Subaru continuous blinker signals for assisted lane change (#1000)

selfdrive/car/subaru/carstate.py

@@ -89,8 +89,10 @@ class CarState():
 
     self.car_fingerprint = CP.carFingerprint
     self.left_blinker_on = False
+    self.left_blinker_cnt = 0
     self.prev_left_blinker_on = False
     self.right_blinker_on = False
+    self.right_blinker_cnt = 0
     self.prev_right_blinker_on = False
     self.steer_torque_driver = 0
     self.steer_not_allowed = False
@@ -136,8 +138,14 @@ class CarState():
 
     self.prev_left_blinker_on = self.left_blinker_on
     self.prev_right_blinker_on = self.right_blinker_on
-    self.left_blinker_on = cp.vl["Dashlights"]['LEFT_BLINKER'] == 1
-    self.right_blinker_on = cp.vl["Dashlights"]['RIGHT_BLINKER'] == 1
+
+    # continuous blinker signals for assisted lane change
+    self.left_blinker_cnt = 50 if cp.vl["Dashlights"]['LEFT_BLINKER'] else max(self.left_blinker_cnt - 1, 0)
+    self.left_blinker_on = self.left_blinker_cnt > 0
+
+    self.right_blinker_cnt = 50 if cp.vl["Dashlights"]['RIGHT_BLINKER'] else max(self.right_blinker_cnt - 1, 0)
+    self.right_blinker_on = self.right_blinker_cnt > 0
+
     self.seatbelt_unlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1
     self.steer_torque_driver = cp.vl["Steering_Torque"]['Steer_Torque_Sensor']
     self.acc_active = cp.vl["CruiseControl"]['Cruise_Activated']

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-21af1bad2b4a8dc95cf9bb697f9db595aabdc5bd
+fe9ccb27b12c9d3788bed8a402293985f5eb0448