From 7b2789aa3aa36611c06301de6e56d2cdf1af96a6 Mon Sep 17 00:00:00 2001 From: martinl Date: Sun, 12 Jul 2020 00:36:26 +0300 Subject: [PATCH] Add APPROACHING signals for Subaru blindspot monitoring (#1864) --- selfdrive/car/subaru/carstate.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index d7a34d3625..c2406f2ffe 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -38,8 +38,8 @@ 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 - ret.leftBlindspot = cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1 - ret.rightBlindspot = cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1 + ret.leftBlindspot = (cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['L_APPROACHING'] == 1) + ret.rightBlindspot = (cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['R_APPROACHING'] == 1) can_gear = int(cp.vl["Transmission"]['Gear']) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) @@ -92,6 +92,8 @@ class CarState(CarStateBase): ("Gear", "Transmission", 0), ("L_ADJACENT", "BSD_RCTA", 0), ("R_ADJACENT", "BSD_RCTA", 0), + ("L_APPROACHING", "BSD_RCTA", 0), + ("R_APPROACHING", "BSD_RCTA", 0), ] checks = [