Subaru: explicitly copy signals to forward (#28304)

* do subaru

* add missing checksum

* more missing checksums

selfdrive/car/subaru/subarucan.py

@@ -1,4 +1,3 @@
-import copy
 from cereal import car
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -18,7 +17,28 @@ def create_steering_status(packer):
 
 
 def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
-  values = copy.copy(es_distance_msg)
+  values = {s: es_distance_msg[s] for s in [
+    "CHECKSUM",
+    "COUNTER",
+    "Signal1",
+    "Cruise_Fault",
+    "Cruise_Throttle",
+    "Signal2",
+    "Car_Follow",
+    "Signal3",
+    "Cruise_Soft_Disable",
+    "Signal7",
+    "Cruise_Brake_Active",
+    "Distance_Swap",
+    "Cruise_EPB",
+    "Signal4",
+    "Close_Distance",
+    "Signal5",
+    "Cruise_Cancel",
+    "Cruise_Set",
+    "Cruise_Resume",
+    "Signal6",
+  ]}
   values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
   if pcm_cancel_cmd:
     values["Cruise_Cancel"] = 1
@@ -26,7 +46,24 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
 
 
 def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
-  values = copy.copy(es_lkas_state_msg)
+  values = {s: es_lkas_state_msg[s] for s in [
+    "CHECKSUM",
+    "COUNTER",
+    "LKAS_Alert_Msg",
+    "Signal1",
+    "LKAS_ACTIVE",
+    "LKAS_Dash_State",
+    "Signal2",
+    "Backward_Speed_Limit_Menu",
+    "LKAS_Left_Line_Enable",
+    "LKAS_Left_Line_Light_Blink",
+    "LKAS_Right_Line_Enable",
+    "LKAS_Right_Line_Light_Blink",
+    "LKAS_Left_Line_Visible",
+    "LKAS_Right_Line_Visible",
+    "LKAS_Alert",
+    "Signal3",
+  ]}
 
   # Filter the stock LKAS "Keep hands on wheel" alert
   if values["LKAS_Alert_Msg"] == 1:
@@ -69,7 +106,35 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
 
 
 def create_es_dashstatus(packer, dashstatus_msg):
-  values = copy.copy(dashstatus_msg)
+  values = {s: dashstatus_msg[s] for s in [
+    "CHECKSUM",
+    "COUNTER",
+    "PCB_Off",
+    "LDW_Off",
+    "Signal1",
+    "Cruise_State_Msg",
+    "LKAS_State_Msg",
+    "Signal2",
+    "Cruise_Soft_Disable",
+    "Cruise_Status_Msg",
+    "Signal3",
+    "Cruise_Distance",
+    "Signal4",
+    "Conventional_Cruise",
+    "Signal5",
+    "Cruise_Disengaged",
+    "Cruise_Activated",
+    "Signal6",
+    "Cruise_Set_Speed",
+    "Cruise_Fault",
+    "Cruise_On",
+    "Display_Own_Car",
+    "Brake_Lights",
+    "Car_Follow",
+    "Signal7",
+    "Far_Distance",
+    "Cruise_State",
+  ]}
 
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   if values["LKAS_State_Msg"] in (2, 3):
@@ -80,18 +145,26 @@ def create_es_dashstatus(packer, dashstatus_msg):
 
 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):
+  values = {s: infotainmentstatus_msg[s] for s in [
-    infotainmentstatus_msg["LKAS_State_Infotainment"] = 0
+    "CHECKSUM",
+    "COUNTER",
+    "LKAS_State_Infotainment",
+    "LKAS_Blue_Lines",
+    "Signal1",
+    "Signal2",
+  ]}
+  if values["LKAS_State_Infotainment"] in (3, 4):
+    values["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
+    values["LKAS_State_Infotainment"] = 3
 
   # Show Obstacle Detected for fcw
   if visual_alert == VisualAlert.fcw:
-    infotainmentstatus_msg["LKAS_State_Infotainment"] = 2
+    values["LKAS_State_Infotainment"] = 2
 
-  return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg)
+  return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values)
 
 
 # *** Subaru Pre-global ***
@@ -112,9 +185,27 @@ def create_preglobal_steering_control(packer, apply_steer):
 
 
 def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
-  values = copy.copy(es_distance_msg)
+  values = {s: es_distance_msg[s] for s in [
-  values["Cruise_Button"] = cruise_button
+    "Cruise_Throttle",
+    "Signal1",
+    "Car_Follow",
+    "Signal2",
+    "Brake_On",
+    "Distance_Swap",
+    "Standstill",
+    "Signal3",
+    "Close_Distance",
+    "Signal4",
+    "Standstill_2",
+    "Cruise_Fault",
+    "Signal5",
+    "COUNTER",
+    "Signal6",
+    "Cruise_Button",
+    "Signal7",
+  ]}
 
+  values["Cruise_Button"] = cruise_button
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
 
   return packer.make_can_msg("ES_Distance", 0, values)