Subaru: replace stock LKAS alerts with openpilot's (#21993)

* Add stock LKAS alert filters and openpilot LKAS state indicator

* Update ES_LKAS_State signals

* bump opendbc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

opendbc

@@ -1 +1 @@
-Subproject commit 78c639f813430d422bc04d06ac78242c3475bed6
+Subproject commit 68bab3746fa3aaa2b6191f3c7b8a51431557eed7

selfdrive/car/subaru/carcontroller.py

@@ -69,7 +69,7 @@ class CarController():
         self.es_distance_cnt = CS.es_distance_msg["Counter"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
         self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
 
     return can_sends

selfdrive/car/subaru/carstate.py

@@ -211,20 +211,18 @@ class CarState(CarStateBase):
         ("Signal6", "ES_Distance", 0),
 
         ("Counter", "ES_LKAS_State", 0),
-        ("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
-        ("Empty_Box", "ES_LKAS_State", 0),
+        ("LKAS_Alert_Msg", "ES_LKAS_State", 0),
         ("Signal1", "ES_LKAS_State", 0),
         ("LKAS_ACTIVE", "ES_LKAS_State", 0),
+        ("LKAS_Dash_State", "ES_LKAS_State", 0),
         ("Signal2", "ES_LKAS_State", 0),
         ("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
-        ("LKAS_ENABLE_3", "ES_LKAS_State", 0),
+        ("LKAS_Left_Line_Enable", "ES_LKAS_State", 0),
         ("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
-        ("LKAS_ENABLE_2", "ES_LKAS_State", 0),
+        ("LKAS_Right_Line_Enable", "ES_LKAS_State", 0),
         ("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
         ("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
-        ("LKAS_Left_Line_Green", "ES_LKAS_State", 0),
         ("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
-        ("LKAS_Right_Line_Green", "ES_LKAS_State", 0),
         ("LKAS_Alert", "ES_LKAS_State", 0),
         ("Signal3", "ES_LKAS_State", 0),
       ]

selfdrive/car/subaru/subarucan.py

@@ -27,20 +27,35 @@ def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
 
   return packer.make_can_msg("ES_Distance", 0, values)
 
-def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
   values = copy.copy(es_lkas_msg)
+
+  # Filter the stock LKAS "Keep hands on wheel" alert
+  if values["LKAS_Alert_Msg"] == 1:
+    values["LKAS_Alert_Msg"] = 0
+
+  # Filter the stock LKAS sending an audible alert when it turns off LKAS
+  if values["LKAS_Alert"] == 27:
+    values["LKAS_Alert"] = 0
+
+  # Show Keep hands on wheel alert for openpilot steerRequired alert
   if visual_alert == VisualAlert.steerRequired:
-    values["Keep_Hands_On_Wheel"] = 1
+    values["LKAS_Alert_Msg"] = 1
 
   # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
   if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
     if left_lane_depart:
       values["LKAS_Alert"] = 12 # Left lane departure dash alert
-
     elif right_lane_depart:
       values["LKAS_Alert"] = 11 # Right lane departure dash alert
 
+  if enabled:
+    values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
+    values["LKAS_Dash_State"] = 2 # Green enabled indicator
+  else:
+     values["LKAS_Dash_State"] = 0 # LKAS Not enabled
+
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)