mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
68 lines
2.3 KiB
Python
68 lines
2.3 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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import cereal.messaging as messaging
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from cereal import custom
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from opendbc.car import structs
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore
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from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
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class ControlsExt:
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def __init__(self, CP: structs.CarParams, params: Params):
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self.CP = CP
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self.params = params
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self.blinker_pause_lateral = BlinkerPauseLateral()
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self.param_store = ParamStore(self.CP)
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self.get_params_sp()
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cloudlog.info("controlsd_ext is waiting for CarParamsSP")
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self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
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cloudlog.info("controlsd_ext got CarParamsSP")
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self.sm_services_ext = ['selfdriveStateSP']
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self.pm_services_ext = ['carControlSP']
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def get_params_sp(self) -> None:
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self.param_store.update(self.params)
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self.blinker_pause_lateral.get_params()
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def get_lat_active(self, sm: messaging.SubMaster) -> bool:
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if self.blinker_pause_lateral.update(sm['carState']):
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return False
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ss_sp = sm['selfdriveStateSP']
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if ss_sp.mads.available:
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return bool(ss_sp.mads.active)
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# MADS not available, use stock state to engage
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return bool(sm['selfdriveState'].active)
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def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
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CC_SP = custom.CarControlSP.new_message()
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# MADS state
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CC_SP.mads = sm['selfdriveStateSP'].mads
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CC_SP.params = self.param_store.publish()
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return CC_SP
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@staticmethod
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def publish_ext(CC_SP: custom.CarControlSP, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
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cc_sp_send = messaging.new_message('carControlSP')
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cc_sp_send.valid = sm['carState'].canValid
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cc_sp_send.carControlSP = CC_SP
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pm.send('carControlSP', cc_sp_send)
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def run_ext(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
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CC_SP = self.state_control_ext(sm)
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self.publish_ext(CC_SP, sm, pm)
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