From d08d16bb6cf5ce4af64e17223384fd6b464013b7 Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Fri, 14 Jan 2022 14:37:39 +1100 Subject: [PATCH] Toyota: DBC signal renames (#23452) * rename signals bump opendbc * bump opendbc * bump opendbc * bump opendbc * bump opendbc * bump opendbc Co-authored-by: Adeeb Shihadeh old-commit-hash: 9f4fd73b52b12193ea9040361246e6e313ce6698 --- opendbc | 2 +- selfdrive/car/toyota/carstate.py | 26 +++++++++++++------------- 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/opendbc b/opendbc index 99206b0b14..2ffa8dfa4e 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 99206b0b141673c679bc0b7b62b4be5e8a560fd4 +Subproject commit 2ffa8dfa4e2ccea4d81bdf5f0c62d496f64b53b1 diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index f7d353e691..16d51bfef0 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -28,9 +28,9 @@ class CarState(CarStateBase): def update(self, cp, cp_cam): ret = car.CarState.new_message() - ret.doorOpen = any([cp.vl["SEATS_DOORS"]["DOOR_OPEN_FL"], cp.vl["SEATS_DOORS"]["DOOR_OPEN_FR"], - cp.vl["SEATS_DOORS"]["DOOR_OPEN_RL"], cp.vl["SEATS_DOORS"]["DOOR_OPEN_RR"]]) - ret.seatbeltUnlatched = cp.vl["SEATS_DOORS"]["SEATBELT_DRIVER_UNLATCHED"] != 0 + ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"], + cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]]) + ret.seatbeltUnlatched = cp.vl["BODY_CONTROL_STATE"]["SEATBELT_DRIVER_UNLATCHED"] != 0 ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1 @@ -72,8 +72,8 @@ class CarState(CarStateBase): can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"]) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) - ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1 - ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2 + ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1 + ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2 ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] @@ -135,11 +135,11 @@ class CarState(CarStateBase): ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0), - ("DOOR_OPEN_FL", "SEATS_DOORS", 1), - ("DOOR_OPEN_FR", "SEATS_DOORS", 1), - ("DOOR_OPEN_RL", "SEATS_DOORS", 1), - ("DOOR_OPEN_RR", "SEATS_DOORS", 1), - ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1), + ("DOOR_OPEN_FL", "BODY_CONTROL_STATE", 1), + ("DOOR_OPEN_FR", "BODY_CONTROL_STATE", 1), + ("DOOR_OPEN_RL", "BODY_CONTROL_STATE", 1), + ("DOOR_OPEN_RR", "BODY_CONTROL_STATE", 1), + ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE", 1), ("TC_DISABLED", "ESP_CONTROL", 1), ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL", 1), ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0), @@ -150,7 +150,7 @@ class CarState(CarStateBase): ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0), ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0), ("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0), - ("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers + ("TURN_SIGNALS", "BLINKERS_STATE", 3), # 3 is no blinkers ("LKA_STATE", "EPS_STATUS", 0), ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0), ] @@ -158,8 +158,8 @@ class CarState(CarStateBase): checks = [ ("GEAR_PACKET", 1), ("LIGHT_STALK", 1), - ("STEERING_LEVERS", 0.15), - ("SEATS_DOORS", 3), + ("BLINKERS_STATE", 0.15), + ("BODY_CONTROL_STATE", 3), ("ESP_CONTROL", 3), ("EPS_STATUS", 25), ("BRAKE_MODULE", 40),