Compile FrogPilot

selfdrive/car/toyota/carcontroller.py

@@ -136,8 +136,8 @@ class CarController:
       pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
       pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
       interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
-    elif ((CC.longActive and actuators.accel > 0.) or (not self.CP.openpilotLongitudinalControl and CS.stock_resume_ready)) \
-      and self.CP.carFingerprint in STOP_AND_GO_CAR and self.CP.enableGasInterceptor and CS.out.vEgo < 1e-3:
+    elif self.CP.enableGasInterceptor and CC.longActive and self.CP.carFingerprint in STOP_AND_GO_CAR and actuators.accel > 0.0 \
+      and CS.out.standstill:
       interceptor_gas_cmd = 0.12
     else:
       interceptor_gas_cmd = 0.

selfdrive/car/toyota/carstate.py

@@ -182,19 +182,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
-    # if openpilot does not control longitudinal, in this case, assume 0x343 is on bus0
-    # 1) the car is no longer sending standstill
-    # 2) the car is still in standstill
-    if not self.CP.openpilotLongitudinalControl:
-      self.stock_resume_ready = cp.vl["ACC_CONTROL"]["RELEASE_STANDSTILL"] == 1
-
     # FrogPilot functions
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
-      # distance button is wired to the ACC module (camera or radar)
-      if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-        distance_pressed = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
-      else:
-        distance_pressed = cp.vl["SDSU"]["FD_BUTTON"]
 
     # Switch the current state of Experimental Mode if the LKAS button is double pressed
     if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
@@ -209,6 +197,19 @@ class CarState(CarStateBase):
 
       self.lkas_previously_pressed = lkas_pressed
 
+    if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
+      # Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2"
+      self.personality_profile = cp.vl["PCM_CRUISE_SM"]["DISTANCE_LINES"] - 1
+
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or self.CP.flags & ToyotaFlags.SMART_DSU:
+      # distance button is wired to the ACC module (camera or radar)
+      if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+        distance_pressed = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      else:
+        distance_pressed = cp.vl["SDSU"]["FD_BUTTON"]
+    else:
+      distance_pressed = False
+
     # Distance button functions
     if ret.cruiseState.available:
       if distance_pressed:
@@ -243,9 +244,6 @@ class CarState(CarStateBase):
 
     # Update the distance lines on the dash upon ignition/onroad UI button clicked
     if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
-      # Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2"
-      self.personality_profile = cp.vl["PCM_CRUISE_SM"]["DISTANCE_LINES"] - 1
-
       # Sync with the onroad UI button
       if self.fpf.personality_changed_via_ui:
         self.profile_restored = False
@@ -341,7 +339,7 @@ class CarState(CarStateBase):
     if CP.enableBsm:
       messages.append(("BSM", 1))
 
-    if not CP.openpilotLongitudinalControl or (CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value):
+    if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       if not CP.flags & ToyotaFlags.SMART_DSU.value:
         messages += [
           ("ACC_CONTROL", 33),
@@ -355,7 +353,7 @@ class CarState(CarStateBase):
         ("PRE_COLLISION", 33),
       ]
 
-    if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
+    if CP.flags & ToyotaFlags.SMART_DSU:
       messages += [
         ("SDSU", 100),
       ]
@@ -385,7 +383,4 @@ class CarState(CarStateBase):
         ("PCS_HUD", 1),
       ]
 
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in (TSS2_CAR, UNSUPPORTED_DSU_CAR):
-      messages.append(("ACC_CONTROL", 33))
-
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)

selfdrive/car/toyota/values.py

@@ -47,7 +47,6 @@ class ToyotaFlags(IntFlag):
   SMART_DSU = 2
   DISABLE_RADAR = 4
   ZSS = 8
-  RADAR_CAN_FILTER = 16
 
 
 class CAR(StrEnum):