Subaru brake check (#1212)

5 years ago · 24e092ffab
parent f48e39778d
commit 24e092ffab
4 changed files with 6 additions and 5 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 6252718a939b999687c2635c8184701cb0429234
+Subproject commit f308ca62e30ac7ab74f2d40eab343cd7541e5647
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit c7d0d5fc7b089094a2d42c21d25fbfb570d17677
+Subproject commit 74c8ee0a7a94f90af0e7618e0abd9ca5e7e68d52
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@ -63,7 +63,6 @@ class CarInterface(CarInterfaceBase):
    be.type = car.CarState.ButtonEvent.Type.accelCruise
    buttonEvents.append(be)

-    # TODO: add gearShifter to carState
    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.unknown])

    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]))

    # 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]))

    ret.events = events

    self.gas_pressed_prev = ret.gasPressed
+    self.brake_pressed_prev = ret.brakePressed
    self.cruise_enabled_prev = ret.cruiseState.enabled

    self.CS.out = ret.as_reader()
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-49d2241353626870070cf4dac71b5ac5b105910c
+f48e39778dc502d62fa2eac515f886f7d7520ffa