only global gen 2

selfdrive/car/subaru/carcontroller.py

@@ -80,16 +80,16 @@ class CarController:
         can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
         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, hud_control.visualAlert))
-        self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"]
-
       if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
         can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,
                                                   hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                   hud_control.leftLaneDepart, hud_control.rightLaneDepart))
         self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"]
 
+      if self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"] and self.CP.carFingerprint in GLOBAL_GEN2:
+        can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
+        self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"]
+
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last

selfdrive/car/subaru/carstate.py

@@ -82,7 +82,7 @@ class CarState(CarStateBase):
     cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
     self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
     self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
-    if self.CP.carFingerprint not in PREGLOBAL_CARS:
+    if self.CP.carFingerprint in GLOBAL_GEN2:
       self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"])
 
     return ret
@@ -277,8 +277,6 @@ class CarState(CarStateBase):
         ("Far_Distance", "ES_DashStatus"),
         ("Cruise_State", "ES_DashStatus"),
 
-        ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"),
-
         ("COUNTER", "ES_LKAS_State"),
         ("LKAS_Alert_Msg", "ES_LKAS_State"),
         ("Signal1", "ES_LKAS_State"),
@@ -297,12 +295,14 @@ class CarState(CarStateBase):
       ]
 
       checks = [
-        ("INFOTAINMENT_STATUS", 10),
         ("ES_DashStatus", 10),
         ("ES_LKAS_State", 10),
       ]
 
-      if CP.carFingerprint not in GLOBAL_GEN2:
+      if CP.carFingerprint in GLOBAL_GEN2:
+        signals += [("LKAS_State_Infotainment", "INFOTAINMENT_STATUS")]
+        checks += [("INFOTAINMENT_STATUS", 10)]
+      else:
         signals += CarState.get_global_es_distance_signals()[0]
         checks += CarState.get_global_es_distance_signals()[1]