From 17fbe1a4dd490ac394ea38fcf63aa6fcdebbe14b Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sun, 17 Feb 2019 10:46:07 +1000
Subject: [PATCH] getting error from last change, revert a couple back.

---
 selfdrive/car/toyota/carstate.py | 30 +++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index de37618a4..1dcf9dff5 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,12 +39,12 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
-    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+    # ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
+    # ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -60,7 +60,7 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
-  # if not CP.carFingerprint == CAR.LEXUS_ISH:
+  if not CP.carFingerprint == CAR.LEXUS_ISH:
   #   checks = [
   #     ("BRAKE_MODULE", 50),
   #     ("GAS_PEDAL", 50),
@@ -72,10 +72,10 @@ def get_can_parser(CP):
   #     ("EPS_STATUS", 25),
   #   ]
   # else:
-  #   signals += [
-  #     ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-  #     ("IPAS_STATE", "EPS_STATUS", 1),
-  #   ]
+    signals += [
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+    ]
 
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
@@ -161,10 +161,10 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    # if self.CP.carFingerprint == CAR.LEXUS_ISH:
-    #   self.ipas_active = False
-    # else:
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.ipas_active = False
+    else:
+      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -176,10 +176,10 @@ class CarState(object):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    # if self.CP.carFingerprint == CAR.LEXUS_ISH:
-    #   self.low_speed_lockout = False
-    # else:
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.low_speed_lockout = False
+    else:
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0