FrogPilot Setup

selfdrive/car/subaru/carcontroller.py

@@ -23,7 +23,7 @@ class CarController:
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel

selfdrive/car/subaru/carstate.py

@@ -16,7 +16,7 @@ class CarState(CarStateBase):
 
     self.angle_rate_calulator = CanSignalRateCalculator(50)
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, cp_body, frogpilot_variables):
     ret = car.CarState.new_message()
 
     throttle_msg = cp.vl["Throttle"] if self.car_fingerprint not in HYBRID_CARS else cp_body.vl["Throttle_Hybrid"]

selfdrive/car/subaru/interface.py

@@ -9,7 +9,7 @@ from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGL
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
@@ -136,11 +136,11 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self, c, frogpilot_variables):
 
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_variables)
 
-    ret.events = self.create_common_events(ret).to_msg()
+    ret.events = self.create_common_events(ret, frogpilot_variables).to_msg()
 
     return ret
 
@@ -149,5 +149,5 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
       disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/subaru/values.py

@@ -4,6 +4,7 @@ from typing import Dict, List, Union
 
 from cereal import car
 from panda.python import uds
+from openpilot.common.params import Params
 from openpilot.selfdrive.car import dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16