Subaru: don't copy eyesight counters, calculate manually (#29533)

* subaru manual counters

* update ref

* that isn't used

* review suggestions
old-commit-hash: 338288df6e0f872ddc6c1cd02ce130d6ce154e36

selfdrive/car/subaru/carcontroller.py

@@ -80,29 +80,30 @@ class CarController:
 
     else:
       if self.frame % 10 == 0:
-        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
                                                         CC.longActive, hud_control.leadVisible))
 
-        can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-          can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
+          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
 
       if self.CP.openpilotLongitudinalControl:
         if self.frame % 5 == 0:
-          can_sends.append(subarucan.create_es_status(self.packer, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
+          can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
+                                                      self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
 
-          can_sends.append(subarucan.create_es_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake))
+          can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake))
 
-          can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd,
+          can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
                                                         self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
       else:
         if pcm_cancel_cmd:
           if self.CP.carFingerprint not in HYBRID_CARS:
             bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
-            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
+            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX

selfdrive/car/subaru/subarucan.py

@@ -16,10 +16,9 @@ def create_steering_control(packer, apply_steer, steer_req):
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
+def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
   values = {s: es_distance_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Cruise_Fault",
     "Cruise_Throttle",
@@ -39,7 +38,8 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
     "Cruise_Resume",
     "Signal6",
   ]}
-  values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
+
+  values["COUNTER"] = frame % 0x10
 
   if long_enabled:
     values["Cruise_Throttle"] = cruise_throttle
@@ -57,10 +57,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
   return packer.make_can_msg("ES_Distance", bus, values)
 
 
-def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
   values = {s: es_lkas_state_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "LKAS_Alert_Msg",
     "Signal1",
     "LKAS_ACTIVE",
@@ -77,6 +76,8 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
     "Signal3",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   # Filter the stock LKAS "Keep hands on wheel" alert
   if values["LKAS_Alert_Msg"] == 1:
     values["LKAS_Alert_Msg"] = 0
@@ -119,10 +120,9 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
 
   return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
 
-def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
+def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
   values = {s: dashstatus_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "PCB_Off",
     "LDW_Off",
     "Signal1",
@@ -150,6 +150,8 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
     "Cruise_State",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if enabled and long_active:
     values["Cruise_State"] = 0
     values["Cruise_Activated"] = 1
@@ -165,10 +167,9 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
 
   return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
 
-def create_es_brake(packer, es_brake_msg, enabled, brake_value):
+def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
   values = {s: es_brake_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Brake_Pressure",
     "AEB_Status",
@@ -179,6 +180,8 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
     "Signal3",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if enabled:
     values["Cruise_Activated"] = 1
 
@@ -190,10 +193,9 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
 
   return packer.make_can_msg("ES_Brake", CanBus.main, values)
 
-def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rpm):
+def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm):
   values = {s: es_status_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Cruise_Fault",
     "Cruise_RPM",
@@ -204,6 +206,8 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
     "Signal3",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if long_enabled:
     values["Cruise_RPM"] = cruise_rpm
 
@@ -213,16 +217,18 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
   return packer.make_can_msg("ES_Status", CanBus.main, values)
 
 
-def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
+def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   values = {s: es_infotainment_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "LKAS_State_Infotainment",
     "LKAS_Blue_Lines",
     "Signal1",
     "Signal2",
   ]}
+
+  values["COUNTER"] = frame % 0x10
+
   if values["LKAS_State_Infotainment"] in (3, 4):
     values["LKAS_State_Infotainment"] = 0
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-20022e4a1b5f5df343465180a3865b0c78890544
+649c512f95d9ad80e7c8c4d852cfa5f468a28fd5