From 345fe48338fe4d95a88d9f001484a56e4a146ac4 Mon Sep 17 00:00:00 2001 From: martinl Date: Wed, 15 Dec 2021 07:55:14 +0200 Subject: [PATCH] Subaru Pre-Global: Rename ES_CruiseThrottle to ES_Distance (#23024) * Rename preglobal ES_CruiseThrottle to ES_Distance * bump opendbc Co-authored-by: Adeeb Shihadeh --- opendbc | 2 +- selfdrive/car/subaru/carcontroller.py | 7 ++--- selfdrive/car/subaru/carstate.py | 41 +++++++++++++-------------- selfdrive/car/subaru/subarucan.py | 8 +++--- 4 files changed, 28 insertions(+), 30 deletions(-) diff --git a/opendbc b/opendbc index 61534fd13..2bab99fd8 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 61534fd13162d714432c5685f2c59fafe7a96823 +Subproject commit 2bab99fd861786312bde676823e21d80eeeb01fa diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 6163d7329..17b3e057f 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -8,7 +8,6 @@ class CarController(): def __init__(self, dbc_name, CP, VM): self.apply_steer_last = 0 self.es_distance_cnt = -1 - self.es_accel_cnt = -1 self.es_lkas_cnt = -1 self.cruise_button_prev = 0 self.steer_rate_limited = False @@ -44,7 +43,7 @@ class CarController(): # *** alerts and pcm cancel *** if CS.CP.carFingerprint in PREGLOBAL_CARS: - if self.es_accel_cnt != CS.es_accel_msg["Counter"]: + if self.es_distance_cnt != CS.es_distance_msg["Counter"]: # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep # disengage ACC when OP is disengaged if pcm_cancel_cmd: @@ -60,8 +59,8 @@ class CarController(): cruise_button = 0 self.cruise_button_prev = cruise_button - can_sends.append(subarucan.create_es_throttle_control(self.packer, cruise_button, CS.es_accel_msg)) - self.es_accel_cnt = CS.es_accel_msg["Counter"] + can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg)) + self.es_distance_cnt = CS.es_distance_msg["Counter"] else: if self.es_distance_cnt != CS.es_distance_msg["Counter"]: diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 1f56f09ff..e9728e557 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -65,14 +65,13 @@ class CarState(CarStateBase): ret.steerError = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1 if self.car_fingerprint in PREGLOBAL_CARS: - self.cruise_button = cp_cam.vl["ES_CruiseThrottle"]["Cruise_Button"] + self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"] self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"] - self.es_accel_msg = copy.copy(cp_cam.vl["ES_CruiseThrottle"]) else: ret.steerWarning = cp.vl["Steering_Torque"]["Steer_Warning"] == 1 ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 - self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"]) self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) + self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"]) return ret @@ -168,28 +167,28 @@ class CarState(CarStateBase): ("Cruise_Set_Speed", "ES_DashStatus", 0), ("Not_Ready_Startup", "ES_DashStatus", 0), - ("Throttle_Cruise", "ES_CruiseThrottle", 0), - ("Signal1", "ES_CruiseThrottle", 0), - ("Cruise_Activated", "ES_CruiseThrottle", 0), - ("Signal2", "ES_CruiseThrottle", 0), - ("Brake_On", "ES_CruiseThrottle", 0), - ("Distance_Swap", "ES_CruiseThrottle", 0), - ("Standstill", "ES_CruiseThrottle", 0), - ("Signal3", "ES_CruiseThrottle", 0), - ("Close_Distance", "ES_CruiseThrottle", 0), - ("Signal4", "ES_CruiseThrottle", 0), - ("Standstill_2", "ES_CruiseThrottle", 0), - ("Cruise_Fault", "ES_CruiseThrottle", 0), - ("Signal5", "ES_CruiseThrottle", 0), - ("Counter", "ES_CruiseThrottle", 0), - ("Signal6", "ES_CruiseThrottle", 0), - ("Cruise_Button", "ES_CruiseThrottle", 0), - ("Signal7", "ES_CruiseThrottle", 0), + ("Cruise_Throttle", "ES_Distance", 0), + ("Signal1", "ES_Distance", 0), + ("Car_Follow", "ES_Distance", 0), + ("Signal2", "ES_Distance", 0), + ("Brake_On", "ES_Distance", 0), + ("Distance_Swap", "ES_Distance", 0), + ("Standstill", "ES_Distance", 0), + ("Signal3", "ES_Distance", 0), + ("Close_Distance", "ES_Distance", 0), + ("Signal4", "ES_Distance", 0), + ("Standstill_2", "ES_Distance", 0), + ("Cruise_Fault", "ES_Distance", 0), + ("Signal5", "ES_Distance", 0), + ("Counter", "ES_Distance", 0), + ("Signal6", "ES_Distance", 0), + ("Cruise_Button", "ES_Distance", 0), + ("Signal7", "ES_Distance", 0), ] checks = [ ("ES_DashStatus", 20), - ("ES_CruiseThrottle", 20), + ("ES_Distance", 20), ] else: signals = [ diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 6485de790..86ec5e8bd 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -80,11 +80,11 @@ def create_preglobal_steering_control(packer, apply_steer, frame, steer_step): return packer.make_can_msg("ES_LKAS", 0, values) -def create_es_throttle_control(packer, cruise_button, es_accel_msg): +def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): - values = copy.copy(es_accel_msg) + values = copy.copy(es_distance_msg) values["Cruise_Button"] = cruise_button - values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_CruiseThrottle") + values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance") - return packer.make_can_msg("ES_CruiseThrottle", 0, values) + return packer.make_can_msg("ES_Distance", 0, values)