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https://github.com/firestar5683/StarPilot.git
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firestar5683
38 lines
1.2 KiB
Python
38 lines
1.2 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 capnp
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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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class ParamStore:
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keys: list[str]
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values: dict[str, str]
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def __init__(self, CP: structs.CarParams):
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universal_params: list[str] = []
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brand_params: list[str] = []
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self.keys = universal_params + brand_params
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self.values = {}
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self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
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def update(self, params: Params) -> None:
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old_values = dict(self.values)
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self.values = {k: params.get(k, encoding='utf8') or "0" for k in self.keys}
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if old_values != self.values:
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self.cached_params_list = None
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def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
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if self.cached_params_list is None:
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# TODO-SP: Why are we doing a list instead of a dictionary here?
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self.cached_params_list = [custom.CarControlSP.Param(key=k, value=self.values[k]) for k in self.keys]
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return self.cached_params_list
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