Toyota: add safety param flag for alt brake message (#24341)

* Toyota: add safety param flag for alt brake message

* update refs

* update refs

* bump panda

selfdrive/car/tests/test_models.py

@@ -15,7 +15,6 @@ from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.gm.values import CAR as GM
 from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from selfdrive.car.hyundai.values import CAR as HYUNDAI
-from selfdrive.car.toyota.values import CAR as TOYOTA
 from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
@@ -244,10 +243,6 @@ class TestCarModel(unittest.TestCase):
 
       CS_prev = CS
 
-    # TODO: add flag to toyota safety
-    if self.CP.carFingerprint == TOYOTA.SIENNA and checks['brakePressed'] < 25:
-      checks['brakePressed'] = 0
-
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 

selfdrive/car/toyota/interface.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.conversions import Conversions as CV
+from panda import Panda
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@@ -22,6 +23,9 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
 
+    if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
+
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-999b5f3bfe249b40758dc62601a6e4118dad82ae
+8d369bed132b691e1c000a726ab253ce7cbf8e09

selfdrive/test/process_replay/test_processes.py

@@ -34,7 +34,7 @@ segments = [
   ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
   ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
   ("TOYOTA", "fakedata|2022-04-13--18-53-16--0"),
-  ("TOYOTA2", "fakedata|2022-04-13--18-59-09--0"),
+  ("TOYOTA2", "fakedata|2022-04-26--22-58-12--0"),
   ("TOYOTA3", "fakedata|2022-04-13--19-09-53--0"),
   ("HONDA", "fakedata|2022-01-20--17-56-40--0"),
   ("HONDA2", "fakedata|2022-04-13--19-23-30--0"),