add steer required to infotainment

selfdrive/car/subaru/carcontroller.py

@@ -81,7 +81,7 @@ class CarController:
         self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
       
       if self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]:
-        can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg))
+        can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
         self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:

selfdrive/car/subaru/subarucan.py

@@ -76,13 +76,17 @@ def create_es_dashstatus(packer, dashstatus_msg):
 
   return packer.make_can_msg("ES_DashStatus", 0, values)
 
-def create_infotainmentstatus(packer, infotainmentstatus_msg):
+def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
   values = copy.copy(infotainmentstatus_msg)
 
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   if values["LKAS_State_Infotainment"] in [1,2]:
     values["LKAS_State_Infotainment"] = 0
   
+  # Show Keep hands on wheel alert for openpilot steerRequired alert
+  if visual_alert == VisualAlert.steerRequired:
+    values["LKAS_State_Infotainment"] = 1
+  
   return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values)
 
 # *** Subaru Pre-global ***