Subaru: initial eyesight disable support (#30373)

* initial eyesight disable

* disable_eyesight

* comment

selfdrive/car/subaru/carcontroller.py

@@ -2,7 +2,8 @@ from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, \
+                                                  CanBus, CarControllerParams, SubaruFlags
 
 # FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
 # involves the total steering angle change rather than rate, but these limits work well for now
@@ -119,6 +120,21 @@ class CarController:
             bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
             can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
 
+      if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
+        # Tester present (keeps eyesight disabled)
+        if self.frame % 100 == 0:
+          can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
+
+        # Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
+        if self.frame % 5 == 0:
+          can_sends.append(subarucan.create_es_highbeamassist(self.packer))
+
+        if self.frame % 10 == 0:
+          can_sends.append(subarucan.create_es_static_1(self.packer))
+
+        if self.frame % 2 == 0:
+          can_sends.append(subarucan.create_es_static_2(self.packer))
+
     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/interface.py

@@ -1,8 +1,9 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -120,6 +121,9 @@ class CarInterface(CarInterfaceBase):
     #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
 
+    if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
+      ret.flags |= SubaruFlags.DISABLE_EYESIGHT
+
     if ret.openpilotLongitudinalControl:
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
       ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
@@ -140,5 +144,10 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
+  @staticmethod
+  def init(CP, logcan, sendcan):
+    if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
+      disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
+
   def apply(self, c, now_nanos):
     return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/subaru/subarucan.py

@@ -243,6 +243,30 @@ def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
   return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
 
 
+def create_es_highbeamassist(packer):
+  values = {
+    "HBA_Available": False,
+  }
+
+  return packer.make_can_msg("ES_HighBeamAssist", CanBus.main, values)
+
+
+def create_es_static_1(packer):
+  values = {
+    "SET_3": 3,
+  }
+
+  return packer.make_can_msg("ES_STATIC_1", CanBus.main, values)
+
+
+def create_es_static_2(packer):
+  values = {
+    "SET_3": 3,
+  }
+
+  return packer.make_can_msg("ES_STATIC_2", CanBus.main, values)
+
+
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):

selfdrive/car/subaru/values.py

@@ -55,6 +55,11 @@ class CarControllerParams:
 
 class SubaruFlags(IntFlag):
   SEND_INFOTAINMENT = 1
+  DISABLE_EYESIGHT = 2
+
+
+GLOBAL_ES_ADDR = 0x787
+GEN2_ES_BUTTONS_DID = b'\x11\x30'
 
 
 class CanBus:

selfdrive/car/tests/routes.py

@@ -251,6 +251,7 @@ routes = [
   CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
   # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA),  # openpilot longitudinal
+  # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled
   CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
   CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),