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firestar5683
36 lines
1.6 KiB
Python
36 lines
1.6 KiB
Python
"""Optional Mazda camera observation; never a longitudinal control grant."""
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import time
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from opendbc.car.mazda.values import CAR, MazdaFlags
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from openpilot.cereal import messaging
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MAX_AGE_NS = 150_000_000
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DASHBOARD_CARS = frozenset(CAR)
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def capable(cp):
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# Read-only observation scope is separate from active-control/AOL admission.
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# Dom's intentional dashboard commit explicitly covers all six GEN1 IDs.
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return (cp.brand == 'mazda' and cp.carFingerprint in DASHBOARD_CARS and int(cp.flags) == int(MazdaFlags.GEN1) and not cp.notCar)
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def compose(cp, parsed, state, message, *, car_state_stamp):
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if not capable(cp):
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return message
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if message is None:
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message = messaging.new_message('starpilotCarState', valid=bool(state.canValid), logMonoTime=car_state_stamp)
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message.starpilotCarState.sourceCarStateMonoTime = car_state_stamp
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# Missing or stale optional camera data must not invalidate unrelated evidence.
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message.starpilotCarState.dashboardStopSign = 0
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before = time.monotonic_ns()
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boot = time.clock_gettime_ns(getattr(time, 'CLOCK_BOOTTIME', time.CLOCK_MONOTONIC))
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after = time.monotonic_ns()
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observation = getattr(parsed, 'dashboard_stop_sign', None)
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if (type(observation) is tuple and len(observation) == 2 and type(observation[0]) is bool and
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type(observation[1]) is int and 0 <= after - before <= 1_000_000 and state.canValid and not state.canTimeout):
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age = boot - observation[1]
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stamp = before - age
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if 0 <= age <= MAX_AGE_NS and 0 < stamp <= car_state_stamp:
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message.starpilotCarState.dashboardStopSign = int(observation[0])
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return message
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