Toyota: remove disconnected DSU support (#2931)

* start rn

* bring back unsup dsu for carstate

* more

* yay more red diff

* final

* final

* expected failures for enableDsu routes. non tested for now

* keep

Author: sshane

opendbc/car/car.capnp

@@ -461,7 +461,6 @@ struct CarParams {
   notCar @66 :Bool;  # flag for non-car robotics platforms
 
   pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableDsu @5 :Bool;        # driving support unit
   enableBsm @56 :Bool;       # blind spot monitoring
   flags @64 :UInt32;         # flags for car specific quirks
   alphaLongitudinalAvailable @71 :Bool;
@@ -733,4 +732,5 @@ struct CarParams {
   longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
   stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
   radarTimeStepDEPRECATED @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  enableDsuDEPRECATED @5 :Bool;        # driving support unit
 }

opendbc/car/docs_definitions.py

@@ -189,11 +189,6 @@ class CommonFootnote(Enum):
     "openpilot Longitudinal Control (Alpha) is available behind a toggle; " +
     "the toggle is only available in non-release branches such as `devel` or `nightly-dev`.",
     Column.LONGITUDINAL, docs_only=True)
-  EXP_LONG_DSU = CarFootnote(
-    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
-    "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
-    "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
-    Column.LONGITUDINAL)
 
 
 def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]:
@@ -269,13 +264,10 @@ def init(self, CP: CarParams, all_footnotes=None):
 
     # longitudinal column
     op_long = "Stock"
-    if CP.alphaLongitudinalAvailable or CP.enableDsu:
+    if CP.alphaLongitudinalAvailable:
       op_long = "openpilot available"
-      if CP.enableDsu:
-        self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
-      else:
-        self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
-    elif CP.openpilotLongitudinalControl and not CP.enableDsu:
+      self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
+    elif CP.openpilotLongitudinalControl:
       op_long = "openpilot"
 
     # min steer & enable speed columns

opendbc/car/tests/routes.py

@@ -31,7 +31,13 @@
   HONDA.ACURA_TLX_2G,
   HONDA.HONDA_NBOX_2G,
   HONDA.ACURA_MDX_4G_MMR,
-  HONDA.HONDA_CITY_7G
+  HONDA.HONDA_CITY_7G,
+
+  # These had their DSUs unplugged, need new routes
+  # TOYOTA.LEXUS_ES  # hybrid
+  TOYOTA.TOYOTA_COROLLA,
+  TOYOTA.TOYOTA_RAV4H,
+
 ]
 
 
@@ -215,12 +221,12 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("54034823d30962f5/2021-05-24--06-37-34", TOYOTA.TOYOTA_CAMRY),  # hybrid
   CarTestRoute("3456ad0cd7281b24/2020-12-13--17-45-56", TOYOTA.TOYOTA_CAMRY_TSS2),
   CarTestRoute("ffccc77938ddbc44/2021-01-04--16-55-41", TOYOTA.TOYOTA_CAMRY_TSS2),  # hybrid
-  CarTestRoute("4e45c89c38e8ec4d/2021-05-02--02-49-28", TOYOTA.TOYOTA_COROLLA),
+  # CarTestRoute("4e45c89c38e8ec4d/2021-05-02--02-49-28", TOYOTA.TOYOTA_COROLLA),
   CarTestRoute("5f5afb36036506e4/2019-05-14--02-09-54", TOYOTA.TOYOTA_COROLLA_TSS2),
   CarTestRoute("5ceff72287a5c86c/2019-10-19--10-59-02", TOYOTA.TOYOTA_COROLLA_TSS2),  # hybrid
   CarTestRoute("d2525c22173da58b/2021-04-25--16-47-04", TOYOTA.TOYOTA_PRIUS),
   CarTestRoute("b14c5b4742e6fc85/2020-07-28--19-50-11", TOYOTA.TOYOTA_RAV4),
-  CarTestRoute("32a7df20486b0f70/2020-02-06--16-06-50", TOYOTA.TOYOTA_RAV4H),
+  # CarTestRoute("32a7df20486b0f70/2020-02-06--16-06-50", TOYOTA.TOYOTA_RAV4H),
   CarTestRoute("cdf2f7de565d40ae/2019-04-25--03-53-41", TOYOTA.TOYOTA_RAV4_TSS2),
   CarTestRoute("a5c341bb250ca2f0/2022-05-18--16-05-17", TOYOTA.TOYOTA_RAV4_TSS2_2022),
   CarTestRoute("ad5a3fa719bc2f83/2023-10-17--19-48-42", TOYOTA.TOYOTA_RAV4_TSS2_2023),
@@ -231,7 +237,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN),  # SecOC
   CarTestRoute("0b54d0594d924cd9/00000057--b6206a3205", TOYOTA.TOYOTA_YARIS),  # SecOC
   CarTestRoute("7a31f030957b9c85/2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
-  CarTestRoute("37041c500fd30100/2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
+  # CarTestRoute("37041c500fd30100/2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
   CarTestRoute("e6a24be49a6cd46e/2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
   CarTestRoute("f49e8041283f2939/2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
   CarTestRoute("da23c367491f53e2/2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),

opendbc/car/toyota/carcontroller.py

@@ -2,14 +2,13 @@
 import numpy as np
 from opendbc.car import Bus, make_tester_present_msg, rate_limit, structs, ACCELERATION_DUE_TO_GRAVITY, DT_CTRL
 from opendbc.car.lateral import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance
-from opendbc.car.can_definitions import CanData
 from opendbc.car.carlog import carlog
 from opendbc.car.common.filter_simple import FirstOrderFilter, HighPassFilter
 from opendbc.car.common.pid import PIDController
 from opendbc.car.secoc import add_mac, build_sync_mac
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.toyota import toyotacan
-from opendbc.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
+from opendbc.car.toyota.values import CAR, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                         CarControllerParams, ToyotaFlags, \
                                         UNSUPPORTED_DSU_CAR
 from opendbc.can import CANPacker
@@ -293,15 +292,9 @@ def update(self, CC, CS, now_nanos):
                                                      hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                                      hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
 
-      if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
+      if (self.frame % 100 == 0 or send_ui) and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
         can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))
 
-    # *** static msgs ***
-    if self.CP.enableDsu:
-      for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:
-        if self.frame % fr_step == 0 and self.CP.carFingerprint in cars:
-          can_sends.append(CanData(addr, vl, bus))
-
     # keep radar disabled
     if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       can_sends.append(make_tester_present_msg(0x750, 0, 0xF))

opendbc/car/toyota/carstate.py

@@ -78,7 +78,7 @@ def update(self, can_parsers) -> structs.CarState:
     else:
       ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0  # TODO: these also have GAS_PEDAL, come back and unify
       can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
-      if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+      if not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
         ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
 
     self.parse_wheel_speeds(ret,

opendbc/car/toyota/interface.py

@@ -3,7 +3,7 @@
 from opendbc.car.toyota.carcontroller import CarController
 from opendbc.car.toyota.radar_interface import RadarInterface
 from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
-                                                  MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
+                                                  MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
                                                   ToyotaSafetyFlags
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
@@ -52,7 +52,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
 
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR)
 
     if Ecu.hybrid in found_ecus:
       ret.flags |= ToyotaFlags.HYBRID.value
@@ -92,14 +91,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
           break
 
     elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
-      # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars?
+      # TODO: Some of these platforms are not advertised to have full range ACC, do they really all have sng?
       stop_and_go = True
 
-    # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
-    #  For now, don't list stop and go functionality in the docs
-    if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
-      stop_and_go = stop_and_go or (ret.enableDsu and not docs)
-
     ret.centerToFront = ret.wheelbase * 0.44
 
     # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction.
@@ -124,9 +118,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
     # openpilot longitudinal behind experimental long toggle:
     #  - TSS2 radar ACC cars (disables radar)
 
-    ret.openpilotLongitudinalControl = ret.enableDsu or \
-      candidate in (TSS2_CAR - RADAR_ACC_CAR) or \
-      bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
+    ret.openpilotLongitudinalControl = (candidate in (TSS2_CAR - RADAR_ACC_CAR) or
+                                        bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value))
 
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 

opendbc/car/toyota/values.py

@@ -71,12 +71,14 @@ class ToyotaFlags(IntFlag):
   # these cars use the Lane Tracing Assist (LTA) message for lateral control
   ANGLE_CONTROL = 128
   NO_STOP_TIMER = 256
-  # these cars are speculated to allow stop and go when the DSU is unplugged
-  SNG_WITHOUT_DSU = 512
   # these cars can utilize 2.0 m/s^2
   RAISED_ACCEL_LIMIT = 1024
   SECOC = 2048
 
+  # deprecated flags
+  # these cars are speculated to allow stop and go when the DSU is unplugged
+  SNG_WITHOUT_DSU_DEPRECATED = 512
+
 
 def dbc_dict(pt, radar):
   return {Bus.pt: pt, Bus.radar: radar}
@@ -213,7 +215,7 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
+    flags=ToyotaFlags.NO_STOP_TIMER,
   )
   TOYOTA_HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
     [
@@ -235,7 +237,7 @@ class CAR(Platforms):
     [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
+    flags=ToyotaFlags.NO_STOP_TIMER,
   )
   TOYOTA_PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
     [
@@ -260,7 +262,7 @@ class CAR(Platforms):
     TOYOTA_RAV4.specs,
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     # Note that the ICE RAV4 does not respect positive acceleration commands under 19 mph
-    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
+    flags=ToyotaFlags.NO_STOP_TIMER,
   )
   TOYOTA_RAV4_TSS2 = ToyotaTSS2PlatformConfig(
     [
@@ -397,38 +399,6 @@ class CAR(Platforms):
   )
 
 
-# (addr, cars, bus, 1/freq*100, vl)
-STATIC_DSU_MSGS = [
-  (0x128, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON),
-                                                                                                                      1, 3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_PRIUS_V),
-                                                                                               1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.TOYOTA_PRIUS, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
-           CAR.TOYOTA_PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V),
-          0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, (CAR.TOYOTA_PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_RAV4H, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
-]
-
-
 def get_platform_codes(fw_versions: list[bytes]) -> dict[bytes, set[bytes]]:
   # Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos
   codes = defaultdict(set)  # Optional[part]-platform-major_version: set of sub_version