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IQ.Pilot Prebuilt Release @ 7e87bc7

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IQ.Lvbs CI [bot]
2026-08-31 21:20:43 -05:00
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artifacts/package_runtime/iqdbc/car/subaru/carstate.py Normal file
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import copy
from iqdbc.can import CANDefine, CANParser
from iqdbc.car import Bus, structs
from iqdbc.car.common.conversions import Conversions as CV
from iqdbc.car.interfaces import CarStateBase
from iqdbc.car.subaru.values import DBC, CanBus, SubaruFlags
from iqdbc.car import CanSignalRateCalculator
from iqdbc.lvbs.car.subaru.aol import AolCarState
from iqdbc.lvbs.car.subaru.creep_assist import IQStopAndGoState
class CarState(CarStateBase, AolCarState, IQStopAndGoState):
def __init__(self, CP, CP_IQ):
CarStateBase.__init__(self, CP, CP_IQ)
AolCarState.__init__(self, CP, CP_IQ)
IQStopAndGoState.__init__(self, CP, CP_IQ)
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
self.shifter_values = can_define.dv["Transmission"]["Gear"]
self.angle_rate_calulator = CanSignalRateCalculator(50)
def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
cp_alt = can_parsers[Bus.alt]
ret = structs.CarState()
ret_iq = structs.IQCarState()
throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_alt.vl["Throttle_Hybrid"]
ret.gasPressed = throttle_msg["Throttle_Pedal"] > 1e-5
if self.CP.flags & SubaruFlags.PREGLOBAL:
ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0
else:
cp_brakes = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
cp_es_distance = cp_alt if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
if not (self.CP.flags & SubaruFlags.HYBRID):
eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"])
# if openpilot is controlling long, an eyesight fault is a non-critical fault. otherwise it's an ACC fault
if self.CP.openpilotLongitudinalControl:
ret.carFaultedNonCritical = eyesight_fault
else:
ret.accFaulted = eyesight_fault
cp_wheels = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
self.parse_wheel_speeds(ret,
cp_wheels.vl["Wheel_Speeds"]["FL"],
cp_wheels.vl["Wheel_Speeds"]["FR"],
cp_wheels.vl["Wheel_Speeds"]["RL"],
cp_wheels.vl["Wheel_Speeds"]["RR"],
)
ret.standstill = ret.vEgoRaw == 0
# continuous blinker signals for assisted lane change
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
cp.vl["Dashlights"]["RIGHT_BLINKER"])
if self.CP.enableBsm:
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)
cp_transmission = cp_alt if self.CP.flags & SubaruFlags.HYBRID else cp
can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
if not (self.CP.flags & SubaruFlags.LKAS_ANGLE):
ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
steering_updated = len(cp.vl_all["Steering_Torque"]["Steering_Angle"]) > 0
else:
# Steering_Torque->Steering_Angle exists on SUBARU_FORESTER_2022, SUBARU_OUTBACK_2023, SUBARU_ASCENT_2023 where
# it is identical to Steering_2's signal. However, it is always zero on newer LKAS_ANGLE cars
# such as 2024+ Crosstrek, 2023+ Ascent, etc. Use a universal signal for LKAS_ANGLE cars.
ret.steeringAngleDeg = cp.vl["Steering_2"]["Steering_Angle"]
steering_updated = len(cp.vl_all["Steering_2"]["Steering_Angle"]) > 0
if not (self.CP.flags & SubaruFlags.PREGLOBAL):
# ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_updated)
ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80
ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
cp_cruise = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
cp_es_brake = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
if self.CP.flags & (SubaruFlags.HYBRID | SubaruFlags.LKAS_ANGLE):
# ES_DashStatus->Cruise_Activated_Dash is likely intended for the dash display only, as it falls
# during user gas override and at standstill. ES_Status is missing on hybrid, so we use ES_Brake instead
# TODO: ES_Brake->Cruise_Activated has been seen staying high when Crosstrek 2025 angle LKAS user pressed
# brake while engaged at a stop. ES_Status and ES_DashStatus->Signal7 correctly fell, but is either missing or
# always zero on hybrids. Probably need to split angle & hybrid. 0x27 and 0x225 on hybrids may work for them.
ret.cruiseState.enabled = cp_es_brake.vl["ES_Brake"]['Cruise_Activated'] != 0
ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
else:
ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
if (self.CP.flags & SubaruFlags.PREGLOBAL and cp.vl["Dash_State2"]["UNITS"] == 1) or \
(not (self.CP.flags & SubaruFlags.PREGLOBAL) and cp.vl["Dashlights"]["UNITS"] == 1):
ret.cruiseState.speed *= CV.MPH_TO_KPH
ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1
ret.doorOpen = any([cp.vl["BodyInfo"]["DOOR_OPEN_RR"],
cp.vl["BodyInfo"]["DOOR_OPEN_RL"],
cp.vl["BodyInfo"]["DOOR_OPEN_FR"],
cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
if self.CP.flags & SubaruFlags.PREGLOBAL:
self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
else:
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"] == 1) or \
(cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
# TODO: Hybrid cars don't have ES_Distance, need a replacement
if not (self.CP.flags & SubaruFlags.HYBRID):
# 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_status_msg = copy.copy(cp_es_brake.vl["ES_Status"])
self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
if not (self.CP.flags & SubaruFlags.HYBRID):
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:
self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
AolCarState.update_aol(self, ret, can_parsers)
IQStopAndGoState.update(self, ret, can_parsers)
return ret, ret_iq
@staticmethod
def get_can_parsers(CP, CP_IQ):
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.main),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.camera),
Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.alt)
}