Adds 2019 Lexus ES (non hybrid) #866

energee · 2019-10-27T07:35:57Z

For openpilotci:

https://my.comma.ai/cabana/?route=e6a24be49a6cd46e%7C2019-10-24--13-59-04&exp=1603654068&sig=uUeo1w%2B7H%2B70RNw6sTcJezsDLGtZ%2Br567GIh6d1u44E%3D&max=5&url=https%3A%2F%2Fchffrprivate-vzn.azureedge.net%2Fchffrprivate3%2Fv2%2Fe6a24be49a6cd46e%2Fc57101168c8193febd9a5115bf6dd318_2019-10-24--13-59-04

https://my.comma.ai/cabana/?route=e6a24be49a6cd46e%7C2019-10-26--22-38-02&exp=1603693054&sig=mPjd5bWIdOQVU8s1ryNKjWNlrgczXoEK%2FgrCFb%2BBPV0%3D&max=7&url=https%3A%2F%2Fchffrprivate-vzn.azureedge.net%2Fchffrprivate3%2Fv2%2Fe6a24be49a6cd46e%2F1370220d248459d602d968fa06b6d320_2019-10-26--22-38-02

rbiasini · 2019-10-28T21:14:59Z

selfdrive/car/toyota/values.py

@@ -188,6 +189,10 @@ class ECU:
    {
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
  }],
+  CAR.LEXUS_ES_TSS2: [
+  {
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8


this is what I get from the stock drive:

36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8

only difference is 1904: 8, 1912: 8 not being in my fingerprint. Not a big deal to include them.They might be super-sporadic.

rbiasini · 2019-10-28T22:38:56Z

selfdrive/test/test_car_models.py

+    'enableCamera': False,
+    'enableDsu': False,
+  },
+  "e6a24be49a6cd46e|2019-10-26--22-38-02": {


in this drive, I don't see the radar messages. Weird. Do you know why?

Oh I think enableDsu should be True then? (Its a non DSU car)

yeah, because it does longitudinal control, so enableDsu is hardcoded true. It should be refactored though.

rbiasini · 2019-10-28T22:39:15Z

selfdrive/test/test_car_models.py

+  "e6a24be49a6cd46e|2019-10-26--22-38-02": {
+    'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
+    'enableCamera': True,
+    'enableDsu': False,


This should be True (always true on TSS2 cars)

rbiasini · 2019-10-28T22:41:07Z

selfdrive/test/test_car_models.py

@@ -281,6 +281,16 @@ def get_route_logs(route_name):
    'enableCamera': True,
    'enableDsu': True,
  },
+  "e6a24be49a6cd46e|2019-10-24--13-59-04": {


Seems like a harness was used, so this test should be removed, since when a harness it's used, it will always enable camera and DSU (it does not know the status of the toggle during a replay)

energee · 2019-10-29T18:27:13Z

https://my.comma.ai/cabana/?route=e6a24be49a6cd46e%7C2019-10-29--10-52-42&exp=1603908797&sig=pamyefowa4P33%2B9saWwNt43hXh85g8EJJDp6d8sbXlk%3D&max=-1&url=https%3A%2F%2Fchffrprivate-vzn.azureedge.net%2Fchffrprivate3%2Fv2%2Fe6a24be49a6cd46e%2F49d2c09660990e36e3689d851af906c7_2019-10-29--10-52-42

Driving on openpilot ^

I think this might be the test route we should use. Is there any documentation on test_car_models.py?

rbiasini · 2019-10-29T19:05:18Z

@energee , not really. it simply replays routes and checks that openpilot processes can run without errors and that the car is properly fingerprinted.
In order for the test to work, I need to manually upload that route to a public bucket (then test will pass).
ok, I'll upload that route. If test passes and you update the test file, then this can be merged. Thanks!

energee · 2019-10-30T03:13:03Z

Ok cool!

* fix ALCA module * Update ALCA_module.py * Promote panda fixes from alpha to devel (#98) * Fix for mock car crash * fix ALCA module * do not use * radar_interface logic improvements * remove radar logging * radar_interface refactoring * Log radar_interface CAN error, Process Comm Errors (#95) * Log radar_interface CAN error * Add support for process comm error logging * Improve Process Comm error logging * Can and CommError throttling * Update radar_interface.py * fixing push per Raf's comments * ALCA and radar_interface work (#96) (#97) * do not use * radar_interface logic improvements * remove radar logging * radar_interface refactoring * Update radar_interface.py * fixing push per Raf's comments * fix process comm issue * switch radard from lane_parser to model * radar/ALCA changes * fix lane width * switched back to not deleting CarParams to avoid radar failure when rebooting EON while driving * cleanup some debug info to be able to restart ALCA research * tweaks on safety_tesla.h for can bus isolation * few more cleanups to safety_tesla.h * fix start signal logic * Increase LEXUS_IS safetyParam to 77 (#841) * use list comprehension (#839) * use list comprehension * oops index range fix * simplify encode/decode in dbc (#840) * simplify encode/decode * 2019 Highlander Hybrid Limited Platinum (#843) fingerprint from ogdragonzypher on Discord * Allow to lock safety mode to keep gm/tesla cars supported (#844) * Force subaru to assume the stock camera is connected (#849) * Revert to using the sum of the lane line probabilities instead of the the product * Add core OP support for CRC validation, with extra support for Volkswagen MQB (#836) * Generalized core OP CRC support plus extra bits for Volkswagen MQB. * Update ref to process_replay regression test * Remove unneded use of replace, causing json to fail loading the alert * Add supported car for 2019 Toyota Altis Hybrid (#859) * add supported car for 2019 Toyota Altis Hybird / Corolla hybrid 2020 (US market) * remove unnecessary comprehensions (#863) * Added fingerprint from Sienna XLE AWD (#848) * Added fingerprint from Sienna XLE AWD * Update driver_monitor.py * Update driver_monitor.py * Update driver_monitor.py * fix stupid merge issue * Adds 2019 Lexus ES (non hybrid) (#866) * Adds 2019 Lexus ES (non hybrid) * Updated test route * merge issues * Update README with now supported Subaru Harness * Disable LDW for 4 seconds after blinker transition from on to off (#112) If we want to change lanes with a blinker tap (3 blink mode), then we need to disable LDW for enough time to allow a smooth manual lane change. 4 seconds as it seems the freq is actually around 50Hz, not 100Hz. * Disable HSO for 3 seconds after blinker has been active (#111) Avoid HSO will deactivate and try to take the car back into the lane during a manual lane change with blinker tapped (3 blinks mode) * params learner to only learn @ cons speed Acceleration/deceleration in turns affect yaw as measured by phone and will create potential issues with learner. This code changes the learner to only adjust parameters when speed is constant * Update to match new version of python in eons * python 3 fixes for test client / server * async/await server * Don't log for action message as it's too often, and we throttle it internally. * fix merge issue in thermald * fixes and tweaks; code simplification * Saving P,I,F parameters from pid controller (#116) Added separate save/load functions, try catch - and saving the right constants to the params file. * Feature/tinklad throttling + linting (#118) * Throttle tinlkad's attemptToSendPendingMessages * Remove get_git_remote from registration. It's defined in version already. * tinklad linting * tesla linting * Prevent multiple readings of the pid params file (#119) ..only load the pid values when we initiate the LoC * missing V_PID_FILE constant (#121) * show cars in IC for non-radar users (#120) * bug fixes * Fix issue where user info was being dropped on no connectivity (#122) * move pisParams, fix GPS logging * Bugfix tinklad throttling (#124) * ALCA4 (still in dev) * ALCA4 tuning * ALCA4 alpha release * ALCA4 tweak for turns * ACC fix; LDW mite during ALCA * ALCA polishing * fix enter_canloader.py for python 3 * should_ldw changes moved the should_ldw code closer together and added status messages for when LDW is active and inactive * thermald and ALCA * ALCA sinplified logic

* Adds 2019 Lexus ES (non hybrid) * Updated test route

Adds 2019 Lexus ES (non hybrid)

1cb63f8

energee force-pushed the lexus-es branch from a136855 to 1cb63f8 Compare October 28, 2019 06:00

rbiasini reviewed Oct 28, 2019

View reviewed changes

Updated test route

2e5ad5a

rbiasini merged commit affe1c3 into commaai:devel Oct 30, 2019

dragonpilot pushed a commit to dragonpilot-community/dragonpilot that referenced this pull request Apr 7, 2020

Adds 2019 Lexus ES (non hybrid) (commaai#866)

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* Adds 2019 Lexus ES (non hybrid) * Updated test route

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Adds 2019 Lexus ES (non hybrid) #866

Adds 2019 Lexus ES (non hybrid) #866

energee commented Oct 27, 2019

rbiasini Oct 28, 2019

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Adds 2019 Lexus ES (non hybrid) #866

Adds 2019 Lexus ES (non hybrid) #866

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