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Subaru: explicitly copy signals to forward (#28304)

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* do subaru

* add missing checksum

* more missing checksums
This commit is contained in:
Shane Smiskol
2023-05-25 22:59:52 -07:00
committed by GitHub
parent c1909df437
commit 54e6d4c402
1 changed files with 102 additions and 11 deletions
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113
selfdrive/car/subaru/subarucan.py
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@@ -1,4 +1,3 @@
import copy
from cereal import car
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -18,7 +17,28 @@ def create_steering_status(packer):
def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
values = copy.copy(es_distance_msg)
values = {s: es_distance_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"Signal1",
"Cruise_Fault",
"Cruise_Throttle",
"Signal2",
"Car_Follow",
"Signal3",
"Cruise_Soft_Disable",
"Signal7",
"Cruise_Brake_Active",
"Distance_Swap",
"Cruise_EPB",
"Signal4",
"Close_Distance",
"Signal5",
"Cruise_Cancel",
"Cruise_Set",
"Cruise_Resume",
"Signal6",
]}
values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
if pcm_cancel_cmd:
values["Cruise_Cancel"] = 1
@@ -26,7 +46,24 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
values = copy.copy(es_lkas_state_msg)
values = {s: es_lkas_state_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"LKAS_Alert_Msg",
"Signal1",
"LKAS_ACTIVE",
"LKAS_Dash_State",
"Signal2",
"Backward_Speed_Limit_Menu",
"LKAS_Left_Line_Enable",
"LKAS_Left_Line_Light_Blink",
"LKAS_Right_Line_Enable",
"LKAS_Right_Line_Light_Blink",
"LKAS_Left_Line_Visible",
"LKAS_Right_Line_Visible",
"LKAS_Alert",
"Signal3",
]}
# Filter the stock LKAS "Keep hands on wheel" alert
if values["LKAS_Alert_Msg"] == 1:
@@ -69,7 +106,35 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
def create_es_dashstatus(packer, dashstatus_msg):
values = copy.copy(dashstatus_msg)
values = {s: dashstatus_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"PCB_Off",
"LDW_Off",
"Signal1",
"Cruise_State_Msg",
"LKAS_State_Msg",
"Signal2",
"Cruise_Soft_Disable",
"Cruise_Status_Msg",
"Signal3",
"Cruise_Distance",
"Signal4",
"Conventional_Cruise",
"Signal5",
"Cruise_Disengaged",
"Cruise_Activated",
"Signal6",
"Cruise_Set_Speed",
"Cruise_Fault",
"Cruise_On",
"Display_Own_Car",
"Brake_Lights",
"Car_Follow",
"Signal7",
"Far_Distance",
"Cruise_State",
]}
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
if values["LKAS_State_Msg"] in (2, 3):
@@ -80,18 +145,26 @@ def create_es_dashstatus(packer, dashstatus_msg):
def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4):
infotainmentstatus_msg["LKAS_State_Infotainment"] = 0
values = {s: infotainmentstatus_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"LKAS_State_Infotainment",
"LKAS_Blue_Lines",
"Signal1",
"Signal2",
]}
if values["LKAS_State_Infotainment"] in (3, 4):
values["LKAS_State_Infotainment"] = 0
# Show Keep hands on wheel alert for openpilot steerRequired alert
if visual_alert == VisualAlert.steerRequired:
infotainmentstatus_msg["LKAS_State_Infotainment"] = 3
values["LKAS_State_Infotainment"] = 3
# Show Obstacle Detected for fcw
if visual_alert == VisualAlert.fcw:
infotainmentstatus_msg["LKAS_State_Infotainment"] = 2
values["LKAS_State_Infotainment"] = 2
return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg)
return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values)
# *** Subaru Pre-global ***
@@ -112,9 +185,27 @@ def create_preglobal_steering_control(packer, apply_steer):
def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
values = copy.copy(es_distance_msg)
values["Cruise_Button"] = cruise_button
values = {s: es_distance_msg[s] for s in [
"Cruise_Throttle",
"Signal1",
"Car_Follow",
"Signal2",
"Brake_On",
"Distance_Swap",
"Standstill",
"Signal3",
"Close_Distance",
"Signal4",
"Standstill_2",
"Cruise_Fault",
"Signal5",
"COUNTER",
"Signal6",
"Cruise_Button",
"Signal7",
]}
values["Cruise_Button"] = cruise_button
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
return packer.make_can_msg("ES_Distance", 0, values)