From 896a26bfe5d8b4ab6eaa995aa4c4dda177520040 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 26 Jun 2023 14:26:38 -0700 Subject: [PATCH] clean up --- selfdrive/car/toyota/interface.py | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index a1fc74b09c..83ca8a0316 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -212,10 +212,6 @@ class CarInterface(CarInterfaceBase): ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU) ret.enableGasInterceptor = 0x201 in fingerprint[0] - # Use SDSU to send ACC_CONTROL - # Use SDSU if detected and toggled is enabled - # If the smartDsu is detected in these cars and toggle is enabled, or - # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) @@ -230,16 +226,6 @@ class CarInterface(CarInterfaceBase): # openpilot longitudinal enabled when experimental long is toggled: # - TSS2 radar ACC cars w/ smart-DSU installed ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) - - if ret.radarUnavailable: - # On TSS2 radar-based ACC cars, the SDSU is a filter on the ACC_CONTROL message from the radar - ret.openpilotLongitudinalControl = ret.experimentalLongitudinalAvailable and experimental_long - else: - # On these cars, the SDSU filters the ACC_CONTROL message from the DSU - ret.openpilotLongitudinalControl = ret.openpilotLongitudinalControl or bool(ret.flags & ToyotaFlags.SMART_DSU) - ret.openpilotLongitudinalControl = (experimental_long and ret.experimentalLongitudinalAvailable) or bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) - ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) - ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR if not ret.openpilotLongitudinalControl: