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https://github.com/firestar5683/StarPilot.git
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firestarsdog
37 lines
1.2 KiB
Python
37 lines
1.2 KiB
Python
"""Toyota cruise step preference shared by native cruise and software SET."""
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import time
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from openpilot.starpilot.saved_source import read_saved
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def capability(cp):
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try:
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if (cp is None or cp.brand != "toyota" or not cp.pcmCruise or not cp.openpilotLongitudinalControl or
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cp.passive or cp.dashcamOnly or cp.notCar or not cp.carFingerprint):
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return None
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return (cp.brand, cp.carFingerprint, bool(cp.pcmCruise), bool(cp.openpilotLongitudinalControl),
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bool(cp.passive), bool(cp.dashcamOnly), bool(cp.notCar))
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except (AttributeError, TypeError, ValueError):
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return None
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class ToyotaCruisePreference:
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def __init__(self, cp, params):
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self.cp, self.params = cp, params
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self.next_read = 0.0
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self.enabled = False
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def update(self):
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now = time.monotonic()
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if now >= self.next_read:
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self.next_read = now + 1.0
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self.enabled = read_reverse_cruise(self.cp, self.params)
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return self.enabled
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def read_reverse_cruise(cp, params) -> bool:
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choice, choice_valid = read_saved(params, "ReverseCruise", 8)
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safe, safe_valid = read_saved(params, "SafeMode", 8)
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return bool(capability(cp) is not None and choice_valid and safe_valid and
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choice == b"1" and safe in (None, b"0"))
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