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https://github.com/firestar5683/StarPilot.git
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firestar5683
60 lines
2.9 KiB
Python
60 lines
2.9 KiB
Python
"""Generic optional-feature admission from finalized native CarParams.
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Admission creates a host; the host still checks live axis and source authority.
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PCM cruise describes engagement/set-speed integration, not who controls acceleration.
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"""
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def _native_configuration_valid(cp, *, longitudinal: bool) -> bool:
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"""Keep native configuration checks separate from global feature availability.
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GM's finalized owners encode the physical topology and longitudinal owner in
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correlated safety words, flags and vehicle identity. A control boolean alone
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cannot validate that contract. Reuse its native validators instead of a
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feature launch allowlist or a second, weaker copy of those safety rules.
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"""
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if getattr(cp, 'brand', None) == 'gm':
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from opendbc.car.gm.feature_capabilities import display_supported, longitudinal_supported
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return longitudinal_supported(cp) if longitudinal else display_supported(cp)
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return True
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def display_supported(cp) -> bool:
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return bool(cp is not None and getattr(cp, 'carFingerprint', '') and
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getattr(cp, 'passive', None) is False and
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getattr(cp, 'dashcamOnly', None) is False and
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getattr(cp, 'notCar', None) is False and
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_native_configuration_valid(cp, longitudinal=False))
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def longitudinal_supported(cp) -> bool:
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return bool(display_supported(cp) and getattr(cp, 'openpilotLongitudinalControl', None) is True and
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_native_configuration_valid(cp, longitudinal=True))
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def lateral_supported(cp) -> bool:
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"""Generic curvature shaping follows steering capability, not cruise ownership.
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Creating the optional preference host does not grant steering permission.
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Controls retains its current axis, source, fault and final curvature checks.
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GM additionally keeps its existing finalized physical-configuration checks.
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"""
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from opendbc.car.structs import CarParams
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try:
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if (cp is None or not cp.carFingerprint or getattr(cp, 'passive', None) is not False or
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getattr(cp, 'dashcamOnly', None) is not False or getattr(cp, 'notCar', None) is not False or
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(getattr(cp, 'secOcRequired', False) and not getattr(cp, 'secOcKeyAvailable', False)) or
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cp.steerControlType not in (CarParams.SteerControlType.torque, CarParams.SteerControlType.angle,
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CarParams.SteerControlType.curvature) or
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not any(config.safetyModel not in (CarParams.SafetyModel.silent, CarParams.SafetyModel.noOutput,
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CarParams.SafetyModel.allOutput) for config in cp.safetyConfigs)):
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return False
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if cp.brand == 'gm':
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from openpilot.starpilot.lateral.bolt_policy import supported_cp as bolt_supported_cp
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from opendbc.car.gm.lateral import lane_centering_supported
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return bool(bolt_supported_cp(cp) or lane_centering_supported(cp))
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return True
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except (AttributeError, IndexError, TypeError, ValueError):
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return False
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