IQ.Pilot Release Commit @ 0798119

iqdbc_repo/iqdbc/lvbs/car/subaru/iq_subarucan.py

@@ -0,0 +1,41 @@
+"""
+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)