From 56fd19b03156aef291d17644ee721ff3d862449f Mon Sep 17 00:00:00 2001
From: martinl <martin@mlp.ee>
Date: Tue, 7 Apr 2020 21:55:17 +0300
Subject: [PATCH] Add Subaru gearShifter to carstate (#1318)

* Add Subaru gearShifter to carstate

* reset submodules, remove ignore gearshifter from subaru interface

* update apks to master

* update ref_commit
old-commit-hash: d0b3c695058ce0798d1fd025495903f40851b533
---
 selfdrive/car/subaru/carstate.py         | 7 +++++++
 selfdrive/car/subaru/interface.py        | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index a6cd6e9f31..669624519e 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -1,5 +1,6 @@
 import copy
 from cereal import car
+from opendbc.can.can_define import CANDefine
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
@@ -11,6 +12,8 @@ class CarState(CarStateBase):
     super().__init__(CP)
     self.left_blinker_cnt = 0
     self.right_blinker_cnt = 0
+    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    self.shifter_values = can_define.dv["Transmission"]['Gear']
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -35,6 +38,9 @@ class CarState(CarStateBase):
     self.right_blinker_cnt = 50 if cp.vl["Dashlights"]['RIGHT_BLINKER'] else max(self.right_blinker_cnt - 1, 0)
     ret.rightBlinker = self.right_blinker_cnt > 0
 
+    can_gear = int(cp.vl["Transmission"]['Gear'])
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+
     ret.steeringAngle = cp.vl["Steering_Torque"]['Steering_Angle']
     ret.steeringTorque = cp.vl["Steering_Torque"]['Steer_Torque_Sensor']
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
@@ -80,6 +86,7 @@ class CarState(CarStateBase):
       ("DOOR_OPEN_RR", "BodyInfo", 1),
       ("DOOR_OPEN_RL", "BodyInfo", 1),
       ("Units", "Dash_State", 1),
+      ("Gear", "Transmission", 0),
     ]
 
     checks = [
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 353846634c..5cc3440997 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -66,7 +66,7 @@ class CarInterface(CarInterfaceBase):
     be.type = car.CarState.ButtonEvent.Type.accelCruise
     buttonEvents.append(be)
 
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.unknown])
+    events = self.create_common_events(ret)
 
     if ret.cruiseState.enabled and not self.cruise_enabled_prev:
       events.append(create_event('pcmEnable', [ET.ENABLE]))
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f21a4476ea..022d6d368f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-63ee3eaab23b45821a3a04888ae7506ec27dedb3
+852b5b42981cf17a18c7eebc9b501db2f5b0c33b