Subaru: log stock AEB (#28052)

* Subaru: log stock AEB

* Remove stockFcw from stockAeb

* Subaru: Add FCW_Cont_Beep to stockFcw signals

* add ES_Brake

* use actuation bit

* bump opendbc

* remove aeb from UI

fix

* Update selfdrive/car/subaru/carstate.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 5cb9360fa0

opendbc

@@ -1 +1 @@
-Subproject commit d03ae519e9bcc516e127593a4274b4212c70b732
+Subproject commit e808a1ec3dc33bdbd6d4ef868bbc84d3916de765

selfdrive/car/subaru/carstate.py

@@ -69,6 +69,7 @@ class CarState(CarStateBase):
                         cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
     ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
 
+    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
     if self.car_fingerprint in PREGLOBAL_CARS:
       self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
       self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
@@ -76,10 +77,13 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
       ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
-      ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
+      ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
+                     (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
+      # 8 is known AEB, there are a few other values related to AEB we ignore
+      ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
+                     (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
       self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
 
-    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
     self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
     self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
     if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
@@ -106,6 +110,18 @@ class CarState(CarStateBase):
 
     return signals, checks
 
+  @staticmethod
+  def get_global_es_brake_signals():
+    signals = [
+      ("AEB_Status", "ES_Brake"),
+      ("Brake_Pressure", "ES_Brake"),
+    ]
+    checks = [
+      ("ES_Brake", 20),
+    ]
+
+    return signals, checks
+
   @staticmethod
   def get_global_es_distance_signals():
     signals = [
@@ -304,7 +320,9 @@ class CarState(CarStateBase):
 
       if CP.carFingerprint not in GLOBAL_GEN2:
         signals += CarState.get_global_es_distance_signals()[0]
+        signals += CarState.get_global_es_brake_signals()[0]
         checks += CarState.get_global_es_distance_signals()[1]
+        checks += CarState.get_global_es_brake_signals()[1]
 
       if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
         signals += [
@@ -324,7 +342,9 @@ class CarState(CarStateBase):
     if CP.carFingerprint in GLOBAL_GEN2:
       signals, checks = CarState.get_common_global_signals()
       signals += CarState.get_global_es_distance_signals()[0]
+      signals += CarState.get_global_es_brake_signals()[0]
       checks += CarState.get_global_es_distance_signals()[1]
+      checks += CarState.get_global_es_brake_signals()[1]
       return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
 
     return None