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firestar5683
45 lines
2.3 KiB
Python
45 lines
2.3 KiB
Python
"""Fresh planner-owned Traffic state for the pedal launch consumer."""
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from openpilot.starpilot.conditional_mode.manual import read_button_map, TRAFFIC_MODE_ACTION
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from openpilot.starpilot.conditional_mode.runtime_settings import ConditionalSettingsOwner
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from openpilot.starpilot.conditional_mode.status import settings_fingerprint
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from openpilot.starpilot.conditional_mode.traffic_status import TrafficDisplayProjector
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class TrafficLaunchState:
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def __init__(self, params, *, cp=None):
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self.params = params
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self.cp = cp
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self.settings = ConditionalSettingsOwner(params)
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self.projector = TrafficDisplayProjector()
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self.buttons = None
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self.checked_ns = -1_000_000_000
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def sample(self, sm, *, now_ns, boot_ns, drive_id):
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if now_ns < self.checked_ns or now_ns - self.checked_ns >= 1_000_000_000:
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self.buttons = read_button_map(self.params, cp=self.cp)
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self.checked_ns = now_ns
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if self.buttons is None:
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return None
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assigned = TRAFFIC_MODE_ACTION in (self.buttons.distance, self.buttons.distance_long, self.buttons.distance_very_long)
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if not assigned:
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self.projector.reset()
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return False
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snapshot = self.settings.refresh(now_ns)
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verdict = self.settings.verdict(snapshot, now_mono_ns=now_ns, drive_id=drive_id)
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fingerprint = settings_fingerprint(snapshot) if verdict.status == 'ready' and verdict.safe_mode is False else None
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try:
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if (fingerprint is None or not sm.seen['slcState'] or not sm.valid['slcState'] or not sm.alive['slcState'] or
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not drive_id < int(sm.logMonoTime['slcState']) <= now_ns or
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not 0 <= now_ns - int(sm.recv_time['slcState'] * 1e9) <= 100_000_000):
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return None
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display = self.projector.project(sm['slcState'], now_mono_ns=now_ns, now_boot_ns=boot_ns, drive_id=drive_id,
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settings_fingerprint=fingerprint, map_fingerprint=self.buttons.fingerprint(),
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map_assigned=True, profile_valid=True, long_active=True, selfdrive_enabled=True,
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car_valid=True, system_long=True)
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except (AttributeError, KeyError, TypeError, ValueError, OverflowError):
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return None
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if display is None or display.state not in ('active', 'off'):
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return None
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return display.state == 'active'
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