deprecate CP.enableCamera (#21509)

* deprecate CP.enableCamera

* more removal

* one more

* update refs
old-commit-hash: c72d163e14

cereal

@@ -1 +1 @@
-Subproject commit fcecd9ba3a6b2b3662b37c7b4e0d679c08c2a03b
+Subproject commit 96109a71b37d04b6848b46c660c1f13b542d5de8

selfdrive/car/chrysler/interface.py

@@ -49,8 +49,6 @@ class CarInterface(CarInterfaceBase):
     # mass and CG position, so all cars will have approximately similar dyn behaviors
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
 
-    ret.enableCamera = True
-    
     ret.enableBsm = 720 in fingerprint[0]
 
     return ret

selfdrive/car/ford/carcontroller.py

@@ -12,7 +12,6 @@ TOGGLE_DEBUG = False
 class CarController():
   def __init__(self, dbc_name, CP, VM):
     self.packer = CANPacker(dbc_name)
-    self.enable_camera = CP.enableCamera
     self.enabled_last = False
     self.main_on_last = False
     self.vehicle_model = VM
@@ -27,63 +26,61 @@ class CarController():
 
     apply_steer = actuators.steer
 
-    if self.enable_camera:
+    if pcm_cancel:
+      #print "CANCELING!!!!"
+      can_sends.append(spam_cancel_button(self.packer))
 
-      if pcm_cancel:
+    if (frame % 3) == 0:
-        #print "CANCELING!!!!"
-        can_sends.append(spam_cancel_button(self.packer))
 
-      if (frame % 3) == 0:
+      curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
 
-        curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
+      # The use of the toggle below is handy for trying out the various LKAS modes
+      if TOGGLE_DEBUG:
+        self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last)
+        self.lkas_action &= 0xf
+      else:
+        self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
 
-        # The use of the toggle below is handy for trying out the various LKAS modes
+      can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
-        if TOGGLE_DEBUG:
+                                            CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action))
-          self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last)
+      self.generic_toggle_last = CS.out.genericToggle
-          self.lkas_action &= 0xf
-        else:
-          self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
 
-        can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
+    if (frame % 100) == 0:
-                                              CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action))
-        self.generic_toggle_last = CS.out.genericToggle
 
-      if (frame % 100) == 0:
+      can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
+      #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
 
-        can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
+    if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
-        #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
+       (self.steer_alert_last != steer_alert):
+      can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert))
 
-      if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
+    if (frame % 200) == 0:
-         (self.steer_alert_last != steer_alert):
+      can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
-        can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert))
 
-      if (frame % 200) == 0:
+    if (frame % 10) == 0:
-        can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
 
-      if (frame % 10) == 0:
+      can_sends.append(make_can_msg(1648, b'\x00\x00\x00\x40\x00\x00\x50\x00', 1))
+      can_sends.append(make_can_msg(1649, b'\x10\x10\xf1\x70\x04\x00\x00\x00', 1))
 
-        can_sends.append(make_can_msg(1648, b'\x00\x00\x00\x40\x00\x00\x50\x00', 1))
+      can_sends.append(make_can_msg(1664, b'\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1))
-        can_sends.append(make_can_msg(1649, b'\x10\x10\xf1\x70\x04\x00\x00\x00', 1))
+      can_sends.append(make_can_msg(1674, b'\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1))
+      can_sends.append(make_can_msg(1675, b'\x00\x00\x3b\x60\x37\x00\x00\x00', 1))
+      can_sends.append(make_can_msg(1690, b'\x70\x00\x00\x55\x86\x1c\xe0\x00', 1))
 
-        can_sends.append(make_can_msg(1664, b'\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1))
+      can_sends.append(make_can_msg(1910, b'\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1))
-        can_sends.append(make_can_msg(1674, b'\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1))
+      can_sends.append(make_can_msg(1911, b'\x48\x53\x37\x54\x48\x53\x37\x54', 1))
-        can_sends.append(make_can_msg(1675, b'\x00\x00\x3b\x60\x37\x00\x00\x00', 1))
+      can_sends.append(make_can_msg(1912, b'\x31\x34\x47\x30\x38\x31\x43\x42', 1))
-        can_sends.append(make_can_msg(1690, b'\x70\x00\x00\x55\x86\x1c\xe0\x00', 1))
+      can_sends.append(make_can_msg(1913, b'\x31\x34\x47\x30\x38\x32\x43\x42', 1))
+      can_sends.append(make_can_msg(1969, b'\xf4\x40\x00\x00\x00\x00\x00\x00', 1))
+      can_sends.append(make_can_msg(1971, b'\x0b\xc0\x00\x00\x00\x00\x00\x00', 1))
 
-        can_sends.append(make_can_msg(1910, b'\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1))
+    static_msgs = range(1653, 1658)
-        can_sends.append(make_can_msg(1911, b'\x48\x53\x37\x54\x48\x53\x37\x54', 1))
+    for addr in static_msgs:
-        can_sends.append(make_can_msg(1912, b'\x31\x34\x47\x30\x38\x31\x43\x42', 1))
+      cnt = (frame % 10) + 1
-        can_sends.append(make_can_msg(1913, b'\x31\x34\x47\x30\x38\x32\x43\x42', 1))
+      can_sends.append(make_can_msg(addr, (cnt << 4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
-        can_sends.append(make_can_msg(1969, b'\xf4\x40\x00\x00\x00\x00\x00\x00', 1))
-        can_sends.append(make_can_msg(1971, b'\x0b\xc0\x00\x00\x00\x00\x00\x00', 1))
 
-      static_msgs = range(1653, 1658)
+    self.enabled_last = enabled
-      for addr in static_msgs:
+    self.main_on_last = CS.out.cruiseState.available
-        cnt = (frame % 10) + 1
+    self.steer_alert_last = steer_alert
-        can_sends.append(make_can_msg(addr, (cnt << 4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
-
-      self.enabled_last = enabled
-      self.main_on_last = CS.out.cruiseState.available
-      self.steer_alert_last = steer_alert
 
     return can_sends

selfdrive/car/ford/interface.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.car.ford.values import MAX_ANGLE
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
@@ -43,9 +42,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
-    ret.enableCamera = True
-    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
-
     return ret
 
   # returns a car.CarState

selfdrive/car/gm/interface.py

@@ -29,8 +29,7 @@ class CarInterface(CarInterfaceBase):
     # Presence of a camera on the object bus is ok.
     # Have to go to read_only if ASCM is online (ACC-enabled cars),
     # or camera is on powertrain bus (LKA cars without ACC).
-    ret.enableCamera = True
+    ret.openpilotLongitudinalControl = True
-    ret.openpilotLongitudinalControl = ret.enableCamera
     tire_stiffness_factor = 0.444  # not optimized yet
 
     # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.

selfdrive/car/honda/interface.py

@@ -4,7 +4,6 @@ from cereal import car
 from panda import Panda
 from common.numpy_fast import clip, interp
 from common.params import Params
-from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car.honda.hondacan import disable_radar
@@ -131,7 +130,6 @@ class CarInterface(CarInterfaceBase):
 
     if candidate in HONDA_BOSCH:
       ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness
-      ret.enableCamera = True
       ret.radarOffCan = True
 
       # Disable the radar and let openpilot control longitudinal
@@ -142,9 +140,8 @@ class CarInterface(CarInterfaceBase):
       ret.communityFeature = ret.openpilotLongitudinalControl
     else:
       ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
-      ret.enableCamera = True
       ret.enableGasInterceptor = 0x201 in fingerprint[0]
-      ret.openpilotLongitudinalControl = ret.enableCamera
+      ret.openpilotLongitudinalControl = True
 
       ret.enableCruise = not ret.enableGasInterceptor
       ret.communityFeature = ret.enableGasInterceptor
@@ -156,10 +153,6 @@ class CarInterface(CarInterfaceBase):
     if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
       ret.transmissionType = TransmissionType.cvt
 
-    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
-    cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
-
-
     # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
     # which improves controls quality as it removes the steering column torsion from feedback.
     # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.

selfdrive/car/hyundai/interface.py

@@ -250,7 +250,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.enableCamera = True
     ret.enableBsm = 0x58b in fingerprint[0]
 
     return ret

selfdrive/car/mazda/interface.py

@@ -73,8 +73,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.enableCamera = True
-
     return ret
 
   # returns a car.CarState

selfdrive/car/nissan/interface.py

@@ -24,7 +24,6 @@ class CarInterface(CarInterfaceBase):
     ret.communityFeature = True
 
     ret.steerLimitAlert = False
-    ret.enableCamera = True
     ret.steerRateCost = 0.5
 
     ret.steerActuatorDelay = 0.1
@@ -46,7 +45,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44
       ret.steerRatio = 17
-  
+
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.radarOffCan = True
 

selfdrive/car/subaru/interface.py

@@ -28,8 +28,6 @@ class CarInterface(CarInterfaceBase):
     ret.communityFeature = True
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
-    ret.enableCamera = True
-
     ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 

selfdrive/car/tesla/interface.py

@@ -23,7 +23,6 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = True
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.enableCamera = True
     ret.openpilotLongitudinalControl = False
     ret.communityFeature = True
 

selfdrive/car/toyota/carcontroller.py

@@ -4,7 +4,7 @@ from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command,
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
                                            create_fcw_command, create_lta_steer_command
-from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
+from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                         MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
 from opendbc.can.packer import CANPacker
 
@@ -36,12 +36,6 @@ class CarController():
     self.steer_rate_limited = False
     self.use_interceptor = False
 
-    self.fake_ecus = set()
-    if CP.enableCamera:
-      self.fake_ecus.add(Ecu.fwdCamera)
-    if CP.enableDsu:
-      self.fake_ecus.add(Ecu.dsu)
-
     self.packer = CANPacker(dbc_name)
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
@@ -104,18 +98,17 @@ class CarController():
     # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
     # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
     # on consecutive messages
-    if Ecu.fwdCamera in self.fake_ecus:
+    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
-      can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
+    if frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
-      if frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
+      can_sends.append(create_lta_steer_command(self.packer, 0, 0, frame // 2))
-        can_sends.append(create_lta_steer_command(self.packer, 0, 0, frame // 2))
 
-      # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
+    # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
-      # if frame % 2 == 0:
+    # if frame % 2 == 0:
-      #   can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
+    #   can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
-      #   can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
+    #   can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
 
     # we can spam can to cancel the system even if we are using lat only control
-    if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
+    if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = lead or CS.out.vEgo < 12.    # at low speed we always assume the lead is present do ACC can be engaged
 
       # Lexus IS uses a different cancellation message
@@ -146,16 +139,16 @@ class CarController():
       # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
       send_ui = True
 
-    if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
+    if (frame % 100 == 0 or send_ui):
       can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
 
-    if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
+    if frame % 100 == 0 and CS.CP.enableDsu:
       can_sends.append(create_fcw_command(self.packer, fcw_alert))
 
     #*** static msgs ***
 
-    for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
+    for (addr, cars, bus, fr_step, vl) in STATIC_DSU_MSGS:
-      if frame % fr_step == 0 and ecu in self.fake_ecus and CS.CP.carFingerprint in cars:
+      if frame % fr_step == 0 and CS.CP.enableDsu and CS.CP.carFingerprint in cars:
         can_sends.append(make_can_msg(addr, vl, bus))
 
     return can_sends

selfdrive/car/toyota/interface.py

@@ -3,7 +3,6 @@ from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
-from selfdrive.swaglog import cloudlog
 from selfdrive.car.interfaces import CarInterfaceBase
 
 EventName = car.CarEvent.EventName
@@ -298,7 +297,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.enableCamera = True
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
     # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
     smartDsu = 0x2FF in fingerprint[0]
@@ -307,9 +305,7 @@ class CarInterface(CarInterfaceBase):
     ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR)
     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")
-    ret.openpilotLongitudinalControl = ret.enableCamera and (smartDsu or ret.enableDsu or candidate in TSS2_CAR)
+    ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
-    cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
-    cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.

selfdrive/car/toyota/values.py

@@ -59,26 +59,26 @@ class CAR:
   MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
   ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
 
-# addr: (ecu, cars, bus, 1/freq*100, vl)
+# (addr, cars, bus, 1/freq*100, vl)
-STATIC_MSGS = [
+STATIC_DSU_MSGS = [
-  (0x128, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1,   2, b'\x00\x00\x00\x46'),
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, Ecu.dsu, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, Ecu.dsu, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
+  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, Ecu.dsu, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
+  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  100, b'\x00\x00\x01\x79'),
+  (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
 

selfdrive/car/volkswagen/interface.py

@@ -1,5 +1,4 @@
 from cereal import car
-from selfdrive.swaglog import cloudlog
 from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, TransmissionType, GearShifter
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -41,7 +40,6 @@ class CarInterface(CarInterfaceBase):
       else:
         # No trans message at all, must be a true stick-shift manual
         ret.transmissionType = TransmissionType.manual
-      cloudlog.info("Detected transmission type: %s", ret.transmissionType)
 
     # Global tuning defaults, can be overridden per-vehicle
 
@@ -129,7 +127,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.centerToFront = ret.wheelbase * 0.45
 
-    ret.enableCamera = True
     ret.enableBsm = 0x30F in fingerprint[0]
 
     # TODO: get actual value, for now starting with reasonable value for

selfdrive/controls/controlsd.py

@@ -96,8 +96,7 @@ class Controls:
 
     car_recognized = self.CP.carName != 'mock'
 
-    # If stock camera is disconnected, we loaded car controls and it's not dashcam mode
+    controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
-    controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
     community_feature = self.CP.communityFeature or self.CP.fuzzyFingerprint or \
                         self.CP.fingerprintSource == car.CarParams.FingerprintSource.can
     community_feature_disallowed = community_feature and (not community_feature_toggle)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-999749c3955d504712564db3faf541f8c21c069d
+abe59dfbc06ed070a3ac2f4ab587d311ef808e2e

selfdrive/test/test_models.py

@@ -90,8 +90,6 @@ class TestCarModel(unittest.TestCase):
       elif tuning == 'indi':
         self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
 
-    self.assertTrue(self.CP.enableCamera)
-
     # TODO: check safetyModel is in release panda build
     safety = libpandasafety_py.libpandasafety
     set_status = safety.set_safety_hooks(self.CP.safetyModel.raw, self.CP.safetyParam)