Subaru: resume from cruise standstill

selfdrive/car/subaru/carcontroller.py

@@ -22,7 +22,6 @@ def __init__(self, dbc_name, CP, VM):
   def update(self, CC, CS):
     actuators = CC.actuators
     hud_control = CC.hudControl
-    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     can_sends = []
 
@@ -53,7 +52,7 @@ def update(self, CC, CS):
       if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
         # disengage ACC when OP is disengaged
-        if pcm_cancel_cmd:
+        if CC.cruiseControl.cancel:
           cruise_button = 1
         # turn main on if off and past start-up state
         elif not CS.out.cruiseState.available and CS.ready:
@@ -70,10 +69,12 @@ def update(self, CC, CS):
         self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
     else:
-      if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
+      if (self.frame - self.last_cancel_frame) > 0.2:
         bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0
-        can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
-        self.last_cancel_frame = self.frame
+        resume = CC.cruiseControl.resume and not CC.cruiseControl.cancel
+        if CC.cruiseControl.cancel or resume:
+          can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, CC.cruiseControl.cancel, resume))
+          self.last_cancel_frame = self.frame
 
       if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]:
         can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))

selfdrive/car/subaru/subarucan.py

@@ -14,11 +14,13 @@ def create_steering_control(packer, apply_steer):
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
+def create_es_distance(packer, es_distance_msg, bus, cancel, resume):
   values = copy.copy(es_distance_msg)
   values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
-  if pcm_cancel_cmd:
+  if cancel:
     values["Cruise_Cancel"] = 1
+  elif resume:
+    values["Cruise_Resume"] = 1
   return packer.make_can_msg("ES_Distance", bus, values)
 
 def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):