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firestar5683
30 lines
1.3 KiB
Python
30 lines
1.3 KiB
Python
"""Exact Ford release opt-in before parser/controller construction."""
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from opendbc.car.ford.aol import qualified, aol_safety_config
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from openpilot.starpilot.saved_source import read_saved
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def prepare_release_long(cp, params, *, is_release, enabled):
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if not is_release or not enabled or cp.brand != 'ford':
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return cp
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try:
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owner = aol_safety_config(cp)
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if owner is not None and owner.safetyParam & 128 and read_saved(params, 'AlwaysOnLateral', 8) != (b'1', True):
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return cp
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if (cp.alternativeExperience != 0 or not qualified(cp) or not cp.alphaLongitudinalAvailable or
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cp.openpilotLongitudinalControl or read_saved(params, 'AlphaLongitudinalEnabled', 8) != (b'1', True) or
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read_saved(params, 'SafeMode', 8) not in ((None, True), (b'0', True))):
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return cp
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candidate = cp.as_reader().as_builder()
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aol_safety_config(candidate).safetyParam |= 1
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candidate.openpilotLongitudinalControl = True
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return candidate if qualified(candidate) else cp
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except (AttributeError, OSError, TypeError, ValueError, OverflowError, IndexError):
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return cp
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def release_long_available(cp):
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try:
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return bool(cp is not None and cp.brand == 'ford' and cp.alphaLongitudinalAvailable and qualified(cp))
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except (AttributeError, TypeError, ValueError, OverflowError, IndexError):
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return False
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