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https://github.com/firestar5683/StarPilot.git
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firestar5683
ef11470b30
Register GM controllers, car state, distance-button actions and feature capabilities against the shared platform groups.
34 lines
1.4 KiB
Python
34 lines
1.4 KiB
Python
from opendbc.car.gm.values import is_gm_auto_hold, is_volt_one_pedal
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from openpilot.starpilot.saved_source import read_saved
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class AutoHoldPreference:
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def __init__(self, cp, params, key="GMAutoHold"):
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if key not in ("GMAutoHold", "VoltOnePedalMode"):
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raise ValueError("Unsupported GM stop preference")
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self.cp, self.params, self.key = cp, params, key
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self.supported = is_volt_one_pedal if key == "VoltOnePedalMode" else is_gm_auto_hold
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self.read_ns = 0
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self.enabled = False
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def update(self, now_ns):
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if type(now_ns) is not int or now_ns <= 0 or not self.supported(self.cp):
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self.enabled = False
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return False
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if now_ns < self.read_ns:
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self.read_ns = 0
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self.enabled = False
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return False
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if self.read_ns == 0 or now_ns - self.read_ns >= 250_000_000:
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self.read_ns = now_ns
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try:
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choice = read_saved(self.params, self.key, 8)
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safe, safe_valid = read_saved(self.params, "SafeMode", 8)
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longitudinal, long_valid = read_saved(self.params, "DisableOpenpilotLongitudinal", 8)
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master = read_saved(self.params, "OpenpilotEnabledToggle", 8)
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self.enabled = bool(choice == (b"1", True) and master == (b"1", True) and
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safe_valid and safe in (None, b"0") and long_valid and longitudinal in (None, b"0"))
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except (OSError, RuntimeError, TypeError, ValueError):
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self.enabled = False
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return self.enabled
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