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https://github.com/firestar5683/StarPilot.git
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firestar5683
942228400c
Wire longitudinal feature selection and inputs into planner hosts after their owners are available.
39 lines
1.3 KiB
Python
39 lines
1.3 KiB
Python
"""One saved planner preference, latched for the manager-owned drive process."""
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from dataclasses import dataclass
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from importlib import import_module
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from openpilot.starpilot.saved_source import read_saved
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from openpilot.starpilot.saved_document import commit_exact
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KEY = 'UseStarPilotLongitudinalPlanner'
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@dataclass(frozen=True)
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class PlannerSelection:
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starpilot: bool
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valid: bool
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raw: bytes | None
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def read_selection(params):
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raw, readable = read_saved(params, KEY, 8)
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valid = readable and raw in (None, b'0', b'1')
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# Invalid/unreadable preference preserves the default planner. Only an exact
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# saved Off selects upstream; no malformed prefix silently changes a drive.
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return PlannerSelection(raw != b'0' or not readable, valid, raw)
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def run_selected(params, starpilot_main, *, importer=import_module):
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selection = read_selection(params)
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if selection.starpilot:
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return starpilot_main()
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return importer('openpilot.starpilot.longitudinal.upstream.plannerd').main()
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def save_selection(params, value, expected, *, authorized):
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if value not in ("Off", "On"):
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return False
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result = commit_exact(params, key=KEY, max_bytes=8, raw=b"1" if value == "On" else b"0",
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expected=expected, authorized=authorized, temp_prefix=".planner-selection-")
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return result.committed and result.verified
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