Toyota: log stockAeb on non-TSS2 cars (#25489)

* check PRE_COLLISION

* need to make sure this is right

* revert

* temp, stash

* fixes

* uncomment that

* it's not really cruise/pcm, but acc

remove improt

* revert

* Fix CI

* revert exception

* Revert "revert exception"

This reverts commit 7e2f39097651f17cf3d2ac9f442fab5071e1b9d0.

* this tested enableDsu, but we have other routes that do that

* use segment from db

* remove exception again
old-commit-hash: 70f7340c17

selfdrive/car/tests/routes.py

@@ -140,11 +140,10 @@ routes = [
   CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
-  CarTestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH),
+  CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
   CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),
   CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
-  CarTestRoute("886fcd8408d570e9|2020-01-29--05-11-22", TOYOTA.LEXUS_RX),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
   CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
   CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),

selfdrive/car/toyota/carstate.py

@@ -94,12 +94,11 @@ class CarState(CarStateBase):
       ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
       ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
 
-    if self.CP.carFingerprint in RADAR_ACC_CAR:
+    cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
-      self.acc_type = cp.vl["ACC_CONTROL"]["ACC_TYPE"]
+
-      ret.stockFcw = bool(cp.vl["ACC_HUD"]["FCW"])
+    if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
-    elif self.CP.carFingerprint in TSS2_CAR:
+      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
-      self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"]
+      ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
-      ret.stockFcw = bool(cp_cam.vl["ACC_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
     # these cars are identified by an ACC_TYPE value of 2.
@@ -120,10 +119,11 @@ class CarState(CarStateBase):
     ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
 
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
-    ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
-
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
 
+    if not self.CP.enableDsu:
+      ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
+
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
@@ -219,25 +219,31 @@ class CarState(CarStateBase):
         ("ACC_HUD", 1),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
-
+      signals += [
-  @staticmethod
-  def get_cam_can_parser(CP):
-    signals = [
         ("FORCE", "PRE_COLLISION"),
         ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
       ]
-
+      checks += [
-    checks = [
+        ("PRE_COLLISION", 33),
-      ("PRE_COLLISION", 0),  # TODO: figure out why freq is inconsistent
       ]
 
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    signals = []
+    checks = []
+
     if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       signals += [
+        ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
+        ("FORCE", "PRE_COLLISION"),
         ("ACC_TYPE", "ACC_CONTROL"),
         ("FCW", "ACC_HUD"),
       ]
       checks += [
+        ("PRE_COLLISION", 33),
         ("ACC_CONTROL", 33),
         ("ACC_HUD", 1),
       ]