Subaru: Global gen1 longitudinal safety (#1500)

* Add subaru long TX and RX messages

* misra c2012 fix

* fix tests

* Reorder signals

* increase max steering torque

* merge fix

* merge fix, remove cnt from test

* Move subaru logitudinal behind flag, add safety test

* update subaru_longitudinal checks

* cleanup

* Add subaru longitudinal checks

* misra fix

* Add subaru rpm and throttle rate limit checks

* temporary disable cruise throttle and cruise rpm checks

* update subaru long test

* update longitudinal safety and add tests

* fix tests

* fix misra

* subaru long signals limits checks

* Add controls_allowed to long tests

* remove unused variables

* Add AEB passthru and tests

* Add bus

* Update AEB logic

* Add GEN2 AEB support

* syntax fix

* Update AEB tests

* Add comment for subaru_aeb

* Do not check cruise_throttle and cruise_rpm limits when gas pressed

* use long limits struct

* Subaru: longitudinal checks only when controls_allowed, use ES_LKAS_State LKAS_Alert for AEB

* fix misra, set controls_allowed for es_brake test

* fix misra

* Fix es_brake violation check

* Add 0x323 to longitudinal test

* Remove stock fcw from aeb signals

* Use GET_BYTES

* Revert "export FW_PATH"

This reverts commit 2a5058d858.

* Revert "cleanup fw filename conventions (#1434)"

This reverts commit 4dd2735e38.

* Revert "Revert "export FW_PATH""

This reverts commit 86e8d321d055c5f89cde7ee26a0014df1bcd5b39.

* Revert "Revert "cleanup fw filename conventions (#1434)""

This reverts commit 5aae6716fa5506aac49dadd287229a45f0a3b94e.

* cleaned up safety

* cleanup subaru long safety

* subaru_aeb -> stock_aeb for other platforms

* fix unittests

* pretty

* need to upload this route

* remove AEB stuff for now

* remove unrequired rpm checks

* add comment

* added comment about acceleration and use throttle limit for rpm too

* inactive_throttle_fix

* Update board/safety/safety_subaru.h

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* added comments about long limits

* increase max brake

* revert that

* cleanup

* rename throttle to gas

* add safety replay

* remove todo

* rename throttle to gas

* move subaru stuff out of common test

* PR cleanup

* added min gas

* reduce initial complexity by not intercepting cruisecontrol or brake_status

* create common gas brake safety test

* remove unrelated subaru reference

* also test below min_value

* fix fwd hook test

* better name and hardcoded

* use same as acceleration limits

* revert gm

* remove callable

* also limit rpm

* remove safety replay for now

* revert unrelated changes

* pr cleanup

* remove unused gasbrake safety test

* fix ruff linter

* PR cleanup

* pr cleanup?

* added common brake test and moved generic test to base safety class

* remove duplicate test

* wip

* wip

* rename longitudinalaccelsafety

* revert limits correct test

* fix controls allowed test

* move gm over to long gas brake test

* assert that limits are reasonable

* fix typing

* fix linter again

* fix linter again

* fix linter again

* like to make it clear

* typo

* fix from merge

* clearer names

* dont need thesemore

* subaru: use common test

* fix merge issue

* inactive gas from long limits

* fix tests

* linter

* fix gen2

* fix linter

* also test torque when doing long control

* renamre transmision rpm

* consistent whitespace

* rename declarations too

* rename transmission rpm

* same line

* actually is transmission rpm

---------

Co-authored-by: Martin Lillepuu <martin@mlp.ee>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>

python/__init__.py

@@ -248,6 +248,7 @@ class Panda:
   FLAG_CHRYSLER_RAM_HD = 2
 
   FLAG_SUBARU_GEN2 = 1
+  FLAG_SUBARU_LONG = 2
 
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2