From 0248d8408cb5beb279ab7836e8e646e353837897 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 8 Jul 2021 15:40:08 -0700 Subject: [PATCH] Toyota: debug logging for low speed lockout (#21526) * Toyota: debug logging for low speed lockout * add to parser * add car old-commit-hash: 7f2ad50fed9a4c252f43ee16782ccc4dcca9fffa --- selfdrive/car/toyota/carstate.py | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 1f5cae59ff..5854a3f360 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -5,6 +5,7 @@ from selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from selfdrive.config import Conversions as CV from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR +from selfdrive.swaglog import cloudlog class CarState(CarStateBase): @@ -19,6 +20,7 @@ class CarState(CarStateBase): self.needs_angle_offset = True self.accurate_steer_angle_seen = False self.angle_offset = 0. + self.logged_setme_vals = set() def update(self, cp, cp_cam): ret = car.CarState.new_message() @@ -79,6 +81,12 @@ 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 self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2 + + val = cp_cam.vl["ACC_CONTROL"]["SET_ME_X01"] + if val not in self.logged_setme_vals and val != 1: + self.logged_setme_vals.add(val) + cloudlog.event("setme_vals", vals=self.logged_setme_vals, car=self.CP.carFingerprint) + self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor: # ignore standstill in hybrid vehicles, since pcm allows to restart without @@ -183,13 +191,15 @@ class CarState(CarStateBase): signals = [ ("FORCE", "PRE_COLLISION", 0), - ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0) + ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0), + ("SET_ME_X01", "ACC_CONTROL", 1) ] # use steering message to check if panda is connected to frc checks = [ ("STEERING_LKA", 42), ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent + ("ACC_CONTROL", 0), ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)