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https://github.com/firestar5683/StarPilot.git
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firestar5683
71 lines
3.5 KiB
Python
71 lines
3.5 KiB
Python
"""Modern screen gesture override layered over ordinary cruise availability."""
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from dataclasses import replace
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from opendbc.car import structs
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from openpilot.starpilot.aol.intent import AolCardIntent, ButtonType
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class TeslaScreenCardIntent(AolCardIntent):
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def __init__(self, cp, settings):
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super().__init__(settings, explicit_latch=True)
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self.screen_override = None
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self.brake_disengage = bool(cp.safetyConfigs[0].safetyParam & 1024)
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self.previous_enabled = False
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self.previous_available = False
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self.brake_blocked = False
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self.screen_held = False
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def update(self, CS, **kwargs):
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filtered = structs.CarState(**CS.to_dict())
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filtered.buttonEvents = [structs.CarState.ButtonEvent(**event.to_dict()) for event in CS.buttonEvents
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if event.type != ButtonType.lkas]
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super().update(filtered.as_reader(), **kwargs)
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engaged = bool(CS.cruiseState.enabled)
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available = bool(CS.cruiseState.available)
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if (engaged and not self.previous_enabled) or (self.previous_available and not available and not CS.brakePressed):
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self.screen_override = None
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self.brake_blocked = False
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self.pause_lateral = False
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cancel = any(event.type == ButtonType.cancel and event.pressed for event in CS.buttonEvents)
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fault = bool(not CS.canValid or CS.canTimeout or kwargs.get('fault_active') or CS.accFaulted or CS.steerFaultPermanent or
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CS.steeringDisengage or CS.doorOpen or CS.gearShifter not in
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(structs.CarState.GearShifter.drive, structs.CarState.GearShifter.reverse, structs.CarState.GearShifter.neutral))
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rejection = kwargs.get('native_rejection_ns', 0)
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if rejection and self._last_latch_edge_ns < rejection <= kwargs.get('now_ns', 0):
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self.screen_override = False
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if self.brake_disengage and CS.brakePressed:
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self.brake_blocked = True
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self.screen_override = False
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if fault or cancel or not self.settings.enabled:
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self.screen_override = False
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for event in CS.buttonEvents:
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if event.type != ButtonType.lkas:
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continue
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fresh_press = bool(event.pressed and not self.screen_held)
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self.screen_held = bool(event.pressed)
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if (fresh_press and CS.gearShifter == structs.CarState.GearShifter.drive and not CS.steerFaultTemporary and
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not fault and not cancel and self.settings.enabled and
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not (self.brake_disengage and CS.brakePressed)):
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current = (available if self.screen_override is None else self.screen_override)
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current = not self.pause_lateral and bool(current or kwargs.get('standard_enabled'))
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self.screen_override = not current
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self.brake_blocked = False
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self.pause_lateral = current
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self._last_latch_edge_ns = kwargs.get('now_ns', 0)
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self.allowed_latch = bool((available if self.screen_override is None else self.screen_override) and
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not self.brake_blocked and not fault and not cancel and self.settings.enabled)
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self.previous_enabled, self.previous_available = engaged, available
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def _arm_from_full_engagement(self, CS, *, source_ns):
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if not (self.brake_blocked or self.brake_disengage and CS.brakePressed or
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CS.steeringDisengage or CS.doorOpen or CS.gearShifter != structs.CarState.GearShifter.drive):
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self.screen_override = True
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super()._arm_from_full_engagement(CS, source_ns=source_ns)
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@property
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def settings(self):
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return self._settings
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@settings.setter
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def settings(self, value):
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self._settings = replace(value, lkas_action=0)
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