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Subaru: signals cleanup (#27946)

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* Update counter in carstate checks

* Rename es_lkas to es_lkas_state to match signal

* formatting

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 13c75dc138477def107f7da8b0f6430b65d73399
This commit is contained in:
martinl
2023-04-18 08:54:27 +03:00
committed by GitHub
parent 9131202975
commit 7bdb84c1a3
3 changed files with 10 additions and 10 deletions
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selfdrive/car/subaru/carcontroller.py
+6 -6
View File
@@ -10,7 +10,7 @@ class CarController:
self.apply_steer_last = 0
self.frame = 0
self.es_lkas_cnt = -1
self.es_lkas_state_cnt = -1
self.es_distance_cnt = -1
self.es_dashstatus_cnt = -1
self.infotainmentstatus_cnt = -1
@@ -80,11 +80,11 @@ class CarController:
can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"]
if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]:
can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"]
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]:
can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
selfdrive/car/subaru/carstate.py
+2 -2
View File
@@ -77,7 +77,7 @@ class CarState(CarStateBase):
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
@@ -250,7 +250,7 @@ class CarState(CarStateBase):
]
else:
signals = [
("Counter", "ES_DashStatus"),
("COUNTER", "ES_DashStatus"),
("PCB_Off", "ES_DashStatus"),
("LDW_Off", "ES_DashStatus"),
("Signal1", "ES_DashStatus"),
selfdrive/car/subaru/subarucan.py
+2 -2
View File
@@ -21,9 +21,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
values["Cruise_Cancel"] = 1
return packer.make_can_msg("ES_Distance", bus, values)
def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
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_msg)
values = copy.copy(es_lkas_state_msg)
# Filter the stock LKAS "Keep hands on wheel" alert
if values["LKAS_Alert_Msg"] == 1: