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https://github.com/firestar5683/StarPilot.git
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firestar5683
51 lines
2.3 KiB
Python
51 lines
2.3 KiB
Python
from opendbc.car import get_safety_config, structs
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from opendbc.car.tesla.values import CAR
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from opendbc.car.tesla.preap.aol import qualified
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from opendbc.car.tesla.preap.radar_profile import qualified as radar_qualified
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from openpilot.starpilot.car.tesla.radar_settings import read_radar_settings
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def stock_configuration(params, radar=None, pedal=None):
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try:
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from openpilot.starpilot.car.tesla.pedal_preferences import read_pedal_settings
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pedal = read_pedal_settings(params) if pedal is None else pedal
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radar = read_radar_settings(params) if radar is None else radar
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return pedal.valid and radar.valid
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except (OSError, TypeError, ValueError):
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return False
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def prepare_stock(cp, admitted, radar=None, pedal=None):
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if cp.brand != "tesla" or cp.carFingerprint != CAR.TESLA_MODEL_S_PREAP:
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return cp
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if pedal is not None and pedal.enabled:
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from opendbc.car.tesla.preap.pedal_profile import qualified as pedal_qualified
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from opendbc.car.tesla.preap.constants import PEDAL_LONG_K_BP, PEDAL_LONG_KI_V
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desired = 1 | ((6 if radar.behind_nosecone else 2) if radar is not None and radar.enabled else 0)
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if (admitted and pedal.valid and pedal.calibration is not None and pedal.calibration.valid() and
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(qualified(cp) or pedal_qualified(cp))):
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cp.safetyConfigs[0].safetyParam = desired
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cp.radarUnavailable = desired == 1
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cp.openpilotLongitudinalControl = True
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cp.pcmCruise = False
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cp.alphaLongitudinalAvailable = False
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cp.longitudinalTuning.kiBP = PEDAL_LONG_K_BP
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cp.longitudinalTuning.kiV = PEDAL_LONG_KI_V
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cp.longitudinalActuatorDelay = .4
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if pedal_qualified(cp):
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return cp
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cp.dashcamOnly = True
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cp.alternativeExperience = 0
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cp.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput)]
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return cp
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if radar is not None and not radar.valid:
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admitted = False
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if admitted and radar is not None and radar.valid and radar.enabled and (qualified(cp) or radar_qualified(cp)):
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cp.safetyConfigs[0].safetyParam = 6 if radar.behind_nosecone else 2
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cp.radarUnavailable = False
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if not admitted or not (radar_qualified(cp) if radar is not None and radar.enabled else qualified(cp)):
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cp.dashcamOnly = True
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cp.alternativeExperience = 0
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cp.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput)]
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return cp
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