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https://github.com/firestar5683/StarPilot.git
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firestar5683
60 lines
2.3 KiB
Python
60 lines
2.3 KiB
Python
"""Subaru stock ACC retains independent lateral intent after full engagement."""
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from opendbc.car import structs
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from opendbc.car.subaru.stock_aol import qualified, temporary_restriction
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from openpilot.starpilot.aol.intent import AolCardIntent
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from openpilot.starpilot.aol.policy import AolVehiclePolicy
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class SubaruStockCardIntent(AolCardIntent):
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observe_stock_engagement = True
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def __init__(self, settings):
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super().__init__(settings, explicit_latch=True, lkas_button_supported=False)
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def update(self, CS, **kwargs):
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super().update(CS, **kwargs)
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if not CS.cruiseState.available:
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self._record_latch_clear('subaru_main_off')
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self.allowed_latch = False
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self._withdraw_full_engagement()
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def policy_for(cp):
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admitted = qualified(cp)
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return AolVehiclePolicy(intent_supported=admitted, settings_supported=admitted, runtime_supported=admitted,
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normal_runtime_supported=admitted, full_axis_runtime_required=qualified(cp, marked_only=True),
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ordinary_axis_ack_required=qualified(cp, marked_only=True), explicit_latch=admitted,
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fixed_cruise_buttons=admitted, lkas_button_supported=False,
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alternative_experience_addition=32 if admitted else 0)
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def native_profile_supported(model, param):
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return model == int(structs.CarParams.SafetyModel.subaru) and param in (0, 1, 8, 16, 17, 145, 177, 209, 401, 465, 512, 520, 1169, 1425, 2225)
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def native_accepts_cp(cp, model, param):
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return qualified(cp, marked_only=True) and native_profile_supported(model, param)
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def native_latch_rejected(cp, native):
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return qualified(cp, marked_only=True) and native.requestedLateral and not native.lateralAllowed
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def retain_on_native_denial(cp, native, state):
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return temporary_restriction(cp, state)
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def ordinary_axis_request_allowed(cp, state):
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return (qualified(cp, marked_only=True) and state.canValid and not state.canTimeout and
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not state.steerFaultPermanent and not state.accFaulted)
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def create_intent(cp, settings):
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return SubaruStockCardIntent(settings)
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def sng_standstill_lateral_inhibit(cp, state):
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# All stock Subaru native profiles require movement. Withdraw the request before its expected denial,
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# preserving ordinary stock ACC without granting either active axis.
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return bool(qualified(cp, marked_only=True) and state.standstill)
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