Subaru: frequency based messaging (#28066)

* frequency based messaging

* frequency based messaging

* frequency based messaging

* frequency based messaging

* rename better

* use frame in if statement

* syntax

* remove extra space

* put all behind one if statement

* update refs

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: c1909df437

selfdrive/car/subaru/carcontroller.py

@@ -10,10 +10,6 @@ class CarController:
     self.apply_steer_last = 0
     self.frame = 0
 
-    self.es_lkas_state_cnt = -1
-    self.es_distance_cnt = -1
-    self.es_dashstatus_cnt = -1
-    self.infotainmentstatus_cnt = -1
     self.cruise_button_prev = 0
     self.last_cancel_frame = 0
 
@@ -29,7 +25,6 @@ class CarController:
 
     # *** steering ***
     if (self.frame % self.p.STEER_STEP) == 0:
-
       apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
 
       # limits due to driver torque
@@ -51,7 +46,7 @@ class CarController:
     # *** alerts and pcm cancel ***
 
     if self.CP.carFingerprint in PREGLOBAL_CARS:
-      if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
+      if self.frame % 5 == 0:
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
         # disengage ACC when OP is disengaged
         if pcm_cancel_cmd:
@@ -68,7 +63,6 @@ class CarController:
         self.cruise_button_prev = cruise_button
 
         can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
-        self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
     else:
       if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
@@ -76,19 +70,15 @@ class CarController:
         can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
         self.last_cancel_frame = self.frame
 
-      if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]:
+      if self.frame % 10 == 0:
         can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
-        self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
 
-      if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]:
         can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-        self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"]
-
-      if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]:
-        can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
-        self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"]
+                                                        
+        if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
+          can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-02b8c1e21f2bd3551aa4a2b94c73dcac762d3148
+29f846f525a4e14f380afd20ae8fa0804011ab6e