From bbd25b00b7c744258af23cfbfedf19d0c4b52147 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 10 Mar 2022 17:17:46 -0800 Subject: [PATCH] fix Prius v --- docs/CARS_generated.md | 2 +- docs/cars.py | 9 ++++++--- selfdrive/car/__init__.py | 2 +- selfdrive/car/toyota/values.py | 2 +- 4 files changed, 9 insertions(+), 6 deletions(-) diff --git a/docs/CARS_generated.md b/docs/CARS_generated.md index 1b63ed8ecd..4ecb65540e 100644 --- a/docs/CARS_generated.md +++ b/docs/CARS_generated.md @@ -158,7 +158,7 @@ |Toyota|Avalon Hybrid 2021|TSS-P|1||||| |Toyota|Corolla 2019|All|1||||| |Toyota|Prius 2020|TSS-P|1|||7|| -|Toyota|Prius v 2017|TSS-P|1|||7|| +|Toyota|Prius v 2017|TSS-P|1|||7|| |Toyota|RAV4 2018|TSS-P|1||||| |Volkswagen|California 20216|Driver Assistance|||||| |Volkswagen|Caravelle 20206|Driver Assistance|||||| diff --git a/docs/cars.py b/docs/cars.py index a81296f71d..5cab6f3f0a 100755 --- a/docs/cars.py +++ b/docs/cars.py @@ -125,11 +125,14 @@ class Car: min_steer_speed = CP.minSteerSpeed if car_info.min_steer_speed is not None: min_steer_speed = car_info.min_steer_speed - assert CP.minSteerSpeed == 0, "Minimum steer speed set in both CarInfo and CarParams for {}".format( - CP.carFingerprint) + assert CP.minSteerSpeed == 0, "Minimum steer speed set in both CarInfo and CarParams for {}".format(CP.carFingerprint) + + min_enable_speed = CP.minEnableSpeed + if car_info.min_enable_speed is not None: + min_enable_speed = car_info.min_enable_speed # TODO: make sure well supported check is complete - stars = [CP.openpilotLongitudinalControl, CP.minEnableSpeed <= 1e-3, min_steer_speed <= 1e-3, + stars = [CP.openpilotLongitudinalControl, min_enable_speed <= 1e-3, min_steer_speed <= 1e-3, CP.carName in MAKES_GOOD_STEERING_TORQUE, CP.carFingerprint not in non_tested_cars] # Check for star demotions from exceptions diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 924dcbf1f7..4435ac810e 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -7,7 +7,7 @@ from common.numpy_fast import clip # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. -CarInfo = namedtuple('CarInfo', ['name', 'years', 'package', 'min_steer_speed'], defaults=[None]) +CarInfo = namedtuple('CarInfo', ['name', 'years', 'package', 'min_steer_speed', 'min_enable_speed'], defaults=[None, None]) def gen_empty_fingerprint(): diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index e1a8342fe0..7bb1569a59 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -93,7 +93,7 @@ CAR_INFO = { CAR.HIGHLANDERH: CarInfo("Toyota Highlander Hybrid", {2017, 2018, 2019}, "All"), CAR.HIGHLANDERH_TSS2: CarInfo("Toyota Highlander Hybrid", {2020, 2021, 2022}, "All"), CAR.PRIUS: CarInfo("Toyota Prius", {2016, 2017, 2018, 2019, 2020}, 'TSS-P'), # TODO: Prius Prime is lost here (supports All packages) - CAR.PRIUS_V: CarInfo("Toyota Prius v", {2017}, 'TSS-P'), + CAR.PRIUS_V: CarInfo("Toyota Prius v", {2017}, 'TSS-P', min_enable_speed=MIN_ACC_SPEED), CAR.PRIUS_TSS2: CarInfo("Toyota Prius Prime TSS2", {2021, 2022}, "All"), CAR.RAV4: CarInfo("Toyota RAV4", {2016, 2017, 2018}, 'TSS-P'), CAR.RAV4H: CarInfo("Toyota RAV4 Hybrid", {2016, 2017, 2018}, 'TSS-P'),