From 2987e7a3d46988a16a73cd0dc8deeaa0fab5bfac Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Apr 2023 18:59:44 -0700 Subject: [PATCH] let's not change this --- selfdrive/car/subaru/subarucan.py | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 28d00adc90..8615b60c62 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -68,25 +68,27 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_ return packer.make_can_msg("ES_LKAS_State", 0, values) def create_es_dashstatus(packer, dashstatus_msg): + values = copy.copy(dashstatus_msg) + # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts - if dashstatus_msg["LKAS_State_Msg"] in (2, 3): - dashstatus_msg["LKAS_State_Msg"] = 0 + if values["LKAS_State_Msg"] in (2, 3): + values["LKAS_State_Msg"] = 0 - return packer.make_can_msg("ES_DashStatus", 0, dashstatus_msg) + return packer.make_can_msg("ES_DashStatus", 0, values) def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert): # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4): infotainmentstatus_msg["LKAS_State_Infotainment"] = 0 - + # Show Keep hands on wheel alert for openpilot steerRequired alert if visual_alert == VisualAlert.steerRequired: infotainmentstatus_msg["LKAS_State_Infotainment"] = 3 - + # Show Obstacle Detected for fcw if visual_alert == VisualAlert.fcw: infotainmentstatus_msg["LKAS_State_Infotainment"] = 2 - + return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg) # *** Subaru Pre-global ***