Subaru Pre-Global: Rename ES_CruiseThrottle to ES_Distance (#23024)

* Rename preglobal ES_CruiseThrottle to ES_Distance

* bump opendbc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

opendbc

@@ -1 +1 @@
-Subproject commit 61534fd13162d714432c5685f2c59fafe7a96823
+Subproject commit 2bab99fd861786312bde676823e21d80eeeb01fa

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"]:

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 = [

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)