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firestar5683
18 lines
1021 B
Python
18 lines
1021 B
Python
"""Ford qualification for the shared physical Reverse/native join."""
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from opendbc.car.ford.aol import qualified
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from openpilot.cereal import log
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from openpilot.starpilot.aol.reverse_intent import retain_reverse_intent as retain_qualified_reverse_intent
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def retain_reverse_intent(feedback, sm, cp, cs, axis, now_ns, *, latched, producer):
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try:
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qualified_cp = qualified(cp, marked_only=True)
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except (AttributeError, KeyError, IndexError, TypeError, ValueError, OverflowError):
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return False
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return retain_qualified_reverse_intent(feedback, sm, cp, cs, axis, now_ns, latched=latched, producer=producer,
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qualified_cp=qualified_cp,
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# The preceding brake USER_DISABLE can arrive with the first Reverse frame.
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# Retain only the existing fresh LAT-only proof; Reverse still denies axes.
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extra_user_events=(log.OnroadEvent.EventName.pedalPressed,))
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