From cf0f265ac78470ad3cde4bb0330792ce32a4875c Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 25 Sep 2026 14:53:18 -0500
Subject: [PATCH] Vehicle policy registration

Select longitudinal policy through the shared vehicle dispatch contract.
---
 .../starpilot/longitudinal/vehicle_policy.py  | 53 +++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 openpilot/starpilot/longitudinal/vehicle_policy.py

diff --git a/openpilot/starpilot/longitudinal/vehicle_policy.py b/openpilot/starpilot/longitudinal/vehicle_policy.py
new file mode 100644
index 0000000000..00f1c8e3ae
--- /dev/null
+++ b/openpilot/starpilot/longitudinal/vehicle_policy.py
@@ -0,0 +1,53 @@
+"""Select an admitted vehicle-owned longitudinal tuning policy."""
+
+from opendbc.car.gm.conventional_pedal import policy_for as conventional_pedal_policy_for
+from opendbc.car.gm.camera import policy_for as camera_policy_for
+from opendbc.car.gm.ordinary_cc import policy_for as ordinary_cc_policy_for
+from opendbc.car.gm.bolt_cc import policy_for as bolt_cc_policy_for
+from opendbc.car.gm.longitudinal import policy_for as gm_pedal_policy_for, volt_policy_for, euv_policy_for, ascm_policy_for, sdgm_policy_for
+
+from opendbc.car.gm.cc_longitudinal import policy_for as volt_cc_policy_for
+from opendbc.car.gm.suburban import (policy_for as suburban_policy_for,
+                                     stopping_decel_rate as gm_suburban_stopping_decel_rate)
+from opendbc.car.hyundai.g90_longitudinal import (stopping_decel_rate as hyundai_stopping_decel_rate,
+                                                 forecast_should_stop as hyundai_forecast_should_stop)
+
+
+def policy_for(cp):
+  return (suburban_policy_for(cp) or conventional_pedal_policy_for(cp) or camera_policy_for(cp) or ordinary_cc_policy_for(cp) or
+          sdgm_policy_for(cp) or ascm_policy_for(cp) or gm_pedal_policy_for(cp) or volt_policy_for(cp) or
+          euv_policy_for(cp) or volt_cc_policy_for(cp) or bolt_cc_policy_for(cp))
+
+
+def stopping_decel_rate(cp, policy):
+  rate = hyundai_stopping_decel_rate(cp)
+  if rate is not None:
+    return rate
+  rate = gm_suburban_stopping_decel_rate(cp)
+  if rate is not None:
+    return rate
+  return policy.stopping_decel_rate if policy is not None else 1.0
+
+
+def stopping_policy_for(cp, dt):
+  from opendbc.car.hyundai.blended_stopping import policy_for as blended_stopping_policy_for
+  from opendbc.car.hyundai.ev9_stopping import policy_for as ev9_stopping_policy_for
+  return ev9_stopping_policy_for(cp, dt) or blended_stopping_policy_for(cp, dt)
+
+
+def forecast_should_stop(cp, speeds, time_indices, action_t, fallback):
+  decision = hyundai_forecast_should_stop(cp, speeds, time_indices, action_t)
+  return fallback if decision is None else decision
+
+
+def tracked_lead_scale(cp):
+  from opendbc.car.hyundai.gv70_longitudinal import tracked_lead_scale as hyundai_tracked_lead_scale
+  return hyundai_tracked_lead_scale(cp)
+
+
+def planner_cost_owner(cp):
+  from opendbc.car.hyundai.gv70_costs import eligible
+  if not eligible(cp):
+    return None
+  from openpilot.starpilot.longitudinal.gv70_cost_context import GV70CostContext
+  return GV70CostContext()