mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
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IQ.Lvbs CI [bot]
77 lines
2.6 KiB
Python
77 lines
2.6 KiB
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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"""
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from iqdbc.car import structs as _dbc
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from openpilot.common.params import Params as _Store
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from openpilot.common.swaglog import cloudlog as _log
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from openpilot.selfdrive.controls.lib.latcontrol_torque import get_nn_model_path as _resolve_nn
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import openpilot.system.sentry as _telemetry
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_ANGLE = _dbc.CarParams.SteerControlType.angle
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# Port tunables surfaced to the fingerprint step, flat so the read is one pass.
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_TUNABLES = (
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"HyundaiLongitudinalTuning",
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"SubaruStopAndGo",
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"SubaruStopAndGoManualParkingBrake",
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"TeslaCoopSteering",
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"ToyotaEnforceStockLongitudinal",
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"ToyotaSnGHack",
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)
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def initialize_params(store):
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return [{name: store.get(name, return_default=True)} for name in _TUNABLES]
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def log_fingerprint(cp) -> None:
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ident = cp.carFingerprint
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if ident == "MOCK":
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_telemetry.capture_fingerprint_mock()
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else:
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_telemetry.capture_fingerprint(ident, cp.brand)
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def set_speed_limit_controller_availability(cp, cp_iq, store=None) -> bool:
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"""Gate the speed-limit controller off on platforms that can't run it, dropping a
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stuck 'control' mode down to 'warning'."""
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store = store or _Store()
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brand = cp.brand
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off = (brand == "rivian"
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or (brand == "tesla" and store.get_bool("IsReleaseIqBranch"))
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or (not cp.openpilotLongitudinalControl and cp_iq.pcmCruiseSpeed))
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if off and store.get("IQSpeedAssistMode", return_default=True) == 3: # control -> warning
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store.put("IQSpeedAssistMode", 2)
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return not off
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def _stamp_lateral_model(cp, cp_iq, store) -> bool:
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where, label, precise = _resolve_nn(cp)
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nn = cp_iq.iqLateralNet
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nn.model.path, nn.model.name, nn.fuzzyFingerprint = where, label, not precise
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if label == "MOCK":
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_log.error({"nnff event": "car doesn't match any Neural Network model"})
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return False
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return cp.steerControlType != _ANGLE and store.get_bool("NeuralNetworkFeedForward")
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def _cleanup_unsupported_params(cp, cp_iq, store=None) -> None:
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store = store or _Store()
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doomed = {
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"NeuralNetworkFeedForward": cp.steerControlType == _ANGLE,
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"LongIncrementsEnabled": not cp.openpilotLongitudinalControl and cp_iq.pcmCruiseSpeed,
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}
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for name, gone in doomed.items():
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if gone:
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_log.warning(f"unsupported on this port, clearing {name}")
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store.remove(name)
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set_speed_limit_controller_availability(cp, cp_iq, store)
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def setup_interfaces(ci, store=None) -> None:
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store = store or _Store()
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if _stamp_lateral_model(ci.CP, ci.CP_IQ, store):
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ci.configure_torque_tune(ci.CP.carFingerprint, ci.CP.lateralTuning)
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_cleanup_unsupported_params(ci.CP, ci.CP_IQ, store)
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