mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
synced 2026-08-22 22:43:44 +08:00
IQ.Lvbs CI [bot]
59 lines
2.1 KiB
Python
59 lines
2.1 KiB
Python
"""
|
|
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
|
|
"""
|
|
from dataclasses import dataclass
|
|
|
|
from openpilot.common.params import Params
|
|
|
|
# Cruise set-speed step (in the caller's working unit, kph or the imperial increment)
|
|
# a user is allowed to dial in for the accel/decel cruise buttons.
|
|
MIN_BUTTON_STEP = 1
|
|
MAX_BUTTON_STEP = 10
|
|
|
|
# Once the resolved step reaches this size, we snap the set speed to the nearest
|
|
# multiple of the step (e.g. a step of 5 lands on 45/50/55...) instead of just
|
|
# adding it on top of whatever odd number the set speed currently sits at.
|
|
SNAP_TO_GRID_THRESHOLD = 5
|
|
|
|
# Stock behavior (feature disabled): tap moves by one unit, a held button moves
|
|
# five times faster. This mirrors what every other unmodified button-input car
|
|
# already does, so it's kept as the fallback rather than living in this module.
|
|
STOCK_HOLD_MULTIPLIER = 5
|
|
|
|
|
|
@dataclass(frozen=True)
|
|
class LongIncrementConfig:
|
|
enabled: bool
|
|
tap_step: int
|
|
hold_step: int
|
|
|
|
|
|
def _clamp_step(value) -> int:
|
|
try:
|
|
step = int(value)
|
|
except (TypeError, ValueError):
|
|
return MIN_BUTTON_STEP
|
|
return min(max(step, MIN_BUTTON_STEP), MAX_BUTTON_STEP)
|
|
|
|
|
|
def read_long_increment_config(params: Params) -> LongIncrementConfig:
|
|
return LongIncrementConfig(
|
|
enabled=params.get_bool("LongIncrementsEnabled"),
|
|
tap_step=_clamp_step(params.get("LongIncrementTapStep", return_default=True)),
|
|
hold_step=_clamp_step(params.get("LongIncrementHoldStep", return_default=True)),
|
|
)
|
|
|
|
|
|
def resolve_button_step(config: LongIncrementConfig, held: bool, unit_step: float) -> tuple[bool, float]:
|
|
"""
|
|
Turn a single tap/hold cruise button event into a (snap_to_grid, delta) pair,
|
|
where delta is expressed in the same unit as unit_step (kph, or the mph-derived
|
|
increment used for imperial cars).
|
|
"""
|
|
if not config.enabled:
|
|
return held, unit_step * (STOCK_HOLD_MULTIPLIER if held else 1)
|
|
|
|
multiplier = config.hold_step if held else config.tap_step
|
|
snap_to_grid = multiplier >= SNAP_TO_GRID_THRESHOLD
|
|
return snap_to_grid, unit_step * multiplier
|