Toyota: check Lane Tracing Assist (LTA) EPS faults (#28711)

* check LTA faults if using LTA

* add test

* add LTA_STATE

* add comment for 0 state

* why did test_models not catch this?

* code 21

* same behavior as LKA (only if LTA is used)

* common definitions!

* more comment

* directly

* fault

* :
old-commit-hash: 07e276d5cf

selfdrive/car/toyota/carstate.py

@@ -10,10 +10,14 @@ from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
-# Steering fault definitions:
+SteerControlType = car.CarParams.SteerControlType
+
+# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
 # - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
-# - lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3
+# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
-# - initializing: catch-all
+#     if using the other control command, goes directly to 3 after 1.5 seconds
+# - initializing: LTA can report 0 as long as STEER_TORQUE_SENSOR->STEER_ANGLE_INITIALIZING is 1,
+#     and is a catch-all for LKA
 TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
 
 
@@ -95,12 +99,16 @@ class CarState(CarStateBase):
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
 
-    # Check EPS LKA fault status
+    # Check EPS LKA/LTA fault status
     ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in TEMP_STEER_FAULTS
     # 3 is a fault from the lka command message not being received by the EPS (recoverable)
     # 17 is a fault from a prolonged high torque delta between cmd and user (permanent)
     ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
 
+    if self.CP.steerControlType == SteerControlType.angle:
+      ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
+      ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in (3,)
+
     if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
@@ -190,6 +198,10 @@ class CarState(CarStateBase):
       ("AUTO_HIGH_BEAM", "LIGHT_STALK"),
     ]
 
+    # Check LTA state if using LTA angle control
+    if CP.steerControlType == SteerControlType.angle:
+      signals.append(("LTA_STATE", "EPS_STATUS"))
+
     checks = [
       ("GEAR_PACKET", 1),
       ("LIGHT_STALK", 1),

selfdrive/car/toyota/tests/test_toyota.py

@@ -1,13 +1,20 @@
 #!/usr/bin/env python3
 import unittest
 
-from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR
+from selfdrive.car.toyota.values import DBC, TSS2_CAR, ANGLE_CONTROL_CAR
 
 
 class TestToyotaInterfaces(unittest.TestCase):
   def test_angle_car_set(self):
     self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
 
+  def test_tss2_dbc(self):
+    # We make some assumptions about TSS2 platforms,
+    # like looking up certain signals only in this DBC
+    for car, dbc in DBC.items():
+      if car in TSS2_CAR:
+        self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated")
+
 
 if __name__ == "__main__":
   unittest.main()