From 7b54dad0b8635d745d976073cd6551beee7177e5 Mon Sep 17 00:00:00 2001 From: martinl Date: Sat, 30 May 2020 09:32:51 +0300 Subject: [PATCH] Add Subaru blindspot monitoring signals (#1374) * Add blindspot signals to carstate * Change blindspot signals to boolean --- selfdrive/car/subaru/carstate.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index ebfbaaa39a..41bc129ebb 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -38,6 +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 + ret.leftBlindspot = cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1 + ret.rightBlindspot = cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1 + can_gear = int(cp.vl["Transmission"]['Gear']) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) @@ -87,6 +90,8 @@ class CarState(CarStateBase): ("DOOR_OPEN_RL", "BodyInfo", 1), ("Units", "Dash_State", 1), ("Gear", "Transmission", 0), + ("L_ADJACENT", "BSD_RCTA", 0), + ("R_ADJACENT", "BSD_RCTA", 0), ] checks = [