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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.
36 lines
1.5 KiB
Python
36 lines
1.5 KiB
Python
from opendbc.car.gm.values import camera_acc_pedal_profile, volt_cc_pedal_profile
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from openpilot.starpilot.saved_source import read_saved
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class CameraPedalPreference:
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def __init__(self, cp, params, *, maneuver=False):
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self.cp, self.params = cp, params
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self.maneuver = maneuver
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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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cc_profile = volt_cc_pedal_profile(self.cp)
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profile = camera_acc_pedal_profile(self.cp) or cc_profile
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if (type(now_ns) is not int or now_ns <= 0 or profile is None or not profile.longitudinal or
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self.maneuver and cc_profile is None and not profile.volt):
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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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master = read_saved(self.params, 'OpenpilotEnabledToggle', 8)
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safe, safe_valid = read_saved(self.params, 'SafeMode', 8)
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disabled, disable_valid = read_saved(self.params, 'DisableOpenpilotLongitudinal', 8)
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self.enabled = bool(master == (b'1', True) and safe_valid and safe in (None, b'0') and
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disable_valid and disabled in (None, b'0'))
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if self.maneuver:
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self.enabled = self.enabled and read_saved(self.params, 'LongitudinalManeuverMode', 8) == (b'1', True)
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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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