendbc/car/toyota/pedal.py

@@ -58,6 +58,8 @@ def hardware_supported(candidate, fingerprint, car_fw):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import hold_base_cp
+  cp = hold_base_cp(cp)
   from opendbc.car.toyota import pedal_composite
   if pedal_composite.configured(cp):
     return True

opendbc_repo/opendbc/car/toyota/pedal_composite.py

@@ -7,14 +7,70 @@ A valid pedal source supplements that parent; it cannot replace it.
 from opendbc.car import structs
 from opendbc.car.toyota.values import CAR, ToyotaFlags
 
-PARENT_WORDS = {0xB049: 0x9049, 0xB249: 0x9249}
+PARENT_WORDS = {
+  0x3049: 0x1049,
+  0x3249: 0x1249,
+  0x3449: 0x1449,
+  0x3649: 0x1649,
+  0xA042: 0x8042,
+  0xA049: 0x8049,
+  0xA242: 0x8242,
+  0xA249: 0x8249,
+  0xA449: 0x8449,
+  0xA649: 0x8649,
+  0xA849: 0x8849,
+  0xA949: 0x8949,
+  0xA958: 0x8958,
+  0xA964: 0x8964,
+  0xAA49: 0x8A49,
+  0xAB49: 0x8B49,
+  0xAB58: 0x8B58,
+  0xAB64: 0x8B64,
+  0xB049: 0x9049,
+  0xB149: 0x9149,
+  0xB158: 0x9158,
+  0xB164: 0x9164,
+  0xB249: 0x9249,
+  0xB349: 0x9349,
+  0xB358: 0x9358,
+  0xB364: 0x9364,
+  0xB449: 0x9449,
+  0xB549: 0x9549,
+  0xB558: 0x9558,
+  0xB564: 0x9564,
+  0xB649: 0x9649,
+  0xB749: 0x9749,
+  0xB758: 0x9758,
+  0xB764: 0x9764,
+  0xB842: 0x9842,
+  0xB849: 0x9849,
+  0xBA42: 0x9A42,
+  0xBA49: 0x9A49,
+  0xE042: 0xC042,
+  0xE049: 0xC049,
+  0xE242: 0xC242,
+  0xE249: 0xC249,
+  0xE84D: 0xC84D,
+  0xE949: 0xC949,
+  0xEA4D: 0xCA4D,
+  0xEB49: 0xCB49,
+  0xF049: 0xD049,
+  0xF04D: 0xD04D,
+  0xF149: 0xD149,
+  0xF249: 0xD249,
+  0xF24D: 0xD24D,
+  0xF349: 0xD349,
+  0xF44D: 0xD44D,
+  0xF549: 0xD549,
+  0xF64D: 0xD64D,
+  0xF749: 0xD749,
+}
 
 
 def marked(cp):
   return bool(
     cp is not None
     and cp.brand == 'toyota'
-    and cp.carFingerprint == CAR.TOYOTA_RAV4H
     and cp.flags & ToyotaFlags.GAS_INTERCEPTOR
     and len(cp.safetyConfigs) == 1
     and cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.toyota
@@ -22,7 +78,24 @@ def marked(cp):
   )
 
 
+def hold_base_cp(cp):
+  """Project an eligible, exactly requested hold setting onto its existing owner."""
+  from opendbc.car.toyota.values import TOYOTA_AUTO_HOLD_CARS, uses_toyota_auto_hold_aeb
+  if cp is None or not cp.flags & ToyotaFlags.AUTO_BRAKE_HOLD:
+    return cp
+  permission = 256 if uses_toyota_auto_hold_aeb(cp) else 128
+  if (cp.brand != 'toyota' or cp.carFingerprint not in TOYOTA_AUTO_HOLD_CARS or
+      not cp.openpilotLongitudinalControl or cp.secOcRequired or cp.notCar or cp.passive or cp.dashcamOnly or
+      cp.alternativeExperience not in (permission, permission | 32)):
+    return cp
+  parent = cp.as_reader().as_builder() if hasattr(cp, 'as_reader') else cp.as_builder()
+  parent.flags &= ~int(ToyotaFlags.AUTO_BRAKE_HOLD)
+  parent.alternativeExperience &= ~(128 | 256)
+  return parent
+
+
 def parent_cp(cp):
+  cp = hold_base_cp(cp)
   if not marked(cp):
     return cp
   parent = cp.as_reader().as_builder() if hasattr(cp, 'as_reader') else cp.as_builder()
@@ -31,45 +104,82 @@ def parent_cp(cp):
   return parent
 
 
-def configured(cp):
-  from opendbc.car.toyota import rav4h_filter
+def parent_modules():
+  from opendbc.car.toyota import dsu_bypass, prius_longitudinal, advert_filter, rav4h_filter, radar_filter
+  return (dsu_bypass, prius_longitudinal, advert_filter, rav4h_filter, radar_filter)
 
-  return marked(cp) and not cp.secOcRequired and rav4h_filter.configured(parent_cp(cp))
+
+def configured(cp):
+  return marked(cp) and not cp.secOcRequired and any(module.configured(parent_cp(cp)) for module in parent_modules())
 
 
 def hardware_supported(candidate, fingerprint, car_fw):
-  from opendbc.car.toyota import rav4h_filter
-
-  if candidate != CAR.TOYOTA_RAV4H or fingerprint.get(0, {}).get(0x201) != 6 or any(0x201 in frames for bus, frames in fingerprint.items() if bus != 0):
+  from opendbc.car.toyota import dsu_bypass, rav4h_filter, eps8_sdsu, legacy_sdsu, advert_filter, prius_sdsu, prius_advert_filter, radar_filter
+  if fingerprint.get(0, {}).get(0x201) != 6 or any(0x201 in frames for bus, frames in fingerprint.items() if bus != 0):
     return False
-  return rav4h_filter.hardware_supported(candidate, without_pedal(fingerprint), car_fw)
+  parent = without_pedal(fingerprint)
+  for module in (dsu_bypass, prius_advert_filter, prius_sdsu, advert_filter, legacy_sdsu, eps8_sdsu, rav4h_filter):
+    if module.hardware_supported(candidate, parent, car_fw):
+      return True
+  if prius_status_hardware(candidate, parent, car_fw):
+    return True
+  if not radar_filter.hardware_supported(candidate, parent):
+    return False
+  from opendbc.car.toyota.fingerprints import FW_VERSIONS
+  known = FW_VERSIONS[candidate]
+  for ecu in (structs.CarParams.Ecu.eps, structs.CarParams.Ecu.fwdCamera):
+    rows = [fw for fw in car_fw if fw.ecu == ecu]
+    if not rows or any(fw.logging or fw.bus != 0 or fw.brand != 'toyota' or
+                      bytes(fw.fwVersion) not in known.get((ecu, fw.address, fw.subAddress or None), ()) for fw in rows):
+      return False
+  return True
+
+
+def prius_status_hardware(candidate, fingerprint, car_fw):
+  from opendbc.car.toyota import prius_retrofit_advert
+  if (candidate not in prius_retrofit_advert.CARS or fingerprint.get(0, {}).get(0x2FF) != 8 or
+      any(0x2FF in frames and (bus not in (0, 2) or frames[0x2FF] != 8) for bus, frames in fingerprint.items()) or
+      any(address in frames for frames in fingerprint.values() for address in (0x201, 0x2AA))):
+    return False
+  from opendbc.car.toyota.fingerprints import FW_VERSIONS
+  known = FW_VERSIONS[CAR.TOYOTA_PRIUS]
+  eps = [fw for fw in car_fw if fw.ecu == structs.CarParams.Ecu.eps]
+  if not eps or any(fw.logging or fw.bus != 0 or fw.brand != 'toyota' or fw.address != 0x7A1 or fw.subAddress or
+                    bytes(fw.fwVersion) != prius_retrofit_advert.EPS_FIRMWARE for fw in eps):
+    return False
+  for ecu in (structs.CarParams.Ecu.fwdCamera, structs.CarParams.Ecu.fwdRadar):
+    if any(fw.logging or fw.bus != 0 or fw.brand != 'toyota' or
+           bytes(fw.fwVersion) not in known.get((ecu, fw.address, fw.subAddress or None), ()) for fw in car_fw if fw.ecu == ecu):
+      return False
+  return True
 
 
 def without_pedal(fingerprint):
   return {bus: {address: size for address, size in frames.items() if address != 0x201} for bus, frames in fingerprint.items()}
 
 
-def apply(cp):
-  from opendbc.car.toyota import rav4h_filter
+def composite_word(cp):
+  return cp.safetyConfigs[0].safetyParam | 0x2000
 
-  if not rav4h_filter.configured(cp) or cp.carFingerprint != CAR.TOYOTA_RAV4H:
+
+def apply(cp):
+  if not any(module.configured(cp) for module in parent_modules()) or composite_word(cp) not in PARENT_WORDS:
     return False
+  cp.safetyConfigs[0].safetyParam = composite_word(cp)
   cp.flags |= int(ToyotaFlags.GAS_INTERCEPTOR)
-  cp.safetyConfigs[0].safetyParam |= 0x2000
+  cp.minEnableSpeed = -1.
   return True
 
 
 def prepare_stock(cp):
-  from opendbc.car.toyota import rav4h_filter
-
   if not configured(cp):
     return False
   parent = parent_cp(cp)
-  assert rav4h_filter.prepare_stock(parent)
+  assert any(module.prepare_stock(parent) for module in parent_modules())
   cp.flags = parent.flags | int(ToyotaFlags.GAS_INTERCEPTOR)
   cp.alternativeExperience = parent.alternativeExperience
   cp.openpilotLongitudinalControl = False
-  cp.safetyConfigs[0].safetyParam = parent.safetyConfigs[0].safetyParam | 0x2000
+  cp.safetyConfigs[0].safetyParam = composite_word(parent)
   cp.autoResumeSng = parent.autoResumeSng
   return True
 

opendbc_repo/opendbc/car/toyota/prius_advert_filter.py

@@ -42,6 +42,8 @@ def apply(cp):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   from opendbc.car.toyota import prius_retrofit_advert
   if prius_retrofit_advert.configured(cp):
     return True
@@ -57,6 +59,9 @@ def configured(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   if not configured(cp):
     return False
   cp.openpilotLongitudinalControl = False

opendbc_repo/opendbc/car/toyota/prius_longitudinal.py

@@ -13,6 +13,8 @@ TOYOTA_NO_LEAD_CRUISE_SIGN_FLIP_MIN_SET_SPEED_ERROR = .35
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   from opendbc.car.toyota import prius_sdsu, prius_advert_filter
   if prius_sdsu.configured(cp) or prius_advert_filter.configured(cp):
     return True
@@ -21,8 +23,14 @@ def configured(cp):
           not cp.passive and cp.steerControlType == structs.CarParams.SteerControlType.torque and
           cp.flags & ~int(ToyotaFlags.ZSS) == int(ToyotaFlags.HYBRID | ToyotaFlags.LONG_FILTER | ToyotaFlags.RAISED_ACCEL_LIMIT) and
           len(cp.safetyConfigs) == 1 and cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.toyota and
-          cp.safetyConfigs[0].safetyParam in (4169, 4681) and
-          cp.openpilotLongitudinalControl == (cp.safetyConfigs[0].safetyParam == 4169))
+          cp.safetyConfigs[0].safetyParam in (0x8049, 0x8249) and
+          cp.openpilotLongitudinalControl == (cp.safetyConfigs[0].safetyParam == 0x8049))
+
+
+def eps73_status_configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
+  return configured(cp) and cp.carFingerprint in (CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT) and cp.safetyConfigs[0].safetyParam in (0x8049, 0x8249)
 
 
 def enabled(cp):
@@ -34,13 +42,16 @@ def stopping_decel_rate(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   from opendbc.car.toyota import prius_sdsu, prius_advert_filter
   if prius_sdsu.prepare_stock(cp) or prius_advert_filter.prepare_stock(cp):
     return True
   if not configured(cp):
     return False
   cp.openpilotLongitudinalControl = False
-  cp.safetyConfigs[0].safetyParam = 4681
+  cp.safetyConfigs[0].safetyParam = 0x8249
   cp.autoResumeSng = False
   return True
 

opendbc_repo/opendbc/car/toyota/prius_retrofit_advert.py

@@ -32,6 +32,8 @@ def hardware_supported(candidate, fingerprint, car_fw):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   if (cp is None or cp.brand != 'toyota' or cp.carFingerprint not in CARS or cp.notCar or cp.passive or cp.dashcamOnly or
       cp.secOcRequired or not cp.pcmCruise or cp.steerControlType != structs.CarParams.SteerControlType.torque or
       len(cp.safetyConfigs) != 1 or cp.alphaLongitudinalAvailable or cp.autoResumeSng):

opendbc_repo/opendbc/car/toyota/prius_sdsu.py

@@ -40,6 +40,8 @@ def apply(cp):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   if (cp is None or cp.brand != 'toyota' or cp.carFingerprint != CAR.TOYOTA_PRIUS or cp.notCar or cp.passive or
       cp.dashcamOnly or cp.secOcRequired or not cp.pcmCruise or len(cp.safetyConfigs) != 1 or
       cp.steerControlType != structs.CarParams.SteerControlType.torque):
@@ -52,6 +54,9 @@ def configured(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   if not configured(cp):
     return False
   cp.openpilotLongitudinalControl = False

opendbc_repo/opendbc/car/toyota/radar_filter.py

@@ -29,6 +29,8 @@ def hardware_supported(candidate, fingerprint):
 
 
 def configured(cp):
+  from opendbc.car.toyota.pedal_composite import parent_cp
+  cp = parent_cp(cp)
   profile = PROFILES.get(cp.carFingerprint) if cp is not None else None
   return bool(profile is not None and cp.brand == 'toyota' and
               cp.flags & ToyotaFlags.RADAR_CAN_FILTER and not cp.flags & ToyotaFlags.DISABLE_RADAR and
@@ -38,6 +40,9 @@ def configured(cp):
 
 
 def prepare_stock(cp):
+  from opendbc.car.toyota import pedal_composite
+  if pedal_composite.marked(cp):
+    return pedal_composite.prepare_stock(cp)
   if not configured(cp):
     return False
   cp.openpilotLongitudinalControl = False

opendbc_repo/opendbc/safety/modes/toyota.h

@@ -98,7 +98,8 @@ static bool toyota_legacy_main_current(void) {
   bool ready = true;
   if (toyota_legacy_sdsu && toyota_alt_cruise) {
     ready = false;
-    if (current_safety_config.rx_checks_len == 6) {
+    if ((current_safety_config.rx_checks_len == 6) ||
+        (toyota_pedal_composite && (current_safety_config.rx_checks_len > 6))) {
       const RxStatus *main_status = &current_safety_config.rx_checks[5].status;
       ready = main_status->msg_seen && main_status->valid_checksum && main_status->valid_quality_flag &&
         !main_status->lagging && (main_status->wrong_counters < MAX_WRONG_COUNTERS) && acc_main_on &&
@@ -126,7 +127,10 @@ static bool toyota_legacy_advert_ready(void) {
 static bool toyota_hold_ready(int permission) {
   const int hold_mask = ALT_EXP_TOYOTA_AUTO_HOLD | ALT_EXP_TOYOTA_AEB_HOLD;
   const uint32_t now = microsecond_timer_get();
-  return toyota_rx_ready(now) && ((alternative_experience & hold_mask) == permission) && !toyota_stock_longitudinal && !toyota_secoc &&
+  return toyota_rx_ready(now) && toyota_legacy_main_current() && toyota_legacy_advert_ready() &&
+         (!(toyota_sdsu_status || toyota_pedal) || aol_rx_healthy()) && (!toyota_sdsu_status || toyota_sdsu_control) &&
+         (!toyota_dsu_bypass || (toyota_bypass_control && !toyota_bypass_aeb)) &&
+         ((alternative_experience & hold_mask) == permission) && !toyota_stock_longitudinal && !toyota_secoc &&
          toyota_hold_config_valid && !safety_rx_checks_invalid && !relay_malfunction && !vehicle_moving && !gas_pressed && toyota_hold_main_on &&
          toyota_hold_main_seen && toyota_hold_speed_seen && toyota_hold_gas_seen &&
          (safety_get_ts_elapsed(now, toyota_hold_main_ts) <= 1000000U) &&
@@ -192,6 +196,28 @@ static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
   return valid;
 }
 
+static void toyota_hold_observe(const CANPacket_t *msg) {
+  if ((msg->bus == 2U) && (msg->addr == 0x344U) && (GET_LEN(msg) == 8U) &&
+      (toyota_get_checksum(msg) == toyota_compute_checksum(msg))) {
+    toyota_hold_camera_seen = true;
+    toyota_hold_camera_ts = microsecond_timer_get();
+    for (uint8_t i = 0U; i < 7U; i++) {
+      toyota_hold_camera_data[i] = msg->data[i];
+    }
+  }
+  if (msg->bus == 0U) {
+    if ((msg->addr == 0x1D3U) && (GET_LEN(msg) == 8U)) {
+      if (toyota_get_checksum(msg) != toyota_compute_checksum(msg)) {
+        toyota_hold_main_seen = false;
+      } else {
+        toyota_hold_main_on = GET_BIT(msg, 15U);
+        toyota_hold_main_seen = true;
+        toyota_hold_main_ts = microsecond_timer_get();
+      }
+    }
+  }
+}
+
 static void toyota_optional_rx_hook(const CANPacket_t *msg) {
   if (toyota_dsu_bypass) {
     if (msg_matches(msg, 0x343U, 2U)) {
@@ -235,28 +261,11 @@ static void toyota_optional_rx_hook(const CANPacket_t *msg) {
     toyota_aol_seen[index] = false;
   } else {
   }
-  if ((msg->bus == 2U) && (msg->addr == 0x344U) && (GET_LEN(msg) == 8U) &&
-      (toyota_get_checksum(msg) == toyota_compute_checksum(msg))) {
-    toyota_hold_camera_seen = true;
-    toyota_hold_camera_ts = microsecond_timer_get();
-    for (uint8_t i = 0U; i < 7U; i++) {
-      toyota_hold_camera_data[i] = msg->data[i];
-    }
-  }
-  if (msg->bus == 0U) {
-    if ((msg->addr == 0x1D3U) && (GET_LEN(msg) == 8U)) {
-      if (toyota_get_checksum(msg) != toyota_compute_checksum(msg)) {
-        toyota_hold_main_seen = false;
-      } else {
-        toyota_hold_main_on = GET_BIT(msg, 15U);
-        toyota_hold_main_seen = true;
-        toyota_hold_main_ts = microsecond_timer_get();
-      }
-    }
-  }
+  toyota_hold_observe(msg);
 }
 
 static void toyota_rx_hook(const CANPacket_t *msg) {
+  toyota_hold_observe(msg);
   if (toyota_dsu_bypass && msg_matches(msg, 0x343U, 2U)) {
     toyota_bypass_control = !GET_BIT(msg, 18U) && !GET_BIT(msg, 19U);
   }
@@ -604,10 +613,11 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
 }
 
 static safety_config toyota_init(uint16_t param) {
-  const uint16_t base_param = toyota_bypass_base_param(toyota_pedal_parent_param(param));
-  toyota_dsu_bypass = toyota_bypass_param(param);
-  toyota_bypass_eps5 = toyota_dsu_bypass && ((param & 0x1000U) == 0U);
-  toyota_bypass_alt_main = toyota_dsu_bypass && ((param & 0x4000U) != 0U);
+  const uint16_t parent_param = toyota_pedal_parent_param(param);
+  const uint16_t base_param = toyota_bypass_base_param(parent_param);
+  toyota_dsu_bypass = toyota_bypass_param(parent_param);
+  toyota_bypass_eps5 = toyota_dsu_bypass && ((parent_param & 0x1000U) == 0U);
+  toyota_bypass_alt_main = toyota_dsu_bypass && ((parent_param & 0x4000U) != 0U);
   toyota_bypass_ambiguous = false;
   toyota_bypass_control = false;
   toyota_bypass_aeb = false;
@@ -619,7 +629,9 @@ static safety_config toyota_init(uint16_t param) {
   toyota_hold_main_on = false;
   toyota_hold_host_seen = false;
   toyota_hold_host_ts = 0U;
-  toyota_hold_config_valid = (((base_param & ~0x5FFU) == 0U) && ((base_param & 0xFFU) != 0U)) || (base_param == 0x9049U);
+  toyota_hold_config_valid = (((base_param & ~0x5FFU) == 0U) && ((base_param & 0xFFU) != 0U)) || toyota_aol_rav4h_filter || toyota_eps8_sdsu || toyota_legacy_sdsu ||
+                             toyota_legacy_advert_param(base_param) || toyota_camera_2aa_param(base_param) ||
+                             toyota_prius_filter_param(base_param) || toyota_pedal;
   toyota_hold_camera_seen = false;
   toyota_hold_camera_ts = 0U;
   toyota_hold_main_seen = false;
@@ -760,7 +772,7 @@ static safety_config toyota_init(uint16_t param) {
       ret.rx_checks_len = 7;
     } else if ((toyota_legacy_sdsu && toyota_alt_cruise) || toyota_legacy_advert_param(base_param) || toyota_camera_2aa_param(base_param) || toyota_prius_advert_param(base_param) || (base_param == 856U)) {
       ret.rx_checks_len = 6;
-    } else if (toyota_pedal || toyota_alt_cruise || toyota_sdsu_status) {
+    } else if (standalone_pedal || toyota_alt_cruise || toyota_sdsu_status) {
       ret.rx_checks_len = 5;
     } else {
       ret.rx_checks_len = 4;
@@ -775,7 +787,7 @@ static safety_config toyota_init(uint16_t param) {
         .ignore_counter = true, .ignore_quality_flag = true};
       ret.rx_checks_len = 7;
     }
-    if (toyota_pedal_composite) {
+    if ((param == 0xB049U) || (param == 0xB249U)) {
       // Keep all parent checks, including smartDSU status, independently required.
       toyota_rx_checks[5].msg[0] = (CanMsgCheck){.addr = 0x201, .bus = 0U, .len = 6, .frequency = 50U,
         .max_counter = 15U, .ignore_quality_flag = false};
@@ -784,6 +796,32 @@ static safety_config toyota_init(uint16_t param) {
       toyota_rx_checks[7].msg[0] = (CanMsgCheck){.addr = 0x1D3, .bus = 0U, .len = 8, .frequency = 10U,
         .ignore_counter = true, .ignore_quality_flag = true};
       ret.rx_checks_len = 8;
+    } else if (toyota_pedal_composite) {
+      // Append independent physical sources and pedal to the unchanged parent
+      // catalog. Eight rows cover the largest parent without shrinking buffers.
+      bool eps_required = false;
+      bool main_required = false;
+      for (int i = 0; i < ret.rx_checks_len; i++) {
+        eps_required |= toyota_rx_checks[i].msg[0].addr == 0x262;
+        main_required |= toyota_rx_checks[i].msg[0].addr == (toyota_alt_cruise ? 0x365 : 0x1D3);
+      }
+      if (!eps_required) {
+        const bool eps5 = (toyota_dsu_bypass && toyota_bypass_eps5) || toyota_aol_rav4h_filter ||
+                          toyota_legacy_sdsu || toyota_legacy_advert();
+        toyota_rx_checks[ret.rx_checks_len].msg[0] = (CanMsgCheck){.addr = 0x262, .bus = 0U,
+          .len = eps5 ? 5 : 8, .frequency = 25U, .ignore_counter = true, .ignore_quality_flag = true};
+        ret.rx_checks_len++;
+      }
+      if (!main_required) {
+        toyota_rx_checks[ret.rx_checks_len].msg[0] = (CanMsgCheck){.addr = toyota_alt_cruise ? 0x365 : 0x1D3,
+          .bus = 0U, .len = toyota_alt_cruise ? 7 : 8, .frequency = 10U, .ignore_checksum = toyota_alt_cruise,
+          .ignore_counter = true, .ignore_quality_flag = true};
+        ret.rx_checks_len++;
+      }
+      toyota_rx_checks[ret.rx_checks_len].msg[0] = (CanMsgCheck){.addr = 0x201, .bus = 0U, .len = 6,
+        .frequency = 50U, .max_counter = 15U, .ignore_quality_flag = false};
+      ret.rx_checks_len++;
+    } else {
     }
   }
 

opendbc_repo/opendbc/safety/modes/toyota_aol.h

@@ -1,5 +1,7 @@
 #pragma once
 
+static uint16_t toyota_pedal_parent_param(uint16_t param);
+
 static bool toyota_dsu_bypass = false;
 static bool toyota_bypass_eps5 = false;
 static bool toyota_bypass_alt_main = false;
@@ -20,7 +22,7 @@ static bool toyota_prius_sdsu_param(uint16_t param) {
 }
 
 static bool toyota_prius_sdsu(void) {
-  return toyota_prius_sdsu_param(current_safety_param);
+  return toyota_prius_sdsu_param(toyota_pedal_parent_param(current_safety_param));
 }
 
 static bool toyota_prius_retrofit_advert_param(uint16_t param) {
@@ -32,7 +34,7 @@ static bool toyota_prius_advert_param(uint16_t param) {
 }
 
 static bool toyota_prius_advert(void) {
-  return toyota_prius_advert_param(current_safety_param);
+  return toyota_prius_advert_param(toyota_pedal_parent_param(current_safety_param));
 }
 
 static bool toyota_prius_filter_param(uint16_t param) {
@@ -40,7 +42,7 @@ static bool toyota_prius_filter_param(uint16_t param) {
 }
 
 static bool toyota_prius_filter(void) {
-  return toyota_prius_filter_param(current_safety_param);
+  return toyota_prius_filter_param(toyota_pedal_parent_param(current_safety_param));
 }
 
 // Disjoint original Prius owners share this sticky receiver identity latch.
@@ -51,7 +53,7 @@ static bool toyota_camera_2aa_param(uint16_t param) {
 }
 
 static bool toyota_camera_2aa(void) {
-  return toyota_camera_2aa_param(current_safety_param);
+  return toyota_camera_2aa_param(toyota_pedal_parent_param(current_safety_param));
 }
 
 static bool toyota_camera_2aa_ambiguous = false;
@@ -61,7 +63,7 @@ static bool toyota_legacy_advert_param(uint16_t param) {
 }
 
 static bool toyota_legacy_advert(void) {
-  return toyota_legacy_advert_param(current_safety_param);
+  return toyota_legacy_advert_param(toyota_pedal_parent_param(current_safety_param));
 }
 
 
@@ -72,7 +74,7 @@ static bool toyota_composite_pcm_gas = false;
 static bool toyota_composite_pedal_gas = false;
 
 static bool toyota_pedal_composite_param(uint16_t param) {
-  return (param == 0xB049U) || (param == 0xB249U);
+  return (param == 0x3049U) || (param == 0x3249U) || (param == 0x3449U) || (param == 0x3649U) || (param == 0xA042U) || (param == 0xA049U) || (param == 0xA242U) || (param == 0xA249U) || (param == 0xA449U) || (param == 0xA649U) || (param == 0xA849U) || (param == 0xA949U) || (param == 0xA958U) || (param == 0xA964U) || (param == 0xAA49U) || (param == 0xAB49U) || (param == 0xAB58U) || (param == 0xAB64U) || (param == 0xB049U) || (param == 0xB149U) || (param == 0xB158U) || (param == 0xB164U) || (param == 0xB249U) || (param == 0xB349U) || (param == 0xB358U) || (param == 0xB364U) || (param == 0xB449U) || (param == 0xB549U) || (param == 0xB558U) || (param == 0xB564U) || (param == 0xB649U) || (param == 0xB749U) || (param == 0xB758U) || (param == 0xB764U) || (param == 0xB842U) || (param == 0xB849U) || (param == 0xBA42U) || (param == 0xBA49U) || (param == 0xE042U) || (param == 0xE049U) || (param == 0xE242U) || (param == 0xE249U) || (param == 0xE84DU) || (param == 0xE949U) || (param == 0xEA4DU) || (param == 0xEB49U) || (param == 0xF049U) || (param == 0xF04DU) || (param == 0xF149U) || (param == 0xF249U) || (param == 0xF24DU) || (param == 0xF349U) || (param == 0xF44DU) || (param == 0xF549U) || (param == 0xF64DU) || (param == 0xF749U);
 }
 
 static uint16_t toyota_pedal_parent_param(uint16_t param) {
@@ -204,6 +206,7 @@ static void toyota_aol_observe(const CANPacket_t *msg) {
 }
 
 static void toyota_aol_configure(uint16_t param) {
+  const bool aol_requested = (alternative_experience == 32) || (alternative_experience == 160) || (alternative_experience == 288);
   toyota_aol_reset();
   toyota_camera_2aa_ambiguous = false;
   toyota_prius_sdsu_ambiguous = false;
@@ -220,14 +223,14 @@ static void toyota_aol_configure(uint16_t param) {
 #else
   toyota_aol_secoc = false;
 #endif
-  toyota_aol_enabled = (toyota_dsu_bypass && (alternative_experience == 32)) || ((toyota_eps8_sdsu || toyota_legacy_sdsu || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_filter_param(param)) && (alternative_experience == 32)) || (toyota_aol_lta && (alternative_experience == 32)) || (toyota_aol_stock && (alternative_experience == 32)) ||
+  toyota_aol_enabled = (toyota_dsu_bypass && aol_requested) || ((toyota_eps8_sdsu || toyota_legacy_sdsu || toyota_legacy_advert_param(param) || toyota_camera_2aa_param(param) || toyota_prius_filter_param(param)) && aol_requested) || (toyota_aol_lta && aol_requested) || (toyota_aol_stock && aol_requested) ||
 #ifdef ALLOW_DEBUG
                        (toyota_aol_secoc && (alternative_experience == 32)) ||
 #endif
-                       ((param == 0x9049U) && ((alternative_experience == 32) || (alternative_experience == 160))) ||
-                       ((param == 0x2049U) && (alternative_experience == 32)) ||
-                       ((param == 4169U) && (alternative_experience == 32)) ||
-                       ((param == 73U) && ((alternative_experience == 32) || (alternative_experience == 160) || (alternative_experience == 288)));
+                       ((param == 0x9049U) && (aol_requested || (alternative_experience == 160))) ||
+                       ((param == 0x2049U) && aol_requested) ||
+                       ((param == 4169U) && aol_requested) ||
+                       ((param == 73U) && (aol_requested || (alternative_experience == 160) || (alternative_experience == 288)));
   if (toyota_aol_enabled) {
     static const AolSafetyPolicy policy = {
       .reset = toyota_aol_reset,

opendbc_repo/opendbc/safety/tests/test_toyota_pedal_parent.py

@@ -0,0 +1,46 @@
+"""Every exact composite retains its parent's RX contracts and physical gates."""
+import pytest
+from opendbc.car import structs
+from opendbc.car.toyota.pedal_composite import PARENT_WORDS
+from opendbc.safety.tests.libsafety import libsafety_py
+from openpilot.starpilot.car.toyota.tests import test_rav4h_caller_native as helpers
+
+source_matched_native = helpers.source_matched_native
+libsafety_py.ffi.cdef('extern safety_config current_safety_config;')
+
+
+def rx_catalog(safety):
+  cfg = safety.current_safety_config
+  fields = ('addr', 'bus', 'len', 'frequency', 'ignore_checksum', 'ignore_counter', 'max_counter', 'ignore_quality_flag')
+  return [tuple(int(getattr(cfg.rx_checks[i].msg[0], key)) for key in fields) for i in range(cfg.rx_checks_len)]
+
+
+@pytest.mark.parametrize('word,parent', sorted(PARENT_WORDS.items()))
+def test_parent_catalog_and_warm_switch_are_exact(word, parent):
+  safety = libsafety_py.libsafety
+  safety.init_tests()
+  safety.set_alternative_experience(32)
+  try:
+    assert safety.set_safety_hooks(structs.CarParams.SafetyModel.toyota, parent) == 0
+    original = rx_catalog(safety)
+    assert safety.set_safety_hooks(structs.CarParams.SafetyModel.toyota, word) == 0
+    composite = rx_catalog(safety)
+    assert 5 <= len(composite) <= 8
+    assert composite[:len(original)] == original
+    extra_eps = not any(row[0] == 0x262 and row[1] == 0 for row in original)
+    extra_main = not any(row[0] in (0x1D3, 0x365) and row[1] == 0 for row in original)
+    assert len(composite) == len(original) + 1 + int(extra_eps) + int(extra_main)
+    assert sum(row[0] == 0x2FF for row in composite) == sum(row[0] == 0x2FF for row in original)
+    assert sum(row[:3] == (0x201, 0, 6) for row in composite) == 1
+    assert sum(row[0] == 0x262 and row[1] == 0 for row in composite) == 1
+    assert sum(row[0] in (0x1D3, 0x365) and row[1] == 0 for row in composite) == 1
+    pedal = next(row for row in composite if row[0] == 0x201)
+    assert pedal[3:] == (50, 0, 0, 15, 0)
+    assert not safety.safety_config_valid() and safety.aol_get_permission_mask() == 0
+    # A warm switch must not retain the pedal's extra catalog or authority.
+    assert safety.set_safety_hooks(structs.CarParams.SafetyModel.toyota, parent) == 0
+    assert rx_catalog(safety) == original
+    assert not safety.safety_config_valid() and safety.aol_get_permission_mask() == 0
+  finally:
+    safety.set_alternative_experience(0)
+    safety.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0)

openpilot/selfdrive/pandad/tests/test_aol_protocol.cc

@@ -179,7 +179,7 @@ int main() {
   }
 
   for (uint32_t word = 0U; word <= 65535U; ++word) {
-    const bool expected = (word == 0x8949U) || (word == 0x8B49U) || (word == 0x8849U) || (word == 0x8A49U) || (word == 0x9849U) || (word == 0x9A49U) || (word == 0x9842U) || (word == 0x9A42U) || (word == 0x8958U) || (word == 0x8B58U) || (word == 0x8964U) || (word == 0x8B64U) || (word == 0xC84DU) || (word == 0xCA4DU) || (word == 0xC949U) || (word == 0xCB49U) || (word == 0xB049U) || (word == 0xB249U) || (word == 0xD049U) || (word == 0xD249U) || (word == 0xC042U) || (word == 0xC242U) || (word == 0x8042U) || (word == 0x8242U) || (word == 0xC049U) || (word == 0xC249U) || (word == 73U) || (word == 585U) || (word == 856U) || (word == 4169U) || (word == 4681U) || (word == 2121U) || (word == 0x9049U) || (word == 0x9249U) || (word == 0x2449U) || (word == 0x2649U) || (word == 0x2049U) || (word == 0x2249U) || (word == 0x424DU) || (word == 0x449U) || (word == 0x649U) || (word == 0x1449U) || (word == 0x1649U) || (word == 0x8049U) || (word == 0x8249U) || (word == 0x8449U) || (word == 0x8649U) || (word == 0x9158U) || (word == 0x9358U) || (word == 0x9149U) || (word == 0x9349U) || (word == 0x9164U) || (word == 0x9364U) || (word == 0xd149U) || (word == 0xd349U) || (word == 0xd04dU) || (word == 0xd24dU) || (word == 0x9449U) || (word == 0x9549U) || (word == 0x9558U) || (word == 0x9564U) || (word == 0x9649U) || (word == 0x9749U) || (word == 0x9758U) || (word == 0x9764U) || (word == 0xD44DU) || (word == 0xD549U) || (word == 0xD64DU) || (word == 0xD749U);
+    const bool expected = (word == 0x3049U) || (word == 0x3249U) || (word == 0x3449U) || (word == 0x3649U) || (word == 0xA042U) || (word == 0xA049U) || (word == 0xA242U) || (word == 0xA249U) || (word == 0xA449U) || (word == 0xA649U) || (word == 0xA849U) || (word == 0xA949U) || (word == 0xA958U) || (word == 0xA964U) || (word == 0xAA49U) || (word == 0xAB49U) || (word == 0xAB58U) || (word == 0xAB64U) || (word == 0xB149U) || (word == 0xB158U) || (word == 0xB164U) || (word == 0xB349U) || (word == 0xB358U) || (word == 0xB364U) || (word == 0xB449U) || (word == 0xB549U) || (word == 0xB558U) || (word == 0xB564U) || (word == 0xB649U) || (word == 0xB749U) || (word == 0xB758U) || (word == 0xB764U) || (word == 0xB842U) || (word == 0xB849U) || (word == 0xBA42U) || (word == 0xBA49U) || (word == 0xE042U) || (word == 0xE049U) || (word == 0xE242U) || (word == 0xE249U) || (word == 0xE84DU) || (word == 0xE949U) || (word == 0xEA4DU) || (word == 0xEB49U) || (word == 0xF049U) || (word == 0xF04DU) || (word == 0xF149U) || (word == 0xF249U) || (word == 0xF24DU) || (word == 0xF349U) || (word == 0xF44DU) || (word == 0xF549U) || (word == 0xF64DU) || (word == 0xF749U) || (word == 0x8949U) || (word == 0x8B49U) || (word == 0x8849U) || (word == 0x8A49U) || (word == 0x9849U) || (word == 0x9A49U) || (word == 0x9842U) || (word == 0x9A42U) || (word == 0x8958U) || (word == 0x8B58U) || (word == 0x8964U) || (word == 0x8B64U) || (word == 0xC84DU) || (word == 0xCA4DU) || (word == 0xC949U) || (word == 0xCB49U) || (word == 0xB049U) || (word == 0xB249U) || (word == 0xD049U) || (word == 0xD249U) || (word == 0xC042U) || (word == 0xC242U) || (word == 0x8042U) || (word == 0x8242U) || (word == 0xC049U) || (word == 0xC249U) || (word == 73U) || (word == 585U) || (word == 856U) || (word == 4169U) || (word == 4681U) || (word == 2121U) || (word == 0x9049U) || (word == 0x9249U) || (word == 0x2449U) || (word == 0x2649U) || (word == 0x2049U) || (word == 0x2249U) || (word == 0x424DU) || (word == 0x449U) || (word == 0x649U) || (word == 0x1449U) || (word == 0x1649U) || (word == 0x8049U) || (word == 0x8249U) || (word == 0x8449U) || (word == 0x8649U) || (word == 0x9158U) || (word == 0x9358U) || (word == 0x9149U) || (word == 0x9349U) || (word == 0x9164U) || (word == 0x9364U) || (word == 0xd149U) || (word == 0xd349U) || (word == 0xd04dU) || (word == 0xd24dU) || (word == 0x9449U) || (word == 0x9549U) || (word == 0x9558U) || (word == 0x9564U) || (word == 0x9649U) || (word == 0x9749U) || (word == 0x9758U) || (word == 0x9764U) || (word == 0xD44DU) || (word == 0xD549U) || (word == 0xD64DU) || (word == 0xD749U);
     auto toyota = status();
     toyota.safety_mode = 2U;
     toyota.safety_param = static_cast<uint16_t>(word);

openpilot/starpilot/car/toyota/aol.py

@@ -6,6 +6,12 @@ from openpilot.starpilot.aol.policy import AolVehiclePolicy
 from openpilot.starpilot.aol.intent import AolCardIntent, AOL_TOGGLE
 
 AOL_WORDS = frozenset((
+  0x3049, 0x3249, 0x3449, 0x3649, 0xA042, 0xA049, 0xA242, 0xA249, 0xA449, 0xA649,
+  0xA849, 0xA949, 0xA958, 0xA964, 0xAA49, 0xAB49, 0xAB58, 0xAB64, 0xB149, 0xB158,
+  0xB164, 0xB349, 0xB358, 0xB364, 0xB449, 0xB549, 0xB558, 0xB564, 0xB649, 0xB749,
+  0xB758, 0xB764, 0xB842, 0xB849, 0xBA42, 0xBA49, 0xE042, 0xE049, 0xE242, 0xE249,
+  0xE84D, 0xE949, 0xEA4D, 0xEB49, 0xF049, 0xF04D, 0xF149, 0xF249, 0xF24D, 0xF349,
+  0xF44D, 0xF549, 0xF64D, 0xF749,
   0x8949, 0x8B49,
   0x8849, 0x8A49, 0x9849, 0x9A49, 0x9842, 0x9A42, 0x8958, 0x8B58, 0x8964, 0x8B64, 0xC84D, 0xCA4D, 0xC949, 0xCB49,
   0x8042, 0x8242, 0xC042, 0xC242, 0xD049, 0xD249,
@@ -99,6 +105,11 @@ def stock_prius_retrofit_qualified(cp, *, marked_only=False):
 
 
 def qualified(cp, *, marked_only=False):
+  from opendbc.car.toyota.pedal_composite import hold_base_cp
+  base = hold_base_cp(cp)
+  if base is not cp:
+    from opendbc.car.toyota.interface import toyota_auto_hold_supported
+    return toyota_auto_hold_supported(cp) and qualified(base, marked_only=marked_only)
   from opendbc.car.toyota import dsu_bypass
   if dsu_bypass.configured(cp):
     return cp.alternativeExperience in ((32,) if marked_only else (0, 32))

openpilot/starpilot/car/toyota/aol_policy.h

@@ -3,7 +3,7 @@
 #include "selfdrive/pandad/aol_protocol.h"
 
 inline bool toyota_aol_param(uint16_t param) {
-  return (param == 0x8949U) || (param == 0x8B49U) || (param == 0x8849U) || (param == 0x8A49U) || (param == 0x9849U) || (param == 0x9A49U) || (param == 0x9842U) || (param == 0x9A42U) || (param == 0x8958U) || (param == 0x8B58U) || (param == 0x8964U) || (param == 0x8B64U) || (param == 0xC84DU) || (param == 0xCA4DU) || (param == 0xC949U) || (param == 0xCB49U) || (param == 0xB049U) || (param == 0xB249U) || (param == 0xD049U || param == 0xD249U || param == 0xC042U || param == 0xC242U || param == 0x8042U || param == 0x8242U || param == 0xC049U) || (param == 0xC249U) || (param == 73U) || (param == 585U) || (param == 856U) || (param == 4169U) || (param == 4681U) || (param == 2121U) || (param == 0x9049U) || (param == 0x9249U) || (param == 0x2449U) || (param == 0x2649U) || (param == 0x2049U) || (param == 0x2249U) || (param == 0x424DU) || (param == 0x449U) || (param == 0x649U) || (param == 0x1449U) || (param == 0x1649U) || (param == 0x8049U) || (param == 0x8249U) || (param == 0x8449U) || (param == 0x8649U) || (param == 0x9158U) || (param == 0x9358U) || (param == 0x9149U) || (param == 0x9349U) || (param == 0x9164U) || (param == 0x9364U) || (param == 0xd149U) || (param == 0xd349U) || (param == 0xd04dU) || (param == 0xd24dU) || (param == 0x9449U) || (param == 0x9549U) || (param == 0x9558U) || (param == 0x9564U) || (param == 0x9649U) || (param == 0x9749U) || (param == 0x9758U) || (param == 0x9764U) || (param == 0xD44DU) || (param == 0xD549U) || (param == 0xD64DU) || (param == 0xD749U);
+  return (param == 0x3049U) || (param == 0x3249U) || (param == 0x3449U) || (param == 0x3649U) || (param == 0xA042U) || (param == 0xA049U) || (param == 0xA242U) || (param == 0xA249U) || (param == 0xA449U) || (param == 0xA649U) || (param == 0xA849U) || (param == 0xA949U) || (param == 0xA958U) || (param == 0xA964U) || (param == 0xAA49U) || (param == 0xAB49U) || (param == 0xAB58U) || (param == 0xAB64U) || (param == 0xB149U) || (param == 0xB158U) || (param == 0xB164U) || (param == 0xB349U) || (param == 0xB358U) || (param == 0xB364U) || (param == 0xB449U) || (param == 0xB549U) || (param == 0xB558U) || (param == 0xB564U) || (param == 0xB649U) || (param == 0xB749U) || (param == 0xB758U) || (param == 0xB764U) || (param == 0xB842U) || (param == 0xB849U) || (param == 0xBA42U) || (param == 0xBA49U) || (param == 0xE042U) || (param == 0xE049U) || (param == 0xE242U) || (param == 0xE249U) || (param == 0xE84DU) || (param == 0xE949U) || (param == 0xEA4DU) || (param == 0xEB49U) || (param == 0xF049U) || (param == 0xF04DU) || (param == 0xF149U) || (param == 0xF249U) || (param == 0xF24DU) || (param == 0xF349U) || (param == 0xF44DU) || (param == 0xF549U) || (param == 0xF64DU) || (param == 0xF749U) || (param == 0x8949U) || (param == 0x8B49U) || (param == 0x8849U) || (param == 0x8A49U) || (param == 0x9849U) || (param == 0x9A49U) || (param == 0x9842U) || (param == 0x9A42U) || (param == 0x8958U) || (param == 0x8B58U) || (param == 0x8964U) || (param == 0x8B64U) || (param == 0xC84DU) || (param == 0xCA4DU) || (param == 0xC949U) || (param == 0xCB49U) || (param == 0xB049U) || (param == 0xB249U) || (param == 0xD049U || param == 0xD249U || param == 0xC042U || param == 0xC242U || param == 0x8042U || param == 0x8242U || param == 0xC049U) || (param == 0xC249U) || (param == 73U) || (param == 585U) || (param == 856U) || (param == 4169U) || (param == 4681U) || (param == 2121U) || (param == 0x9049U) || (param == 0x9249U) || (param == 0x2449U) || (param == 0x2649U) || (param == 0x2049U) || (param == 0x2249U) || (param == 0x424DU) || (param == 0x449U) || (param == 0x649U) || (param == 0x1449U) || (param == 0x1649U) || (param == 0x8049U) || (param == 0x8249U) || (param == 0x8449U) || (param == 0x8649U) || (param == 0x9158U) || (param == 0x9358U) || (param == 0x9149U) || (param == 0x9349U) || (param == 0x9164U) || (param == 0x9364U) || (param == 0xd149U) || (param == 0xd349U) || (param == 0xd04dU) || (param == 0xd24dU) || (param == 0x9449U) || (param == 0x9549U) || (param == 0x9558U) || (param == 0x9564U) || (param == 0x9649U) || (param == 0x9749U) || (param == 0x9758U) || (param == 0x9764U) || (param == 0xD44DU) || (param == 0xD549U) || (param == 0xD64DU) || (param == 0xD749U);
 }
 
 inline constexpr AolSafetyProfile TOYOTA_AOL_PROFILE{2U, toyota_aol_param, true};

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

@@ -0,0 +1,159 @@
+"""Full production callers for every distinct parent parser/controller topology."""
+import pytest
+from opendbc.car.toyota import dsu_bypass, pedal
+from opendbc.car.toyota.interface import CarInterface
+from opendbc.car.toyota.values import CAR, ToyotaFlags
+from openpilot.starpilot.car.toyota.tests import test_rav4h_caller_native as helpers
+from openpilot.starpilot.car.toyota.tests.test_pedal_parent_configurations import sources
+from openpilot.starpilot.car.toyota.tests.test_toyota_cpp_transport import host_heartbeat_bridge as host_heartbeat_bridge
+
+source_matched_native = helpers.source_matched_native
+daemon_gc_scope = helpers.daemon_gc_scope
+PROFILES = (
+  ('TOYOTA_RAV4H', '2FF8', 'catalog'),
+  ('TOYOTA_CAMRY', '2FF8', 'catalog'),
+  ('LEXUS_GS_F', '2FF8', 'catalog'),
+  ('TOYOTA_PRIUS', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_COROLLA', '2FF4', 'catalog'),
+  ('TOYOTA_RAV4_TSS2_2022', '2AA8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_PRIUS', '2FF8', 'EPS73_8965B47070'),
+  ('TOYOTA_PRIUS_RETROFIT', '2FF4', 'EPS73_8965B47070'),
+  ('TOYOTA_CAMRY', 'camera343_or_4CB8', 'catalog'),
+  ('LEXUS_GS_F', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2_2023', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2_2023', '2AA8', 'catalog'),
+)
+
+
+@pytest.mark.parametrize('name,topology,rack', PROFILES)
+@pytest.mark.parametrize('stock', (False, True))
+def test_nominal_parent_pedal_full_callers(name, topology, rack, stock, host_heartbeat_bridge):
+  run(name, topology, rack, stock, host_heartbeat_bridge)
+
+
+def run(name, topology, rack, stock, bridge, kind='nominal'):
+  identity = getattr(CAR, name)
+  fp, fw = sources(identity, topology, rack)
+  fp[0][0x201] = 6
+  cp = CarInterface.get_params(identity, fp, fw, True, False, False)
+  assert pedal.configured(cp) and cp.openpilotLongitudinalControl
+  long_word = cp.safetyConfigs[0].safetyParam
+  tick = 0
+  pedal_sent = False
+
+  def physical(packer, **fields):
+    nonlocal tick
+    tick += 1
+    if kind == 'hold' and 260 <= tick < 430:
+      fields.update(stopped=True, brake=tick < 400, cruise=False)
+    if kind == 'hold' and 430 <= tick < 445:
+      fields.update(gas=True, cruise=False)
+    parent_drop = kind == 'parent_drop' and 260 <= tick < 311
+    pedal_drop = kind == 'pedal_drop' and 260 <= tick < 311
+    if topology != '2FF8' or parent_drop:
+      fields['sdsu'] = None
+    frames = helpers.physical(packer, **fields)
+    if identity in dsu_bypass.ALT_MAIN_CARS:
+      frames += [packer.make_can_msg('DSU_CRUISE', 0, {'MAIN_ON': fields.get('main', True), 'SET_SPEED': 90}),
+                 packer.make_can_msg('PCM_CRUISE_ALT', 0, {'UI_SET_SPEED': 90})]
+    if topology == '2FF4':
+      frames.append((0x2FF, bytes.fromhex('00000409'), 0))
+    if topology == '2AA8':
+      frames.append((0x2AA, bytes(8), 0))
+    if topology in ('2AA8', '2FF4', 'camera343_or_4CB8', 'standalone2016'):
+      frames += [packer.make_can_msg('ACC_CONTROL', 2, {'ACC_TYPE': 1}), packer.make_can_msg('PRE_COLLISION', 2, {})]
+    if topology == '2FF8':
+      frames.append(packer.make_can_msg('PRE_COLLISION', 2, {}))
+    if kind == 'hold' or topology == 'standalone2016':
+      frames.append(packer.make_can_msg('PRE_COLLISION', 2, {}))
+      frames.append(packer.make_can_msg('PRE_COLLISION_2', 2, {}))
+    frames.append(packer.make_can_msg('PCS_HUD', 0 if cp.flags & ToyotaFlags.RADAR_ACC else 2, {}))
+    if identity == CAR.TOYOTA_RAV4_TSS2_2023:
+      frames = [frame for frame in frames if frame[0] not in (0x260, 0x262)]
+      frames += [packer.make_can_msg('STEER_TORQUE_SENSOR', 0, {'STEER_ANGLE': .1, 'STEER_ANGLE_INITIALIZING': 0}),
+                 packer.make_can_msg('EPS_STATUS', 0, {'LKA_STATE': fields.get('eps', 1), 'LTA_STATE': fields.get('eps', 1)})]
+    frames = [frame for frame in frames if frame[0] != 0xAA]
+    frames.append(packer.make_can_msg('WHEEL_SPEEDS', 0, {
+      'WHEEL_SPEED_' + wheel: 0.0 if fields.get('stopped') else 18.0 for wheel in ('FL', 'FR', 'RL', 'RR')}))
+    a, d, b = packer.make_can_msg('GAS_SENSOR', 0, {
+      'INTERCEPTOR_GAS': 806 if fields.get('gas') else 0,
+      'INTERCEPTOR_GAS2': 806 if fields.get('gas') else 0, 'COUNTER_PEDAL': tick & 15, 'STATE': 0})
+    data = bytearray(d)
+    data[-1] = pedal.checksum(data)
+    if not pedal_drop:
+      frames.append((a, bytes(data), b))
+    if parent_drop and topology != '2FF8':
+      frames = [frame for frame in frames if not (frame[0] == 0x262 and frame[2] == 0)]
+    return frames
+
+  def tx_check(tick, frame, cp, safety):
+    nonlocal pedal_sent
+    if frame.address == 0x200:
+      data = bytes(frame.dat)
+      assert len(data) == 6 and data[-1] == pedal.checksum(data)
+      if data[4] & 128:
+        assert not stock and safety.aol_get_permission_mask() & 2
+        assert not safety.get_gas_pressed_prev() and not safety.get_brake_pressed_prev()
+        pedal_sent = True
+      else:
+        assert data[:4] == bytes(4)
+    return True
+
+  def observe(tick, host, cs, cc, safety, native):
+    if kind == 'hold':
+      assert host.CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD
+      if 380 <= tick < 425:
+        assert host.CI.CC.brake_hold_active, (tick, cs.to_dict())
+      if 431 <= tick < 445:
+        assert not host.CI.CC.brake_hold_active
+    if kind.endswith('_drop') and 301 <= tick < 308:
+      assert not cc.latActive and not cc.longActive
+      assert safety.aol_get_permission_mask() == 0
+
+  scenario = 'main_lease' if kind.endswith('_drop') else 'nominal' if kind == 'ordinary' else kind
+  helpers.run_case(
+    stock, scenario, candidate=identity, bridge=bridge, input_clock=True, alpha_long=True,
+    sdsu_words=(long_word, long_word | 0x200), firmware_override=fw,
+    fingerprint_frames=[(a, bytes(n), bus) for bus, messages in fp.items() for a, n in messages.items()],
+    physical_frames=physical, native_tx_expected=tx_check, brake_stop_check_start=355,
+    angle=identity == CAR.TOYOTA_RAV4_TSS2_2023,
+    manual_selection=rack == 'EPS73_8965B47070', manual_pedal=rack == 'EPS73_8965B47070',
+    auto_hold=kind == 'hold', aol=kind != 'ordinary', on_sample=observe, filter_advert=topology == '2FF4',
+    bypass_owner=topology == 'camera343_or_4CB8',
+  )
+  assert pedal_sent == (not stock)
+
+
+@pytest.mark.parametrize('kind,name,topology,rack', [
+  ('parent_drop', 'TOYOTA_CAMRY', '2FF8', 'catalog'),
+  ('parent_drop', 'TOYOTA_COROLLA', '2FF4', 'catalog'),
+  ('parent_drop', 'TOYOTA_RAV4_TSS2', '2FF4', 'catalog'),
+  ('parent_drop', 'TOYOTA_RAV4_TSS2_2022', '2AA8', 'catalog'),
+  ('parent_drop', 'TOYOTA_RAV4_TSS2', '2AA8', 'catalog'),
+  ('parent_drop', 'TOYOTA_CAMRY', 'camera343_or_4CB8', 'catalog'),
+  ('physical', 'TOYOTA_CAMRY', '2FF8', 'catalog'),
+  ('off', 'TOYOTA_CAMRY', '2FF8', 'catalog'),
+  ('ordinary', 'TOYOTA_CAMRY', '2FF8', 'catalog'),
+  ('pedal_drop', 'TOYOTA_CAMRY', '2FF8', 'catalog'),
+])
+def test_parent_pedal_physical_withdrawal_and_saved_settings(name, topology, rack, kind, host_heartbeat_bridge):
+  run(name, topology, rack, False, host_heartbeat_bridge, kind)
+
+
+HOLD_PROFILES = (
+  ('TOYOTA_RAV4H', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_RAV4_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_COROLLA_TSS2', 'standalone2016', 'catalog'),
+  ('TOYOTA_RAV4_TSS2', 'standalone2016', 'catalog'),
+  ('TOYOTA_CAMRY_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4', 'camera343_or_4CB8', 'catalog'),
+)
+
+
+@pytest.mark.parametrize('name,topology,rack', HOLD_PROFILES)
+def test_shared_hold_full_callers(name, topology, rack, host_heartbeat_bridge):
+  run(name, topology, rack, False, host_heartbeat_bridge, 'hold')

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

@@ -0,0 +1,222 @@
+"""Every scoped Dom pedal/parent combination retains the exact current parent tune."""
+import pytest
+from opendbc.car import structs
+from opendbc.car.toyota import dsu_bypass, pedal_composite
+from opendbc.car.toyota.interface import CarInterface
+from opendbc.car.toyota.values import CAR, ToyotaFlags
+from openpilot.starpilot.car.toyota.aol import qualified
+from openpilot.starpilot.car.toyota.tests.test_dsu_bypass import acquired, fingerprint as bypass_fingerprint
+
+ROWS = [
+  ('LEXUS_NX', '2FF8', 'catalog'),
+  ('LEXUS_RX', '2FF8', 'catalog'),
+  ('TOYOTA_AVALON', '2FF8', 'catalog'),
+  ('TOYOTA_HIGHLANDER', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4H', '2FF8', 'catalog'),
+  ('TOYOTA_SIENNA', '2FF8', 'catalog'),
+  ('LEXUS_ES_TSS2', '2FF8', 'catalog'),
+  ('LEXUS_IS_TSS2', '2FF8', 'catalog'),
+  ('LEXUS_LC_TSS2', '2FF8', 'catalog'),
+  ('LEXUS_LS', '2FF8', 'catalog'),
+  ('LEXUS_NX_TSS2', '2FF8', 'catalog'),
+  ('LEXUS_RC_TSS2', '2FF8', 'catalog'),
+  ('LEXUS_RX_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_ALPHARD_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_AVALON_2019', '2FF8', 'catalog'),
+  ('TOYOTA_AVALON_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_CAMRY', '2FF8', 'catalog'),
+  ('TOYOTA_CAMRY_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_CHR', '2FF8', 'catalog'),
+  ('TOYOTA_CHR_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_COROLLA_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_HIGHLANDER_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_MIRAI', '2FF8', 'catalog'),
+  ('TOYOTA_PRIUS_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2_2022', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2_2023', '2FF8', 'catalog'),
+  ('LEXUS_CTH', '2FF8', 'catalog'),
+  ('LEXUS_ES', '2FF8', 'catalog'),
+  ('LEXUS_GS_F', '2FF8', 'catalog'),
+  ('LEXUS_IS', '2FF8', 'catalog'),
+  ('LEXUS_RC', '2FF8', 'catalog'),
+  ('TOYOTA_COROLLA', '2FF8', 'catalog'),
+  ('TOYOTA_MATRIX_RETROFIT', '2FF8', 'catalog'),
+  ('TOYOTA_PRIUS_V', '2FF8', 'catalog'),
+  ('TOYOTA_RAV4', '2FF8', 'catalog'),
+  ('TOYOTA_PRIUS', '2FF8', 'catalog'),
+  ('LEXUS_CTH', '2FF4', 'catalog'),
+  ('LEXUS_ES', '2FF4', 'catalog'),
+  ('LEXUS_GS_F', '2FF4', 'catalog'),
+  ('LEXUS_IS', '2FF4', 'catalog'),
+  ('LEXUS_NX', '2FF4', 'catalog'),
+  ('LEXUS_RC', '2FF4', 'catalog'),
+  ('LEXUS_RX', '2FF4', 'catalog'),
+  ('TOYOTA_AVALON', '2FF4', 'catalog'),
+  ('TOYOTA_COROLLA', '2FF4', 'catalog'),
+  ('TOYOTA_HIGHLANDER', '2FF4', 'catalog'),
+  ('TOYOTA_MATRIX_RETROFIT', '2FF4', 'catalog'),
+  ('TOYOTA_PRIUS_V', '2FF4', 'catalog'),
+  ('TOYOTA_RAV4', '2FF4', 'catalog'),
+  ('TOYOTA_RAV4H', '2FF4', 'catalog'),
+  ('TOYOTA_SIENNA', '2FF4', 'catalog'),
+  ('LEXUS_ES_TSS2', '2FF4', 'catalog'),
+  ('LEXUS_IS_TSS2', '2FF4', 'catalog'),
+  ('LEXUS_LC_TSS2', '2FF4', 'catalog'),
+  ('LEXUS_LS', '2FF4', 'catalog'),
+  ('LEXUS_NX_TSS2', '2FF4', 'catalog'),
+  ('LEXUS_RC_TSS2', '2FF4', 'catalog'),
+  ('LEXUS_RX_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_ALPHARD_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_AVALON_2019', '2FF4', 'catalog'),
+  ('TOYOTA_AVALON_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_CAMRY_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_COROLLA_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_HIGHLANDER_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_MIRAI', '2FF4', 'catalog'),
+  ('TOYOTA_PRIUS_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_RAV4_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_CAMRY', '2FF4', 'catalog'),
+  ('TOYOTA_CHR', '2FF4', 'catalog'),
+  ('TOYOTA_CHR_TSS2', '2FF4', 'catalog'),
+  ('TOYOTA_RAV4_TSS2_2022', '2FF4', 'catalog'),
+  ('TOYOTA_RAV4_TSS2_2023', '2FF4', 'catalog'),
+  ('TOYOTA_PRIUS', '2FF4', 'catalog'),
+  ('LEXUS_ES_TSS2', '2AA8', 'catalog'),
+  ('LEXUS_IS_TSS2', '2AA8', 'catalog'),
+  ('LEXUS_LC_TSS2', '2AA8', 'catalog'),
+  ('LEXUS_NX_TSS2', '2AA8', 'catalog'),
+  ('LEXUS_RC_TSS2', '2AA8', 'catalog'),
+  ('LEXUS_RX_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_ALPHARD_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_AVALON_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_CAMRY_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_COROLLA_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_HIGHLANDER_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_MIRAI', '2AA8', 'catalog'),
+  ('TOYOTA_PRIUS_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_CAMRY', '2AA8', 'catalog'),
+  ('TOYOTA_CHR', '2AA8', 'catalog'),
+  ('TOYOTA_CHR_TSS2', '2AA8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2_2022', '2AA8', 'catalog'),
+  ('TOYOTA_RAV4_TSS2_2023', '2AA8', 'catalog'),
+  ('TOYOTA_PRIUS', '2FF8', 'EPS73_8965B47070'),
+  ('TOYOTA_PRIUS_RETROFIT', '2FF8', 'EPS73_8965B47070'),
+  ('TOYOTA_PRIUS', '2FF4', 'EPS73_8965B47070'),
+  ('TOYOTA_PRIUS_RETROFIT', '2FF4', 'EPS73_8965B47070'),
+  ('LEXUS_CTH', 'camera343_or_4CB8', 'catalog'),
+  ('LEXUS_ES', 'camera343_or_4CB8', 'catalog'),
+  ('LEXUS_GS_F', 'camera343_or_4CB8', 'catalog'),
+  ('LEXUS_IS', 'camera343_or_4CB8', 'catalog'),
+  ('LEXUS_LS', 'camera343_or_4CB8', 'catalog'),
+  ('LEXUS_NX', 'camera343_or_4CB8', 'catalog'),
+  ('LEXUS_RC', 'camera343_or_4CB8', 'catalog'),
+  ('LEXUS_RX', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_AVALON', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_AVALON_2019', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_CAMRY', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_CHR', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_COROLLA', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_HIGHLANDER', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_MATRIX_RETROFIT', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_PRIUS', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_PRIUS_RETROFIT', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_PRIUS_V', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_RAV4', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_RAV4H', 'camera343_or_4CB8', 'catalog'),
+  ('TOYOTA_SIENNA', 'camera343_or_4CB8', 'catalog'),
+]
+
+
+def sources(identity, topology, rack):
+  fp = bypass_fingerprint(identity) if topology == 'camera343_or_4CB8' else {0: {0x260: 8, 0x262: 8, 0x1D2: 8, 0x1D3: 8, 0x224: 8, 0x226: 8}, 1: {}, 2: {}}
+  if topology in ('2FF8', '2FF4', '2AA8'):
+    fp[0][0x2AA if topology == '2AA8' else 0x2FF] = 4 if topology == '2FF4' else 8
+  if identity in dsu_bypass.PROFILES:
+    fp[0][0x262] = 8 if identity in dsu_bypass.EPS8_CARS or identity == CAR.TOYOTA_PRIUS else 5
+  if rack == 'EPS73_8965B47070':
+    fp[0][0x262] = 8
+  fw = acquired(identity)
+  if rack == 'EPS73_8965B47070':
+    for row in fw:
+      if row.ecu == structs.CarParams.Ecu.eps:
+        row.fwVersion = b'8965B47070' + bytes(6)
+  return fp, fw
+
+
+@pytest.mark.parametrize('name,topology,rack', ROWS)
+@pytest.mark.parametrize('stock', (False, True))
+@pytest.mark.parametrize('alpha_long', (False, True))
+def test_all_parent_tunes_native_projection_and_stock_restore(name, topology, rack, stock, alpha_long):
+  identity = getattr(CAR, name)
+  fp, fw = sources(identity, topology, rack)
+  parent = CarInterface.get_params(identity, fp, fw, alpha_long, False, False)
+  child_fp = {bus: dict(frames) for bus, frames in fp.items()}
+  child_fp[0][0x201] = 6
+  cp = CarInterface.get_params(identity, child_fp, fw, alpha_long, False, False)
+  assert pedal_composite.configured(cp) and qualified(cp)
+  assert cp.flags & ToyotaFlags.GAS_INTERCEPTOR
+  assert cp.minEnableSpeed == -1.
+  projected = pedal_composite.parent_cp(cp)
+  assert projected.safetyConfigs[0].safetyParam == parent.safetyConfigs[0].safetyParam
+  for field in (
+    'lateralTuning', 'longitudinalTuning', 'steerActuatorDelay', 'steerLimitTimer', 'longitudinalActuatorDelay',
+    'minSteerSpeed', 'wheelSpeedFactor', 'mass', 'wheelbase', 'steerRatio', 'centerToFront', 'autoResumeSng',
+  ):
+    assert cp.to_dict()[field] == parent.to_dict()[field], field
+  if stock:
+    assert pedal_composite.prepare_stock(cp)
+    assert pedal_composite.configured(cp) and qualified(cp) and not cp.openpilotLongitudinalControl
+    assert cp.safetyConfigs[0].safetyParam == (parent.safetyConfigs[0].safetyParam | 0x2200)
+
+
+@pytest.mark.parametrize('name,topology,rack', ROWS)
+def test_dom_low_speed_entry_requires_qualified_pedal(name, topology, rack):
+  identity = getattr(CAR, name)
+  fp, fw = sources(identity, topology, rack)
+  base = CarInterface.get_params(identity, fp, fw, True, False, False)
+  fp[0][0x201] = 6
+  cp = CarInterface.get_params(identity, fp, fw, True, False, False)
+  assert pedal_composite.configured(cp) and cp.minEnableSpeed == -1.
+  for field in ('lateralTuning', 'longitudinalTuning', 'longitudinalActuatorDelay', 'stopAccel'):
+    assert cp.to_dict()[field] == base.to_dict()[field], field
+  fp[0][0x201] = 7
+  rejected = CarInterface.get_params(identity, fp, fw, True, False, False)
+  assert not pedal_composite.configured(rejected)
+  assert not rejected.flags & ToyotaFlags.GAS_INTERCEPTOR
+
+
+def test_shared_hold_car_mappings():
+  from opendbc.car.toyota.interface import apply_toyota_auto_hold
+  from opendbc.car.toyota.values import TOYOTA_AUTO_HOLD_CARS, uses_toyota_auto_hold_aeb
+  for name, topology, rack in ROWS:
+    identity = getattr(CAR, name)
+    if identity not in TOYOTA_AUTO_HOLD_CARS:
+      fp, fw = sources(identity, topology, rack)
+      fp[0][0x201] = 6
+      rejected = CarInterface.get_params(identity, fp, fw, True, False, False)
+      assert not apply_toyota_auto_hold(rejected, True)
+      continue
+    for has_pedal in (False, True):
+      fp, fw = sources(identity, topology, rack)
+      if has_pedal:
+        fp[0][0x201] = 6
+      cp = CarInterface.get_params(identity, fp, fw, True, False, False)
+      original = cp.to_dict()
+      assert apply_toyota_auto_hold(cp, True), (name, topology, has_pedal)
+      permission = 256 if uses_toyota_auto_hold_aeb(cp) else 128
+      assert cp.alternativeExperience & (128 | 256) == permission
+      assert qualified(cp)
+      for key in ('lateralTuning', 'longitudinalTuning', 'longitudinalActuatorDelay', 'stopAccel'):
+        assert cp.to_dict()[key] == original[key]
+      assert not apply_toyota_auto_hold(cp, False)
+      assert not cp.flags & ToyotaFlags.AUTO_BRAKE_HOLD
+
+  from opendbc.car.toyota.pedal import CAMERA_PEDAL_CARS
+  for identity in CAMERA_PEDAL_CARS & TOYOTA_AUTO_HOLD_CARS:
+    fp, fw = sources(identity, 'standalone2016', 'catalog')
+    fp[0][0x201] = 6
+    cp = CarInterface.get_params(identity, fp, fw, True, False, False)
+    assert apply_toyota_auto_hold(cp, True), identity
+    assert qualified(cp)

openpilot/starpilot/car/toyota/tests/test_rav4h_caller_native.py

@@ -217,7 +217,7 @@ def control_inputs(controls, published, state, sd_events, native, now):
       if name == 'modelV2':
         v.from_dict(model().to_dict())
       elif name == 'lateralManeuverPlan':
-        v.desiredCurvature = .00005
+        v.desiredCurvature = .0002 if controls.CP.steerControlType == structs.CarParams.SteerControlType.angle else .00005
       elif name == 'vehicleParameters':
         v.stiffnessFactor, v.steerRatio = 1.0, controls.CP.steerRatio
       elif name == 'longitudinalPlan':
@@ -232,7 +232,7 @@ def run_case(stock, scenario='nominal', *, aol=True, candidate=CAR.TOYOTA_RAV4H,
              sdsu_words=(0x9049, 0x9249), alpha_long=False, disable_setting=None, physical_frames=None, angle=False,
              firmware_override=None, assert_hybrid_release=False, sdsu_mirror=False, on_sample=None, camera_messages=False, filter_advert=False,
              brake_pause_mps=None, native_rx_expected=None, on_state=None, fingerprint_frames=None, manual_selection=False, native_tx_expected=None,
-             manual_filter_length=None, manual_bypass=False, bypass_owner=False):
+             manual_filter_length=None, manual_bypass=False, bypass_owner=False, manual_pedal=False, auto_hold=False):
   SYNTHETIC_LAST.clear()
   NATIVE_LAST.clear()
   safety = libsafety_py.libsafety
@@ -245,14 +245,23 @@ def run_case(stock, scenario='nominal', *, aol=True, candidate=CAR.TOYOTA_RAV4H,
       ('AlwaysOnLateral', aol),
       ('DisableOpenpilotLongitudinal', stock if disable_setting is None else disable_setting),
       ('AlphaLongitudinalEnabled', alpha_long),
-      ('ToyotaAutoHold', False),
+      ('ToyotaAutoHold', auto_hold),
     ):
       params.put_bool(k, v, block=True)
     if brake_pause_mps is not None:
       params.put('AolBrakePauseSpeedMps', float(brake_pause_mps), block=True)
     fw = firmware(candidate) if firmware_override is None else firmware_override
     if manual_selection:
-      if manual_bypass:
+      if manual_pedal:
+        from opendbc.car.toyota import pedal_composite
+        assert candidate in (CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT, CAR.TOYOTA_MATRIX_RETROFIT)
+        assert fingerprint_frames is not None
+        acquired_fp = gen_empty_fingerprint()
+        for address, data, bus in fingerprint_frames:
+          acquired_fp[bus][address] = len(data)
+        assert acquired_fp[0].get(0x201) == 6
+        assert pedal_composite.hardware_supported(candidate, acquired_fp, fw)
+      elif manual_bypass:
         assert fingerprint_frames is not None
         assert candidate in (CAR.TOYOTA_MATRIX_RETROFIT, CAR.TOYOTA_PRIUS_RETROFIT) and bypass_owner
         assert any(bus == 2 and address in (0x343, 0x4CB) and len(data) == 8 for address, data, bus in fingerprint_frames)
@@ -302,7 +311,8 @@ def run_case(stock, scenario='nominal', *, aol=True, candidate=CAR.TOYOTA_RAV4H,
       host = card_module.Car()
     assert host.CP.openpilotLongitudinalControl == (not stock)
     assert host.CP.safetyConfigs[0].safetyParam == sdsu_words[stock]
-    assert host.CP.alternativeExperience == 32
+    from opendbc.car.toyota.values import uses_toyota_auto_hold_aeb
+    assert host.CP.alternativeExperience == (32 | ((256 if uses_toyota_auto_hold_aeb(host.CP) else 128) if auto_hold else 0))
     controls, sd = Controls(), sd_module.SelfdriveD(CP=host.CP)
     assert controls.CP.to_dict() == host.CP.to_dict()
     safety.init_tests()
@@ -357,7 +367,7 @@ def run_case(stock, scenario='nominal', *, aol=True, candidate=CAR.TOYOTA_RAV4H,
       )
     try:
       duration = {
-        'nominal': 251, 'physical': 601, 'faults': 801, 'bad_dlc': 801,
+        'hold': 501, 'nominal': 251, 'physical': 601, 'faults': 801, 'bad_dlc': 801,
         'off': 401, 'cold_low': 251, 'hybrid_stop': 251, 'main_lease': 501, 'identity_refusal': 501,
       }[scenario]
       for tick in range(1, duration):
@@ -541,7 +551,7 @@ def run_case(stock, scenario='nominal', *, aol=True, candidate=CAR.TOYOTA_RAV4H,
           }
         )
         nominal = tick >= 220 and (
-          scenario in ('nominal', 'cold_low', 'hybrid_stop')
+          scenario in ('nominal', 'cold_low', 'hybrid_stop') or scenario == 'hold' and tick < 250
           or scenario == 'identity_refusal' and tick < 250
           or scenario == 'main_lease' and (tick < 250 or tick >= 480)
           or scenario == 'off'
@@ -583,9 +593,11 @@ def run_case(stock, scenario='nominal', *, aol=True, candidate=CAR.TOYOTA_RAV4H,
             assert not host.CP.openpilotLongitudinalControl and not cc.longActive
             assert host.CP.safetyConfigs[0].safetyParam == sdsu_words[1]
           else:
-            preference = host.CI.CC.bypass_input if bypass_owner else host.CI.CC.prius_filter_input if candidate == CAR.TOYOTA_PRIUS else (
+            from opendbc.car.toyota import pedal_composite
+            preference = (host.CI.CC.pedal_input if pedal_composite.configured(host.CP) else
+              host.CI.CC.bypass_input if bypass_owner else host.CI.CC.prius_filter_input if candidate == CAR.TOYOTA_PRIUS else (
               host.CI.CC.advert_filter_input if filter_advert or fingerprint_frames is not None and any(
-                address == 0x2AA for address, _, _ in fingerprint_frames) else host.CI.CC.rav4h_filter_input)
+                address == 0x2AA for address, _, _ in fingerprint_frames) else host.CI.CC.rav4h_filter_input))
             assert preference is not None and not preference.update(time.monotonic_ns())
             for f in outgoing_frames:
               if f.address == 0x343:

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "2ee01a31422021061a0529083c7b434e52f1f6dd44d684ec0921074808613513", "schema_version": 1}
+{"protected_inventory_sha256": "6b9f162e57c2f68775793717e2f9e4a44f209169384c47a934c2033cd898668a", "schema_version": 1}

tools/ci/run_vehicle_tests.py

@@ -45,6 +45,9 @@ AOL_LIFECYCLE_TARGETS = (
   'openpilot/starpilot/car/toyota/tests/test_dsu_bypass.py',
   'openpilot/starpilot/car/toyota/tests/test_dsu_bypass_callers.py',
   'opendbc_repo/opendbc/safety/tests/test_toyota_dsu_bypass.py',
+  'openpilot/starpilot/car/toyota/tests/test_pedal_parent_configurations.py',
+  'openpilot/starpilot/car/toyota/tests/test_pedal_parent_callers.py',
+  'opendbc_repo/opendbc/safety/tests/test_toyota_pedal_parent.py',
   'opendbc_repo/opendbc/safety/tests/test_toyota_radar_lta_pedal.py',
   'opendbc_repo/opendbc/safety/tests/test_toyota_prius_retrofit_advert.py',
   'openpilot/starpilot/aol/tests/test_crossmake_native_admission.py',
@@ -252,6 +255,9 @@ RELEASE_TARGETS = (
   'openpilot/starpilot/car/toyota/tests/test_dsu_bypass.py',
   'openpilot/starpilot/car/toyota/tests/test_dsu_bypass_callers.py',
   'opendbc_repo/opendbc/safety/tests/test_toyota_dsu_bypass.py',
+  'openpilot/starpilot/car/toyota/tests/test_pedal_parent_configurations.py',
+  'openpilot/starpilot/car/toyota/tests/test_pedal_parent_callers.py',
+  'opendbc_repo/opendbc/safety/tests/test_toyota_pedal_parent.py',
   'opendbc_repo/opendbc/safety/tests/test_toyota_radar_lta_pedal.py',
   'opendbc_repo/opendbc/safety/tests/test_toyota_prius_retrofit_advert.py',
   'opendbc_repo/opendbc/car/hyundai/tests/test_long_cp_copy.py',