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Subaru brake check (#1212)

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pull/1213/head^2
rbiasini 5 years ago committed by GitHub
parent f48e39778d
commit 24e092ffab
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4 changed files with 6 additions and 5 deletions
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  1. 2
      opendbc
  2. 2
      panda
  3. 5
      selfdrive/car/subaru/interface.py
  4. 2
      selfdrive/test/process_replay/ref_commit

2
opendbc

@ -1 +1 @@
Subproject commit 6252718a939b999687c2635c8184701cb0429234 Subproject commit f308ca62e30ac7ab74f2d40eab343cd7541e5647

2
panda

@ -1 +1 @@
Subproject commit c7d0d5fc7b089094a2d42c21d25fbfb570d17677 Subproject commit 74c8ee0a7a94f90af0e7618e0abd9ca5e7e68d52

5
selfdrive/car/subaru/interface.py
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@ -63,7 +63,6 @@ class CarInterface(CarInterfaceBase):
be.type = car.CarState.ButtonEvent.Type.accelCruise be.type = car.CarState.ButtonEvent.Type.accelCruise
buttonEvents.append(be) buttonEvents.append(be)
# TODO: add gearShifter to carState
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.unknown]) events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.unknown])
if ret.cruiseState.enabled and not self.cruise_enabled_prev: if ret.cruiseState.enabled and not self.cruise_enabled_prev:
@ -72,12 +71,14 @@ class CarInterface(CarInterfaceBase):
events.append(create_event('pcmDisable', [ET.USER_DISABLE])) events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# disable on gas pedal rising edge # disable on gas pedal rising edge
if (ret.gasPressed and not self.gas_pressed_prev): if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE])) events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
ret.events = events ret.events = events
self.gas_pressed_prev = ret.gasPressed self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled self.cruise_enabled_prev = ret.cruiseState.enabled
self.CS.out = ret.as_reader() self.CS.out = ret.as_reader()

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
49d2241353626870070cf4dac71b5ac5b105910c f48e39778dc502d62fa2eac515f886f7d7520ffa
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