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fix

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firestar5683
2026-08-31 23:10:17 -05:00
parent 401319431a
commit eef1d0513e
2 changed files with 2 additions and 23 deletions
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opendbc_repo/opendbc/car/subaru/carcontroller.py
+1 -8
View File
@@ -39,7 +39,6 @@ _STOP_START_PULSE_FRAMES = 30
_STOP_START_PULSE_PERIOD_FRAMES = 5
_AVH_STARTUP_DELAY_FRAMES = _STOP_START_STARTUP_DELAY_FRAMES
_AVH_STARTUP_DEADLINE_FRAMES = _STOP_START_STARTUP_DEADLINE_FRAMES
_AVH_PULSE_MESSAGES = 10 # Match the native 10 Hz AVH frame for roughly one second
def get_safety_CP():
@@ -93,7 +92,6 @@ class CarController(CarControllerBase):
self.avh_attempted = False
self.avh_request_started = False
self.avh_last_counter = None
self.avh_messages_sent = 0
def _stop_start_off_request(self, CC, CS, starpilot_toggles):
"""Send one bounded Subaru Stop/Start OFF request after ignition.
@@ -183,20 +181,15 @@ class CarController(CarControllerBase):
self.avh_request_started = True
self.avh_last_counter = int(avh_msg.get("COUNTER", 0)) % 0x10
if self.avh_messages_sent >= _AVH_PULSE_MESSAGES:
self.avh_attempted = True
return None
counter = int(avh_msg.get("COUNTER", 0)) % 0x10
if counter == self.avh_last_counter:
return None
self.avh_attempted = True
msg = subarucan.create_avh_control(
self.packer, avh_msg, raw_dat=avh_dat,
counter=counter, bus=CanBus.alt_for_cp(self.CP),
)
self.avh_last_counter = counter
self.avh_messages_sent += 1
return msg
def _reset_legacy_2025_handoff(self):
opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
+1 -15
View File
@@ -341,21 +341,7 @@ def test_avh_request_sets_observed_bit_and_is_bounded():
assert parser.vl["AVH"]["AVH"] == 1
assert parser.vl["AVH"]["COUNTER"] == 0
for counter in range(1, 10):
CS.avh_msg["COUNTER"] = counter
raw_dat = bytearray.fromhex("14001c4208800000")
raw_dat[1] = counter
raw_dat[0] = ((0x32B & 0xFF) + ((0x32B >> 8) & 0xFF) + sum(raw_dat[1:])) & 0xFF
CS.avh_dat = bytes(raw_dat)
controller.frame = 103 + (counter * 10)
_, can_sends = controller.update(CC, CS, 0, toggles)
avh_msgs.extend(msg for msg in can_sends if msg[0] == 0x32b)
assert len(avh_msgs) == 10
assert [msg[1][1] & 0x0F for msg in avh_msgs] == list(range(10))
assert all(msg[1][5] & 0x20 for msg in avh_msgs)
controller.frame = 203
controller.frame = 131
_, can_sends = controller.update(CC, CS, 0, toggles)
assert not any(msg[0] == 0x32b for msg in can_sends)
assert controller.avh_attempted