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firestar5683
56 lines
3.1 KiB
Python
56 lines
3.1 KiB
Python
from opendbc.car import structs
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from opendbc.car.tesla.preap.aol import qualified, temporary_restriction as preap_temporary_restriction
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from openpilot.starpilot.aol.policy import AolVehiclePolicy
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from openpilot.starpilot.car.tesla.stock_intent import TeslaPreapCardIntent
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from opendbc.car.tesla.screen_button import screen_tap_supported, screen_qualified, SCREEN_WORDS
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from openpilot.starpilot.car.tesla.screen_intent import TeslaScreenCardIntent
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def policy_for(cp):
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if screen_tap_supported(cp):
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admitted = screen_qualified(cp)
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return AolVehiclePolicy(intent_supported=admitted, settings_supported=True,
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runtime_supported=admitted, normal_runtime_supported=admitted,
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ordinary_axis_ack_required=screen_qualified(cp, marked_only=True),
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full_axis_runtime_required=admitted,
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cruise_main_required=not screen_qualified(cp, marked_only=True),
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explicit_latch=admitted, alternative_experience_addition=32 if admitted else 0)
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admitted = qualified(cp)
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return AolVehiclePolicy(intent_supported=admitted, settings_supported=admitted,
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runtime_supported=admitted, normal_runtime_supported=admitted,
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ordinary_axis_ack_required=qualified(cp, marked_only=True),
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explicit_latch=admitted, physical_stalk_owner=admitted, fixed_cruise_buttons=admitted,
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full_axis_runtime_required=admitted and cp.openpilotLongitudinalControl,
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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 == 39 and param in (0, 1, 2, 3, 6, 7)) or (model == 10 and param in SCREEN_WORDS)
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def native_accepts_cp(cp, model, param):
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return bool((qualified(cp, marked_only=True) or screen_qualified(cp, marked_only=True)) and
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native_profile_supported(model, param) and len(cp.safetyConfigs) == 1 and
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int(cp.safetyConfigs[0].safetyModel.raw) == model and int(cp.safetyConfigs[0].safetyParam) == param)
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def native_latch_rejected(cp, native):
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return (qualified(cp, marked_only=True) or screen_qualified(cp, marked_only=True)) and native.requestedLateral and not native.lateralAllowed
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def ordinary_axis_request_allowed(cp, state):
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return bool((qualified(cp, marked_only=True) or screen_qualified(cp, marked_only=True)) and
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state.canValid and not state.canTimeout and not state.steerFaultPermanent)
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def retain_on_native_denial(cp, native, state):
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return preap_temporary_restriction(cp, state) or bool(
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screen_qualified(cp, marked_only=True) and state is not None and state.canValid and not state.canTimeout and
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not state.steerFaultPermanent and not state.steeringDisengage and not state.doorOpen and not state.accFaulted and
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(state.gearShifter in (structs.CarState.GearShifter.reverse, structs.CarState.GearShifter.neutral) or
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state.gearShifter == structs.CarState.GearShifter.drive and state.steerFaultTemporary))
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def create_intent(cp, settings):
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return TeslaScreenCardIntent(cp, settings) if screen_qualified(cp) else TeslaPreapCardIntent(cp, settings)
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