From 8bc9df284905127c81f31ea5b72e79f312e1129a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 23 Aug 2022 13:48:00 -0700 Subject: [PATCH] fixes --- selfdrive/car/toyota/carstate.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 7fc9e872e1..a7942e40c9 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -119,11 +119,11 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6) 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) - print(cp.vl_all['PRE_COLLISION']) ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0 + if not self.CP.enableDsu: + ret.stockAeb = bool(cp_cruise.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cruise.vl["PRE_COLLISION"]["FORCE"] < -1e-5) + 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) @@ -219,7 +219,7 @@ class CarState(CarStateBase): ("ACC_HUD", 1), ] - if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR): + if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu: signals += [ ("FORCE", "PRE_COLLISION"), ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),