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firestar5683
60 lines
2.1 KiB
Python
60 lines
2.1 KiB
Python
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 TeslaPreapCardIntent(AolCardIntent):
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observe_stock_engagement = True
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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, enabled=True, main_action=0, lkas_action=0)
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def __init__(self, cp, settings):
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# The physical stalk owner is independent of the saved global AOL switch.
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super().__init__(settings, explicit_latch=True)
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self.pull_held = False
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self.pull_neutral = False
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def _arm_from_full_engagement(self, CS, *, source_ns):
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# Set already arms through the physical stalk owner, including neutral credit.
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pass
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def update(self, CS, **kwargs):
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state = structs.CarState(**CS.to_dict())
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pull = False
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cancel = False
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events = []
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for event in CS.buttonEvents:
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if event.type == ButtonType.setCruise:
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if event.pressed:
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pull = self.pull_neutral and not self.pull_held
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self.pull_held = True
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self.pull_neutral = False
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else:
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self.pull_held = False
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self.pull_neutral = True
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else:
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cancel |= event.type == ButtonType.cancel and event.pressed
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events.append(structs.CarState.ButtonEvent(**event.to_dict()))
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state.buttonEvents = events
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super().update(state.as_reader(), **kwargs)
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healthy = bool(CS.canValid and not CS.canTimeout)
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fault = bool(kwargs.get('fault_active') or CS.accFaulted or CS.steerFaultPermanent or CS.steeringDisengage or
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CS.doorOpen or CS.gearShifter not in (structs.CarState.GearShifter.drive,
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structs.CarState.GearShifter.reverse, structs.CarState.GearShifter.neutral))
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if not healthy or fault or cancel:
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self.allowed_latch = False
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self.pull_neutral = False
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elif pull and not self._fault_inhibit and CS.gearShifter == structs.CarState.GearShifter.drive:
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self.allowed_latch = True
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self.pause_lateral = False
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self._last_latch_edge_ns = kwargs.get('now_ns', 0)
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elif not self.pull_held:
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self.pull_neutral = True
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