enforce message checks in can parser (#20742)

* enforce message checks in can parser

* nissan

* vw

* hkg

* subaru

* toyota

* honda bosch

* gm

* honda nidec

* bump opendbc

* not all tss2 have bsm

* toyota fixes

* honda fixes

* vw fix

* fix subaru

* fix long tests

* update refs

* crv bsm

cereal

@@ -1 +1 @@
-Subproject commit 8e5eb3ba4db9975e3370f3e4f5e60c0e7b73d078
+Subproject commit 9532238f186a5022235decc22f3eaf91b636cedc

opendbc

@@ -1 +1 @@
-Subproject commit 774b4c98f6b2ae22f23703521e368918014d74b7
+Subproject commit df29a0726ba95b185241c1e0b8b1c1e37fc96e76

selfdrive/car/ford/carstate.py

@@ -53,4 +53,4 @@ class CarState(CarStateBase):
       ("Brake_Lights", "BCM_to_HS_Body", 0.),
     ]
     checks = []
-    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0, enforce_checks=False)

selfdrive/car/gm/carstate.py

@@ -104,9 +104,29 @@ class CarState(CarStateBase):
       ("CruiseMainOn", "ECMEngineStatus", 0),
     ]
 
+    checks = [
+      ("BCMTurnSignals", 1),
+      ("ECMPRDNL", 10),
+      ("PSCMStatus", 10),
+      ("ESPStatus", 10),
+      ("BCMDoorBeltStatus", 10),
+      ("EPBStatus", 20),
+      ("EBCMWheelSpdFront", 20),
+      ("EBCMWheelSpdRear", 20),
+      ("AcceleratorPedal", 33),
+      ("AcceleratorPedal2", 33),
+      ("ASCMSteeringButton", 33),
+      ("ECMEngineStatus", 100),
+      ("PSCMSteeringAngle", 100),
+      ("EBCMBrakePedalPosition", 100),
+    ]
+
     if CP.carFingerprint == CAR.VOLT:
       signals += [
         ("RegenPaddle", "EBCMRegenPaddle", 0),
       ]
+      checks += [
+        ("EBCMRegenPaddle", 50),
+      ]
 
-    return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)
+    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CanBus.POWERTRAIN)

selfdrive/car/gm/radar_interface.py

@@ -34,7 +34,7 @@ def create_radar_can_parser(car_fingerprint):
                 [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
                 [0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
 
-  checks = []
+  checks = list({(s[1], 14) for s in signals})
 
   return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
 

selfdrive/car/honda/carstate.py

@@ -22,41 +22,43 @@ def calc_cruise_offset(offset, speed):
 def get_can_signals(CP):
   # this function generates lists for signal, messages and initial values
   signals = [
-      ("XMISSION_SPEED", "ENGINE_DATA", 0),
+    ("XMISSION_SPEED", "ENGINE_DATA", 0),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
-      ("STEER_ANGLE", "STEERING_SENSORS", 0),
+    ("STEER_ANGLE", "STEERING_SENSORS", 0),
-      ("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
+    ("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
-      ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
+    ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
-      ("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
+    ("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
-      ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
+    ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
-      ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
+    ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
-      ("GEAR", "GEARBOX", 0),
+    ("GEAR", "GEARBOX", 0),
-      ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
+    ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
-      ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
+    ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
-      ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
+    ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
-      ("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
+    ("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
-      ("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
+    ("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
-      ("ESP_DISABLED", "VSA_STATUS", 1),
+    ("ESP_DISABLED", "VSA_STATUS", 1),
-      ("USER_BRAKE", "VSA_STATUS", 0),
+    ("USER_BRAKE", "VSA_STATUS", 0),
-      ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
+    ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
-      ("STEER_STATUS", "STEER_STATUS", 5),
+    ("STEER_STATUS", "STEER_STATUS", 5),
-      ("GEAR_SHIFTER", "GEARBOX", 0),
+    ("GEAR_SHIFTER", "GEARBOX", 0),
-      ("PEDAL_GAS", "POWERTRAIN_DATA", 0),
+    ("PEDAL_GAS", "POWERTRAIN_DATA", 0),
-      ("CRUISE_SETTING", "SCM_BUTTONS", 0),
+    ("CRUISE_SETTING", "SCM_BUTTONS", 0),
-      ("ACC_STATUS", "POWERTRAIN_DATA", 0),
+    ("ACC_STATUS", "POWERTRAIN_DATA", 0),
   ]
 
   checks = [
-      ("ENGINE_DATA", 100),
+    ("ENGINE_DATA", 100),
-      ("WHEEL_SPEEDS", 50),
+    ("WHEEL_SPEEDS", 50),
-      ("STEERING_SENSORS", 100),
+    ("STEERING_SENSORS", 100),
-      ("SEATBELT_STATUS", 10),
+    ("SEATBELT_STATUS", 10),
-      ("CRUISE", 10),
+    ("CRUISE", 10),
-      ("POWERTRAIN_DATA", 100),
+    ("POWERTRAIN_DATA", 100),
-      ("VSA_STATUS", 50),
+    ("VSA_STATUS", 50),
+    ("STEER_STATUS", 100),
+    ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
   ]
 
   if CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -84,12 +86,19 @@ def get_can_signals(CP):
     if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
       signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
       checks += [("BRAKE_MODULE", 50)]
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
+
-                ("MAIN_ON", "SCM_FEEDBACK", 0),
+    signals += [
-                ("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
+      ("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("EPB_STATE", "EPB_STATUS", 0),
+      ("MAIN_ON", "SCM_FEEDBACK", 0),
-                ("CRUISE_SPEED", "ACC_HUD", 0)]
+      ("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
-    checks += [("GAS_PEDAL_2", 100)]
+      ("EPB_STATE", "EPB_STATUS", 0),
+      ("CRUISE_SPEED", "ACC_HUD", 0)
+    ]
+    checks += [
+      ("ACC_HUD", 10),
+      ("EPB_STATUS", 50),
+      ("GAS_PEDAL_2", 100),
+    ]
     if CP.openpilotLongitudinalControl:
       signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
                   ("BRAKE_ERROR_2", "STANDSTILL", 1)]
@@ -119,27 +128,43 @@ def get_can_signals(CP):
                 ("DOOR_OPEN_RL", "DOORS_STATUS", 1),
                 ("DOOR_OPEN_RR", "DOORS_STATUS", 1),
                 ("WHEELS_MOVING", "STANDSTILL", 1)]
-    checks += [("DOORS_STATUS", 3)]
+    checks += [
+      ("DOORS_STATUS", 3),
+      ("STANDSTILL", 50),
+    ]
 
   if CP.carFingerprint == CAR.CIVIC:
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
                 ("MAIN_ON", "SCM_FEEDBACK", 0),
                 ("IMPERIAL_UNIT", "HUD_SETTING", 0),
                 ("EPB_STATE", "EPB_STATUS", 0)]
+    checks += [
+      ("HUD_SETTING", 50),
+      ("EPB_STATUS", 50),
+      ("GAS_PEDAL_2", 100),
+    ]
   elif CP.carFingerprint == CAR.ACURA_ILX:
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
                 ("MAIN_ON", "SCM_BUTTONS", 0)]
+    checks += [
+      ("GAS_PEDAL_2", 100),
+    ]
   elif CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
     signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
   elif CP.carFingerprint == CAR.FIT:
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
                 ("MAIN_ON", "SCM_BUTTONS", 0),
                 ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
+    checks += [
+      ("GAS_PEDAL_2", 100),
+    ]
   elif CP.carFingerprint == CAR.HRV:
     signals += [("CAR_GAS", "GAS_PEDAL", 0),
                 ("MAIN_ON", "SCM_BUTTONS", 0),
                 ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
-
+    checks += [
+      ("GAS_PEDAL", 100),
+    ]
   elif CP.carFingerprint == CAR.ODYSSEY:
     signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
                 ("EPB_STATE", "EPB_STATUS", 0)]
@@ -147,6 +172,9 @@ def get_can_signals(CP):
   elif CP.carFingerprint == CAR.PILOT:
     signals += [("MAIN_ON", "SCM_BUTTONS", 0),
                 ("CAR_GAS", "GAS_PEDAL_2", 0)]
+    checks += [
+      ("GAS_PEDAL_2", 0),  # TODO: fix this freq, seems this signal isn't present at all on some models
+    ]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("MAIN_ON", "SCM_BUTTONS", 0),
                 ("EPB_STATE", "EPB_STATUS", 0)]
@@ -325,7 +353,7 @@ class CarState(CarStateBase):
       self.stock_hud = cp_cam.vl["ACC_HUD"]
       self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
 
-    if self.CP.carFingerprint in (CAR.CRV_5G, ):
+    if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
       # more info here: https://github.com/commaai/openpilot/pull/1867
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]['BSM_ALERT'] == 1
@@ -343,9 +371,17 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     signals = []
 
+    # all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
+    checks = [(0xe4, 100)]
+    if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
+      checks = [(0x194, 100)]
+
     if CP.carFingerprint in HONDA_BOSCH:
       signals += [("ACCEL_COMMAND", "ACC_CONTROL", 0),
                   ("AEB_STATUS", "ACC_CONTROL", 0)]
+      checks += [
+        ("ACC_CONTROL", 0), # TODO: fix freq, this seems to be on the wrong bus
+      ]
     else:
       signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
                   ("AEB_REQ_1", "BRAKE_COMMAND", 0),
@@ -355,24 +391,24 @@ class CarState(CarStateBase):
                   ("FCM_OFF_2", "ACC_HUD", 0),
                   ("FCM_PROBLEM", "ACC_HUD", 0),
                   ("ICONS", "ACC_HUD", 0)]
-
+      checks += [
-    # all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
+        ("ACC_HUD", 10),
-    checks = [(0xe4, 100)]
+        ("BRAKE_COMMAND", 50),
-    if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
+      ]
-      checks = [(0x194, 100)]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
   @staticmethod
   def get_body_can_parser(CP):
-    signals = []
+    if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
-    checks = []
+      signals = [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
-
+                 ("BSM_ALERT", "BSM_STATUS_LEFT", 0)]
-    if CP.carFingerprint == CAR.CRV_5G:
+
-      signals += [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
+      # TODO: get freqs
-                  ("BSM_ALERT", "BSM_STATUS_LEFT", 0)]
+      checks = [
-
+        ("BSM_STATUS_LEFT", 0),
+        ("BSM_STATUS_RIGHT", 0),
+      ]
       bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
       return CANParser(DBC[CP.carFingerprint]['body'], signals, checks, bus_body)
-
     return None

selfdrive/car/honda/interface.py

@@ -135,6 +135,9 @@ class CarInterface(CarInterfaceBase):
       ret.enableGasInterceptor = 0x201 in fingerprint[0]
       ret.openpilotLongitudinalControl = ret.enableCamera
 
+    if candidate == CAR.CRV_5G:
+      ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
+
     cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
     cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
 

selfdrive/car/honda/radar_interface.py

@@ -11,7 +11,7 @@ def _create_nidec_can_parser(car_fingerprint):
                 ['REL_SPEED'] * 16,
                 [0x400] + radar_messages[1:] * 4,
                 [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
-  checks = list(zip([0x445], [20]))
+  checks = [(s[1], 20) for s in signals]
   return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
 
 

selfdrive/car/hyundai/carstate.py

@@ -189,8 +189,6 @@ class CarState(CarStateBase):
       ("ESC_Off_Step", "TCS15", 0),
       ("AVH_LAMP", "TCS15", 0),
 
-      ("CF_Lvr_GearInf", "LVR11", 0),        # Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
-
       ("CR_Mdps_StrColTq", "MDPS12", 0),
       ("CF_Mdps_ToiActive", "MDPS12", 0),
       ("CF_Mdps_ToiUnavail", "MDPS12", 0),
@@ -215,6 +213,7 @@ class CarState(CarStateBase):
       ("CLU11", 50),
       ("ESP12", 100),
       ("CGW1", 10),
+      ("CGW2", 5),
       ("CGW4", 5),
       ("WHL_SPD11", 50),
       ("SAS11", 100),

selfdrive/car/nissan/carstate.py

@@ -146,10 +146,13 @@ class CarState(CarStateBase):
 
     checks = [
       # sig_address, frequency
+      ("STEER_ANGLE_SENSOR", 100),
       ("WHEEL_SPEEDS_REAR", 50),
       ("WHEEL_SPEEDS_FRONT", 50),
-      ("STEER_ANGLE_SENSOR", 100),
+      ("ESP", 25),
+      ("GEARBOX", 25),
       ("DOORS_LIGHTS", 10),
+      ("LIGHTS", 10),
     ]
 
     if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
@@ -201,6 +204,9 @@ class CarState(CarStateBase):
       checks += [
         ("BRAKE_PEDAL", 100),
         ("CRUISE_THROTTLE", 50),
+        ("CANCEL_MSG", 50),
+        ("HUD_SETTINGS", 25),
+        ("SEATBELT", 10),
       ]
 
     if CP.carFingerprint == CAR.ALTIMA:
@@ -241,6 +247,7 @@ class CarState(CarStateBase):
         ("CRUISE_ON", "PRO_PILOT", 0),
       ]
       checks = [
+        ("LKAS", 100),
         ("PRO_PILOT", 100),
       ]
     else:
@@ -327,7 +334,11 @@ class CarState(CarStateBase):
       ]
 
       checks = [
+        ("PROPILOT_HUD_INFO_MSG", 2),
+        ("LKAS_SETTINGS", 10),
         ("CRUISE_STATE", 50),
+        ("PROPILOT_HUD", 50),
+        ("LKAS", 100),
       ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
@@ -341,7 +352,9 @@ class CarState(CarStateBase):
       signals += [
         ("CRUISE_ON", "PRO_PILOT", 0),
       ]
-
+      checks += [
+        ("PRO_PILOT", 100),
+      ]
     elif CP.carFingerprint == CAR.ALTIMA:
       signals += [
         ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),

selfdrive/car/subaru/carstate.py

@@ -37,8 +37,9 @@ class CarState(CarStateBase):
     ret.leftBlinker, ret.rightBlinker = self.update_blinker(50, cp.vl["Dashlights"]['LEFT_BLINKER'],
                                                             cp.vl["Dashlights"]['RIGHT_BLINKER'])
 
-    ret.leftBlindspot = (cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['L_APPROACHING'] == 1)
+    if self.CP.enableBsm:
-    ret.rightBlindspot = (cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['R_APPROACHING'] == 1)
+      ret.leftBlindspot = (cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['L_APPROACHING'] == 1)
+      ret.rightBlindspot = (cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['R_APPROACHING'] == 1)
 
     can_gear = int(cp.vl["Transmission"]['Gear'])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
@@ -102,10 +103,6 @@ class CarState(CarStateBase):
       ("DOOR_OPEN_RL", "BodyInfo", 1),
       ("Units", "Dash_State", 1),
       ("Gear", "Transmission", 0),
-      ("L_ADJACENT", "BSD_RCTA", 0),
-      ("R_ADJACENT", "BSD_RCTA", 0),
-      ("L_APPROACHING", "BSD_RCTA", 0),
-      ("R_APPROACHING", "BSD_RCTA", 0),
     ]
 
     checks = [
@@ -116,8 +113,21 @@ class CarState(CarStateBase):
       ("Wheel_Speeds", 50),
       ("Transmission", 100),
       ("Steering_Torque", 50),
+      ("Dash_State", 1),
+      ("BodyInfo", 1),
     ]
 
+    if CP.enableBsm:
+      signals += [
+        ("L_ADJACENT", "BSD_RCTA", 0),
+        ("R_ADJACENT", "BSD_RCTA", 0),
+        ("L_APPROACHING", "BSD_RCTA", 0),
+        ("R_APPROACHING", "BSD_RCTA", 0),
+      ]
+      checks += [
+        ("BSD_RCTA", 17),
+      ]
+
     if CP.carFingerprint in PREGLOBAL_CARS:
       signals += [
         ("LKA_Lockout", "Steering_Torque", 0),

selfdrive/car/subaru/interface.py

@@ -27,6 +27,7 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
     ret.enableCamera = True
+    ret.enableBsm = 0x228 in fingerprint[0]
 
     ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4

selfdrive/car/tests/test_car_interfaces.py

@@ -1,70 +1,69 @@
 #!/usr/bin/env python3
 import unittest
 import importlib
+from parameterized import parameterized
+
+from cereal import car
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 
-from cereal import car
-
-
 class TestCarInterfaces(unittest.TestCase):
-  def test_car_interfaces(self):
-    all_cars = all_known_cars()
 
-    for car_name in all_cars:
+  @parameterized.expand([(car,) for car in all_known_cars()])
-      print(car_name)
+  def test_car_interfaces(self, car_name):
-      fingerprint = FINGERPRINTS[car_name][0]
+    print(car_name)
+    fingerprint = FINGERPRINTS[car_name][0]
 
-      CarInterface, CarController, CarState = interfaces[car_name]
+    CarInterface, CarController, CarState = interfaces[car_name]
-      fingerprints = {
+    fingerprints = {
-        0: fingerprint,
+      0: fingerprint,
-        1: fingerprint,
+      1: fingerprint,
-        2: fingerprint,
+      2: fingerprint,
-      }
+    }
 
-      car_fw = []
+    car_fw = []
 
-      car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
+    car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
-      car_interface = CarInterface(car_params, CarController, CarState)
+    car_interface = CarInterface(car_params, CarController, CarState)
-      assert car_params
+    assert car_params
-      assert car_interface
+    assert car_interface
 
-      self.assertGreater(car_params.mass, 1)
+    self.assertGreater(car_params.mass, 1)
-      self.assertGreater(car_params.steerRateCost, 1e-3)
+    self.assertGreater(car_params.steerRateCost, 1e-3)
 
-      if car_params.steerControlType != car.CarParams.SteerControlType.angle:
+    if car_params.steerControlType != car.CarParams.SteerControlType.angle:
-        tuning = car_params.lateralTuning.which()
+      tuning = car_params.lateralTuning.which()
-        if tuning == 'pid':
+      if tuning == 'pid':
-          self.assertTrue(len(car_params.lateralTuning.pid.kpV))
+        self.assertTrue(len(car_params.lateralTuning.pid.kpV))
-        elif tuning == 'lqr':
+      elif tuning == 'lqr':
-          self.assertTrue(len(car_params.lateralTuning.lqr.a))
+        self.assertTrue(len(car_params.lateralTuning.lqr.a))
-        elif tuning == 'indi':
+      elif tuning == 'indi':
-          self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
+        self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
 
-      # Run car interface
+    # Run car interface
-      CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message()
-      for _ in range(10):
+    for _ in range(10):
-        car_interface.update(CC, [])
+      car_interface.update(CC, [])
-        car_interface.apply(CC)
+      car_interface.apply(CC)
-        car_interface.apply(CC)
+      car_interface.apply(CC)
 
-      CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message()
-      CC.enabled = True
+    CC.enabled = True
-      for _ in range(10):
+    for _ in range(10):
-        car_interface.update(CC, [])
+      car_interface.update(CC, [])
-        car_interface.apply(CC)
+      car_interface.apply(CC)
-        car_interface.apply(CC)
+      car_interface.apply(CC)
 
-      # Test radar interface
+    # Test radar interface
-      RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % car_params.carName).RadarInterface
+    RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % car_params.carName).RadarInterface
-      radar_interface = RadarInterface(car_params)
+    radar_interface = RadarInterface(car_params)
-      assert radar_interface
+    assert radar_interface
 
-      # Run radar interface once
+    # Run radar interface once
-      radar_interface.update([])
+    radar_interface.update([])
-      if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
+    if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
-        radar_interface._update([radar_interface.trigger_msg])
+      radar_interface._update([radar_interface.trigger_msg])
 
 if __name__ == "__main__":
   unittest.main()

selfdrive/car/toyota/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 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, TSS2_CAR, NO_STOP_TIMER_CAR
+from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR
 
 
 class CarState(CarStateBase):
@@ -90,17 +90,14 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [1, 2, 3, 4, 5, 6]
 
-    if self.CP.carFingerprint == CAR.PRIUS:
+    ret.genericToggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
-      ret.genericToggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
-    else:
-      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
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
 
-    if self.CP.carFingerprint in TSS2_CAR:
+    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)
 
@@ -140,13 +137,18 @@ class CarState(CarStateBase):
     ]
 
     checks = [
+      ("GEAR_PACKET", 1),
+      ("LIGHT_STALK", 1),
+      ("STEERING_LEVERS", 0.15),
+      ("SEATS_DOORS", 3),
+      ("ESP_CONTROL", 3),
+      ("EPS_STATUS", 25),
       ("BRAKE_MODULE", 40),
       ("GAS_PEDAL", 33),
       ("WHEEL_SPEEDS", 80),
       ("STEER_ANGLE_SENSOR", 80),
       ("PCM_CRUISE", 33),
       ("STEER_TORQUE_SENSOR", 50),
-      ("EPS_STATUS", 25),
     ]
 
     if CP.carFingerprint == CAR.LEXUS_IS:
@@ -159,20 +161,22 @@ class CarState(CarStateBase):
       signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
       checks.append(("PCM_CRUISE_2", 33))
 
-    if CP.carFingerprint == CAR.PRIUS:
-      signals += [("STATE", "AUTOPARK_STATUS", 0)]
-
     # add gas interceptor reading if we are using it
     if CP.enableGasInterceptor:
       signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
       signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
       checks.append(("GAS_SENSOR", 50))
 
-    if CP.carFingerprint in TSS2_CAR:
+    if CP.enableBsm:
-      signals += [("L_ADJACENT", "BSM", 0)]
+      signals += [
-      signals += [("L_APPROACHING", "BSM", 0)]
+        ("L_ADJACENT", "BSM", 0),
-      signals += [("R_ADJACENT", "BSM", 0)]
+        ("L_APPROACHING", "BSM", 0),
-      signals += [("R_APPROACHING", "BSM", 0)]
+        ("R_ADJACENT", "BSM", 0),
+        ("R_APPROACHING", "BSM", 0),
+      ]
+      checks += [
+        ("BSM", 1)
+      ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
@@ -186,7 +190,8 @@ class CarState(CarStateBase):
 
     # use steering message to check if panda is connected to frc
     checks = [
-      ("STEERING_LKA", 42)
+      ("STEERING_LKA", 42),
+      ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
     ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

selfdrive/car/toyota/interface.py

@@ -321,6 +321,7 @@ class CarInterface(CarInterfaceBase):
                                                                          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]
     # In TSS2 cars the camera does long control

selfdrive/car/volkswagen/carstate.py

@@ -80,8 +80,9 @@ class CarState(CarStateBase):
     # detection box is dynamic based on speed and road curvature.
     # Refer to VW Self Study Program 890253: Volkswagen Driver Assist Systems,
     # pages 32-35.
-    ret.leftBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
+    if self.CP.enableBsm:
-    ret.rightBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
+      ret.leftBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
+      ret.rightBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
 
     # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
     # and capture it for forwarding to the blind spot radar controller
@@ -203,10 +204,6 @@ class CarState(CarStateBase):
       ("GRA_Tip_Stufe_2", "GRA_ACC_01", 0),         # unknown related to stalk type
       ("GRA_ButtonTypeInfo", "GRA_ACC_01", 0),      # unknown related to stalk type
       ("COUNTER", "GRA_ACC_01", 0),                 # GRA_ACC_01 CAN message counter
-      ("SWA_Infostufe_SWA_li", "SWA_01", 0),        # Blind spot object info, left
-      ("SWA_Warnung_SWA_li", "SWA_01", 0),          # Blind spot object warning, left
-      ("SWA_Infostufe_SWA_re", "SWA_01", 0),        # Blind spot object info, right
-      ("SWA_Warnung_SWA_re", "SWA_01", 0),          # Blind spot object warning, right
     ]
 
     checks = [
@@ -219,6 +216,7 @@ class CarState(CarStateBase):
       ("ACC_10", 50),       # From J428 ACC radar control module
       ("Motor_20", 50),     # From J623 Engine control module
       ("TSK_06", 50),       # From J623 Engine control module
+      ("ESP_02", 50),
       ("GRA_ACC_01", 33),   # From J??? steering wheel control buttons
       ("ACC_02", 17),       # From J428 ACC radar control module
       ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
@@ -229,6 +227,17 @@ class CarState(CarStateBase):
       ("Einheiten_01", 1),  # From J??? not known if gateway, cluster, or BCM
     ]
 
+    if CP.enableBsm:
+      signals += [
+        ("SWA_Infostufe_SWA_li", "SWA_01", 0),        # Blind spot object info, left
+        ("SWA_Warnung_SWA_li", "SWA_01", 0),          # Blind spot object warning, left
+        ("SWA_Infostufe_SWA_re", "SWA_01", 0),        # Blind spot object info, right
+        ("SWA_Warnung_SWA_re", "SWA_01", 0),          # Blind spot object warning, right
+      ]
+      checks += [
+        ("SWA_01", 20),
+      ]
+
     if CP.transmissionType == TransmissionType.automatic:
       signals += [("GE_Fahrstufe", "Getriebe_11", 0)]  # Auto trans gear selector position
       checks += [("Getriebe_11", 20)]  # From J743 Auto transmission control module

selfdrive/car/volkswagen/interface.py

@@ -104,7 +104,8 @@ class CarInterface(CarInterfaceBase):
 
     ret.centerToFront = ret.wheelbase * 0.45
 
-    ret.enableCamera = True  # Stock camera detection doesn't apply to VW
+    ret.enableCamera = True
+    ret.enableBsm = 0x30F in fingerprint[0]
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -176,12 +176,9 @@ class Plant():
     return float(self.rk.frame) / self.rate
 
   def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0, publish_model=True):
-    gen_signals, gen_checks = get_can_signals(CP)
+    gen_signals, _ = get_can_signals(CP)
     sgs = [s[0] for s in gen_signals]
     msgs = [s[1] for s in gen_signals]
-    cks_msgs = set(check[0] for check in gen_checks)
-    cks_msgs.add(0x18F)
-    cks_msgs.add(0x30C)
 
     # ******** get messages sent to the car ********
     can_strings = messaging.drain_sock_raw(Plant.sendcan, wait_for_one=self.response_seen)
@@ -353,12 +350,17 @@ class Plant():
       can_msgs.append([0x400, 0, radar_state_msg, 1])
       can_msgs.append([0x445, 0, radar_msg, 1])
 
-    # add camera msg so controlsd thinks it's alive
+      radar_messages = list(range(0x430, 0x43A)) + list(range(0x440, 0x445))
+      for m in radar_messages:
+        can_msgs.append([m, 0, b'\x00'*8, 1])
+
     msg_struct["COUNTER"] = self.frame % 4
-    msg = honda.lookup_msg_id(0xe4)
+    camera_messages = [0x1FA, 0x30C, 0xE4]
-    msg_data = honda.encode(msg, msg_struct)
+    for m in camera_messages:
-    msg_data = fix(msg_data, 0xe4)
+      msg = honda.lookup_msg_id(m)
-    can_msgs.append([0xe4, 0, msg_data, 2])
+      msg_data = honda.encode(msg, msg_struct)
+      msg_data = fix(msg_data, m)
+      can_msgs.append([m, 0, msg_data, 2])
 
     # Fake sockets that controlsd subscribes to
     live_parameters = messaging.new_message('liveParameters')

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-381c4976c45f232f413b37945fbcd43391174089
+8539d7c0d5186cd2d13e7f031ecb93e64b5ed8ae