Toyota TSS2: parse distance button #31722
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Thanks! @sshane will clean this up and get it merged as the first example, then the community can do the rest of the brands. |
sshane
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selfdrive/car/toyota/carstate.py
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| elif self.CP.flags & ToyotaFlags.SMART_DSU: | ||
| self.distance_button = cp.vl["SDSU"]["FD_BUTTON"] == 1 | ||
| # This may need some additional checks or can even simply be an "else" statement if all cars already have it mapped out | ||
| elif self.CP.openpilotLongitudinalControl: | ||
| self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"] == 1 |
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Note that we disable the radar on some TSS2 cars
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Yeah that’s one of the additional checks I was thinking I’ll need to add in. I’ll keep that in mind when I go through and clean it up tomorrow.
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Apparently the buttons are wired directly up to the camera. I blocked all messages that we normally forward through the panda to the camera and it still knew when we were pressing both the distance and lane keep button (but didn't know the wheel angle in STEERING_LTA for example) :(
Looks like no button parsing for RAV4 2022+, as they are probably then connected to the radar there
Found the button on no other message unfortunately
sshane
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Thanks! We can do SDSU in a follow up PR |
* Enable the distance button to switch personalities for Toyota/Lexus * Default to the "standard" personality for now * only parsing first * only parse * no personality in card * safe * comment --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
Needs some cleaning up, especially in regards to handling the parameters, but figured I'd write up a quick draft just to get something going and gather some official feedback from the comma team to see which direction y'all wanted to go. But this is the gist of controlling personalities via the "Distance" button on the steering wheel for Toyota/Lexus.
Not too sure if y'all want the extra function to restore the previous drive's personality, but I put that in there since it's certainly a very nice QOL change since it defaults to the "Relaxed" personality upon ignition.
I added a bunch of comments as I went to help clear up the "why", but feel free to ask any questions or provide any inputs or critiques and I'll be happy to accommodate!