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firestar5683
49 lines
2.2 KiB
Python
49 lines
2.2 KiB
Python
"""Saved Ioniq left-paddle longitudinal pause, separate from ordinary Cancel."""
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from opendbc.car.structs import car
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from openpilot.selfdrive.selfdrived.events import ET, EVENTS, EventName
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from openpilot.starpilot.longitudinal.ioniq6_start import eligible as ioniq6_long_eligible
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from openpilot.starpilot.saved_source import read_saved
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ButtonType = car.CarState.ButtonEvent.Type
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def saved_enabled(params) -> bool:
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try:
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raw, readable = read_saved(params, "NostalgiaMode", 8)
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return readable and raw == b"1"
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except (OSError, TypeError, ValueError):
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return False
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def _ioniq5_long_eligible(cp) -> bool:
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from opendbc.car.hyundai.left_paddle import IONIQ_5_CARS, has_left_paddle
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from openpilot.starpilot.car.hyundai.aol import policy_for
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return bool(has_left_paddle(cp) and cp.carFingerprint in IONIQ_5_CARS and
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cp.openpilotLongitudinalControl and policy_for(cp).paddle_pause)
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def paddle_cancel(cp, cs, *, enabled: bool, saved: bool) -> bool:
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return bool(saved and enabled and (ioniq6_long_eligible(cp) or _ioniq5_long_eligible(cp)) and cs.canValid and not cs.canTimeout and
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any(event.type == ButtonType.altButton2 and event.pressed for event in cs.buttonEvents))
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def physical_cancel(cs, cp=None) -> bool:
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from opendbc.car.gm.cancel_remap import enabled as gm_cancel_remap_enabled
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if cp is not None and gm_cancel_remap_enabled(cp):
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return False
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return any(event.type == ButtonType.cancel for event in cs.buttonEvents)
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def aol_no_entry(event_names, cs, *, paddle_only_cancel: bool, cruise_main_required: bool = True,
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allow_below_engage_speed: bool = False, allow_lateral_cancel: bool = False) -> bool:
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"""Apply vehicle-owned lateral exceptions without changing ordinary cruise events."""
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return any(event not in (EventName.pedalPressed, EventName.seatbeltNotLatched, EventName.resumeBlocked) and ET.NO_ENTRY in EVENTS.get(event, {}) and
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(event != EventName.belowEngageSpeed or not allow_below_engage_speed) and
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(event != EventName.wrongCarMode or cruise_main_required) and
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(event != EventName.buttonCancel or
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(not allow_lateral_cancel and (not paddle_only_cancel or physical_cancel(cs))))
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for event in event_names)
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