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Toyota: experimental longitudinal when using smartDSU on radar-ACC TSS2 car (#28440)

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* disallowed openpilotLongitudinalControl when experimental_long is off on radarUnavailable vehicle

* try this

* this is a better check?

* use it here

* use it here

* more explicit (pending more cleanup)

* some documentation

* clean up

* same

* this also works, but it adds a bunch of indirection

* Revert "this also works, but it adds a bunch of indirection"

This reverts commit 822095b96569faf10a6841cf3892b5db29f0c01b.

* Update selfdrive/car/toyota/interface.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
eFini
2023-06-29 12:16:01 +08:00
committed by GitHub
parent 5c6efd2aab
commit 1b98fea696
1 changed files with 14 additions and 2 deletions
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selfdrive/car/toyota/interface.py
+14 -2
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@@ -222,8 +222,20 @@ class CarInterface(CarInterfaceBase):
ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
# if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
# since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
if candidate in RADAR_ACC_CAR:
ret.experimentalLongitudinalAvailable = use_sdsu
use_sdsu = use_sdsu and experimental_long
# openpilot longitudinal enabled by default:
# - non-(TSS2 radar ACC cars) w/ smartDSU installed
# - cars w/ DSU disconnected
# - TSS2 cars with camera sending ACC_CONTROL where we can block it
# openpilot longitudinal behind experimental long toggle:
# - TSS2 radar ACC cars w/ smartDSU installed
ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
if not ret.openpilotLongitudinalControl: