Toyota: Display Blue Barriers When Engaged, Matches OEM Design (#23150)

commaai · Dec 15, 2021 · 245b4d9 · 245b4d9
1 parent cd190dc
commit 245b4d9
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
@@ -120,7 +120,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_aler
       send_ui = True
 
     if (frame % 100 == 0 or send_ui):
-      can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
+      can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart, enabled))
 
     if frame % 100 == 0 and CS.CP.enableDsu:
       can_sends.append(create_fcw_command(self.packer, fcw_alert))

diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
@@ -67,11 +67,11 @@ def create_fcw_command(packer, fcw):
   return packer.make_can_msg("ACC_HUD", 0, values)
 
 
-def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled):
   values = {
     "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
     "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
-    "BARRIERS" : 3 if left_lane_depart else 2 if right_lane_depart else 0,
+    "BARRIERS" : 1 if enabled else 0,
     "SET_ME_X0C": 0x0c,
     "SET_ME_X2C": 0x2c,
     "SET_ME_X38": 0x38,