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Add APPROACHING signals for Subaru blindspot monitoring (#1864)

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martinl
2020-07-12 00:36:26 +03:00
committed by GitHub
parent 1286b45bfe
commit 7b2789aa3a
1 changed files with 4 additions and 2 deletions
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selfdrive/car/subaru/carstate.py
+4 -2
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@@ -38,8 +38,8 @@ class CarState(CarStateBase):
self.right_blinker_cnt = 50 if cp.vl["Dashlights"]['RIGHT_BLINKER'] else max(self.right_blinker_cnt - 1, 0)
ret.rightBlinker = self.right_blinker_cnt > 0
ret.leftBlindspot = cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1
ret.rightBlindspot = cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1
ret.leftBlindspot = (cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['L_APPROACHING'] == 1)
ret.rightBlindspot = (cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['R_APPROACHING'] == 1)
can_gear = int(cp.vl["Transmission"]['Gear'])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
@@ -92,6 +92,8 @@ class CarState(CarStateBase):
("Gear", "Transmission", 0),
("L_ADJACENT", "BSD_RCTA", 0),
("R_ADJACENT", "BSD_RCTA", 0),
("L_APPROACHING", "BSD_RCTA", 0),
("R_APPROACHING", "BSD_RCTA", 0),
]
checks = [