IQ.Pilot Prebuilt Release @ 67fd9c2

artifacts/package_runtime/iqdbc/lvbs/car/subaru/aol.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Always-on-Lateral input adapter for Subaru: turns the dashboard LKAS button into
+a carState lkas ButtonEvent so the shared AOL state machine can toggle lateral.
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.subaru.values import SubaruFlags
+from iqdbc.lvbs.aol_base import AolCarStateBase
+from iqdbc.can.parser import CANParser
+
+_LKAS = structs.CarState.ButtonEvent.Type.lkas
+
+# ES_LKAS_State/LKAS_Dash_State: 0 = neutral, 1 = LKAS shown on, 2 = LKAS shown off
+_DASH_ON = 1
+_DASH_OFF = 2
+
+
+class AolCarState(AolCarStateBase):
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    if self.CP.flags & SubaruFlags.PREGLOBAL:
+      return
+
+    self.prev_lkas_button = self.lkas_button
+    self.lkas_button = can_parsers[Bus.cam].vl["ES_LKAS_State"]["LKAS_Dash_State"]
+
+    if self._is_toggle_edge():
+      ret.buttonEvents = [*ret.buttonEvents, structs.CarState.ButtonEvent(type=_LKAS, pressed=True)]
+
+  def _is_toggle_edge(self) -> bool:
+    # every dash-state change is a deliberate press except the off->on rebound (2 -> 1)
+    if self.lkas_button == self.prev_lkas_button:
+      return False
+    return not (self.prev_lkas_button == _DASH_OFF and self.lkas_button == _DASH_ON)

artifacts/package_runtime/iqdbc/lvbs/car/subaru/creep_assist.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Subaru stop-and-go: nudges the ACC out of a standstill it would
+otherwise hold. Two variants gated by user flags — an electronic-parking-brake
+resume pulse (distance/lead triggered) and a manual-parking-brake hold-timer
+resume. Both work by spoofing the camera-bus throttle/brake frames.
+"""
+import copy
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs, DT_CTRL
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.subaru.values import SubaruFlags
+
+from iqdbc.lvbs.car.subaru import iq_subarucan
+from iqdbc.lvbs.car.subaru.iq_values import SubaruFlagsIQ
+from iqdbc.can.parser import CANParser
+
+# EPB resume fires only while the lead is pulling away within this gap band (m).
+_RESUME_GAP_MIN = 3.0
+_RESUME_GAP_MAX = 4.5
+_EPB_PULSE_FRAMES = 15
+
+
+class IQStopAndGoController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+    self.enabled = bool(CP_IQ.flags & (SubaruFlagsIQ.STOP_AND_GO | SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE))
+    self.manual_parking_brake = bool(CP_IQ.flags & SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE)
+
+    self.standstill_since = 0
+    self._pulse_left = 0
+    self.prev_gap = 0.0
+
+  def _epb_pulse(self, trigger: bool) -> bool:
+    # A trigger arms a fixed-length resume pulse; the pulse then plays out frame by frame.
+    if self.manual_parking_brake:
+      return False
+    if trigger:
+      self._pulse_left = _EPB_PULSE_FRAMES
+    if self._pulse_left > 0:
+      self._pulse_left -= 1
+      return True
+    return False
+
+  def _want_resume(self, CC: structs.CarControl, CS: CarStateBase, frame: int) -> bool:
+    if not CC.enabled or not CC.hudControl.leadVisible:
+      return False
+
+    gap = CS.es_distance_msg["Close_Distance"]
+    standing = CS.out.standstill
+    if not standing:
+      self.standstill_since = frame
+
+    hold_arm, hold_reset = (0.75, 0.8) if self.CP.flags & SubaruFlags.PREGLOBAL else (0.5, 0.55)
+    held_for = (frame - self.standstill_since) * DT_CTRL
+    held_long_enough = held_for > hold_arm
+    if held_for >= hold_reset:
+      self.standstill_since = frame
+
+    lead_pulling_away = _RESUME_GAP_MIN < gap < _RESUME_GAP_MAX and gap > self.prev_gap
+    self.prev_gap = gap
+
+    if self.manual_parking_brake:
+      return held_long_enough
+    return self._epb_pulse(standing and lead_pulling_away)
+
+  def create_creep_assist(self, packer, CC: structs.CarControl, CS: CarStateBase, frame: int) -> list[CanData]:
+    if not self.enabled:
+      return []
+
+    resume = self._want_resume(CC, CS, frame)
+    can_sends = [iq_subarucan.create_throttle(packer, self.CP, CS.throttle_msg, resume and not self.manual_parking_brake)]
+    if frame % 2 == 0:
+      can_sends.append(iq_subarucan.create_brake_pedal(packer, self.CP, CS.brake_pedal_msg, resume and self.manual_parking_brake))
+    return can_sends
+
+
+class IQStopAndGoState:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+    self.brake_pedal_msg: dict[str, float] = {}
+    self.throttle_msg: dict[str, float] = {}
+
+  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    self.brake_pedal_msg = copy.copy(cp.vl["Brake_Pedal"])
+    if not self.CP.flags & SubaruFlags.HYBRID:
+      self.throttle_msg = copy.copy(cp.vl["Throttle"])

artifacts/package_runtime/iqdbc/lvbs/car/subaru/iq_subarucan.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Camera-bus message spoofers for Subaru stop-and-go: re-emit the stock Throttle
+and Brake_Pedal frames, nudging a single field to trigger an ACC resume from a
+standstill. Field sets mirror the DBC message layout.
+"""
+from iqdbc.car.subaru.values import CanBus, SubaruFlags
+
+_THROTTLE_FIELDS_PREGLOBAL = ("Throttle_Pedal", "Signal1", "Not_Full_Throttle", "Signal2", "Engine_RPM",
+                              "Off_Throttle", "Signal3", "Throttle_Cruise", "Throttle_Combo", "Throttle_Body",
+                              "Off_Throttle_2", "Signal4")
+_THROTTLE_FIELDS_GLOBAL = ("CHECKSUM", "Signal1", "Engine_RPM", "Neutral", "Throttle_Pedal", "Throttle_Cruise",
+                           "Throttle_Combo", "Signal3", "Off_Accel")
+_BRAKE_FIELDS_PREGLOBAL = ("Speed", "Brake_Pedal", "Signal1")
+_BRAKE_FIELDS_GLOBAL = ("CHECKSUM", "Signal1", "Speed", "Signal2", "Brake_Lights", "Signal3", "Brake_Pedal", "Signal4")
+
+
+def _next_counter(msg):
+  return (msg["COUNTER"] + 1) % 0x10
+
+
+def create_throttle(packer, CP, throttle_msg, send_resume):
+  preglobal = bool(CP.flags & SubaruFlags.PREGLOBAL)
+  fields = _THROTTLE_FIELDS_PREGLOBAL if preglobal else _THROTTLE_FIELDS_GLOBAL
+  values = {name: throttle_msg[name] for name in fields}
+  values["COUNTER"] = _next_counter(throttle_msg)
+  if send_resume:
+    values["Throttle_Pedal"] = 5
+  return packer.make_can_msg("Throttle", CanBus.camera, values)
+
+
+def create_brake_pedal(packer, CP, brake_pedal_msg, send_resume):
+  preglobal = bool(CP.flags & SubaruFlags.PREGLOBAL)
+  fields = _BRAKE_FIELDS_PREGLOBAL if preglobal else _BRAKE_FIELDS_GLOBAL
+  values = {name: brake_pedal_msg[name] for name in fields}
+  if not preglobal:
+    values["COUNTER"] = _next_counter(brake_pedal_msg)
+  if send_resume:
+    values["Speed"] = 1 if preglobal else 3
+  return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)

artifacts/package_runtime/iqdbc/lvbs/car/subaru/iq_values.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Subaru extension flags. Selected in apply_iq_car_config() from the user's
+stop-and-go params and consumed by the stop-and-go controller and panda safety.
+"""
+from enum import IntFlag
+
+
+class SubaruFlagsIQ(IntFlag):
+  STOP_AND_GO = 1
+  STOP_AND_GO_MANUAL_PARKING_BRAKE = 2
+
+
+class SubaruSafetyFlagsIQ:
+  STOP_AND_GO = 1