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https://github.com/firestar5683/StarPilot.git
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firestar5683
30 lines
1.2 KiB
Python
30 lines
1.2 KiB
Python
"""Explicit event-only adapter for existing torque-actuated stock PID laws."""
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from openpilot.starpilot.flm.pid_controller_replay import PID_STAGE_REVISION, PidControllerFactory
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from openpilot.starpilot.flm.event_collection import EventCollectionAdapter
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class PidEventCollectionAdapter(EventCollectionAdapter):
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command_family = 'torque_pid'
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raw_stage_revision = PID_STAGE_REVISION
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factory_type = PidControllerFactory
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def select_objective(self, key):
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if getattr(self, '_event_initialized', False):
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from openpilot.starpilot.flm.canonical_surface_adapter import GROUPS
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from openpilot.starpilot.flm.pid_stages import SUPPORTED
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if key[1] not in GROUPS or not set(GROUPS[key[1]]).issubset(SUPPORTED):
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raise ValueError('PID canonical component absent from actual controller')
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return super().select_objective(key)
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def event_keys():
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from openpilot.starpilot.flm.canonical_surface_adapter import GROUPS
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from openpilot.starpilot.flm.pid_stages import SUPPORTED
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return tuple(('event', group) for group, names in GROUPS.items() if set(names).issubset(SUPPORTED))
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def event_key(evidence):
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keys = event_keys()
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frame = int(dict(evidence.replay_inputs)['control_frame'])
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return keys[(frame // 6000) % len(keys)]
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