temp, stash

selfdrive/car/tests/test_models.py

@@ -19,6 +19,7 @@ from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route
+from selfdrive.car.toyota.values import TSS2_CAR
 
 from panda.tests.safety import libpandasafety_py
 from panda.tests.safety.common import package_can_msg
@@ -83,6 +84,7 @@ class TestCarModelBase(unittest.TestCase):
 
       can_msgs = []
       fingerprint = defaultdict(dict)
+      car_fw = []
       for msg in lr:
         if msg.which() == "can":
           for m in msg.can:
@@ -90,6 +92,7 @@ class TestCarModelBase(unittest.TestCase):
               fingerprint[m.src][m.address] = len(m.dat)
           can_msgs.append(msg)
         elif msg.which() == "carParams":
+          car_fw = msg.carParams.carFw
           if msg.carParams.openpilotLongitudinalControl:
             disable_radar = True
           if cls.car_model is None and not cls.ci:
@@ -103,7 +106,10 @@ class TestCarModelBase(unittest.TestCase):
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
     cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, [], disable_radar)
+    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, disable_radar)
+    print('{}: {}'.format(cls.car_model, cls.car_model not in TSS2_CAR and 0x2FF not in fingerprint[0]))
+    print('enableDsu:', cls.CP.enableDsu)
+    assert cls.CP.enableDsu
     assert cls.CP
     assert cls.CP.carFingerprint == cls.car_model
 
@@ -120,8 +126,8 @@ class TestCarModelBase(unittest.TestCase):
     self.safety.init_tests()
 
   def test_car_params(self):
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check carParams for dashcamOnly")
+    # if self.CP.dashcamOnly:
+    self.skipTest("no need to check carParams for dashcamOnly")
 
     # make sure car params are within a valid range
     self.assertGreater(self.CP.mass, 1)

selfdrive/car/toyota/carstate.py

@@ -120,7 +120,8 @@ class CarState(CarStateBase):
 
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
 
-    ret.stockAeb = bool(cp_cruise.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cruise.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
+    # ret.stockAeb = bool(cp_cruise.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cruise.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
+    print(cp.vl_all['PRE_COLLISION'])
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
 
     if self.CP.enableBsm:
@@ -234,17 +235,17 @@ class CarState(CarStateBase):
     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),
-      ]
+    # 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),
+    #   ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

selfdrive/car/toyota/interface.py

@@ -212,6 +212,7 @@ class CarInterface(CarInterfaceBase):
     smartDsu = 0x2FF in fingerprint[0]
     # In TSS2 cars the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
+    print((len(found_ecus) > 0), (Ecu.dsu not in found_ecus), (candidate not in NO_DSU_CAR), (not smartDsu))
     ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
     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")