From 47492e77ebfbf98d2c9c276475fa52ad73f32736 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jan 2020 16:39:41 -0800 Subject: [PATCH] Subaru continuous blinker signals for assisted lane change (#1000) --- selfdrive/car/subaru/carstate.py | 12 ++++++++++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 57bd1bee79..3f0447432c 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -89,8 +89,10 @@ class CarState(): self.car_fingerprint = CP.carFingerprint self.left_blinker_on = False + self.left_blinker_cnt = 0 self.prev_left_blinker_on = False self.right_blinker_on = False + self.right_blinker_cnt = 0 self.prev_right_blinker_on = False self.steer_torque_driver = 0 self.steer_not_allowed = False @@ -136,8 +138,14 @@ class CarState(): self.prev_left_blinker_on = self.left_blinker_on self.prev_right_blinker_on = self.right_blinker_on - self.left_blinker_on = cp.vl["Dashlights"]['LEFT_BLINKER'] == 1 - self.right_blinker_on = cp.vl["Dashlights"]['RIGHT_BLINKER'] == 1 + + # continuous blinker signals for assisted lane change + self.left_blinker_cnt = 50 if cp.vl["Dashlights"]['LEFT_BLINKER'] else max(self.left_blinker_cnt - 1, 0) + self.left_blinker_on = self.left_blinker_cnt > 0 + + self.right_blinker_cnt = 50 if cp.vl["Dashlights"]['RIGHT_BLINKER'] else max(self.right_blinker_cnt - 1, 0) + self.right_blinker_on = self.right_blinker_cnt > 0 + self.seatbelt_unlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1 self.steer_torque_driver = cp.vl["Steering_Torque"]['Steer_Torque_Sensor'] self.acc_active = cp.vl["CruiseControl"]['Cruise_Activated'] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7f0e8193d7..c74a64b439 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -21af1bad2b4a8dc95cf9bb697f9db595aabdc5bd \ No newline at end of file +fe9ccb27b12c9d3788bed8a402293985f5eb0448 \ No newline at end of file