mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-12 07:23:45 +08:00
firestar5683
109 lines
5.1 KiB
Python
109 lines
5.1 KiB
Python
import hashlib
|
|
|
|
from openpilot.starpilot.saved_source import read_saved
|
|
from openpilot.starpilot.vehicle_selection import read_selection
|
|
|
|
|
|
STARTUP_KEYS = ('SubaruAvhStartup', 'SubaruStopStartOff', 'AlphaLongitudinalEnabled', 'IsReleaseBranch', 'OpenpilotEnabledToggle', 'SafeMode',
|
|
'DisableOpenpilotLongitudinal', 'ToyotaAutoHold', 'JeepBrakeHold',
|
|
'ToyotaRadarMode', 'VoltSNG', 'GMAutoHold', 'VoltOnePedalMode', 'TurnAssist', 'LongPitch',
|
|
'HondaBoschARadar', 'NAPPedalEnabled', 'NAPRadarEnabled', 'NAPRadarBehindNosecone')
|
|
|
|
|
|
def _editor_cp(cp):
|
|
if cp is None or not getattr(cp, 'passive', False):
|
|
return cp
|
|
from opendbc.car.structs import car
|
|
copied = car.CarParams(**cp.to_dict())
|
|
copied.passive = False
|
|
return copied.as_reader()
|
|
|
|
|
|
def configuration_context(params, physical_cp, physical_raw):
|
|
selection = read_selection(params)
|
|
if not selection.readable or not selection.valid:
|
|
return None, None
|
|
if selection.platform is None:
|
|
return _editor_cp(physical_cp), physical_raw
|
|
saved = tuple((key, *read_saved(params, key, 512)) for key in STARTUP_KEYS)
|
|
revision = hashlib.sha256(repr((selection.raw, saved)).encode()).digest()
|
|
if physical_cp is not None and physical_cp.carFingerprint == selection.platform:
|
|
return _editor_cp(physical_cp), b'vehicle-configuration:' + revision + (physical_raw or b'')
|
|
cp, raw = _factory_context(params, selection.platform, saved)
|
|
if read_selection(params) != selection or _startup_snapshot(params) != saved:
|
|
return None, None
|
|
return (cp, b'vehicle-configuration:' + revision + raw) if cp is not None else (None, None)
|
|
|
|
|
|
def _startup_snapshot(params):
|
|
return tuple((key, *read_saved(params, key, 512)) for key in STARTUP_KEYS)
|
|
|
|
|
|
def _factory_context(params, platform, saved):
|
|
try:
|
|
from opendbc.car import gen_empty_fingerprint
|
|
from opendbc.car.car_helpers import interfaces
|
|
from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences
|
|
from openpilot.cereal import messaging
|
|
from opendbc.car.structs import car
|
|
values = {key: (raw, readable) for key, raw, readable in saved}
|
|
release = values['IsReleaseBranch'] == (b'1', True)
|
|
alpha = not release and values['AlphaLongitudinalEnabled'] == (b'1', True)
|
|
cp = interfaces[platform].get_params(platform, gen_empty_fingerprint(), [], alpha, release, False)
|
|
VehicleStartupPreferences.read(params, enabled=values['OpenpilotEnabledToggle'] == (b'1', True)).prepare(cp)
|
|
raw = cp.to_bytes()
|
|
reader = messaging.log_from_bytes(raw, car.CarParams)
|
|
return reader, raw
|
|
except (AttributeError, KeyError, OSError, RuntimeError, TypeError, ValueError, OverflowError):
|
|
return None, None
|
|
|
|
|
|
def _saved_torque_identities(params):
|
|
from openpilot.starpilot.lateral import controller_selection, torque_settings
|
|
controller_raw, controller_readable = read_saved(params, controller_selection.DOCUMENT_KEY,
|
|
controller_selection.MAX_DOCUMENT_BYTES)
|
|
torque_raw, torque_readable = read_saved(params, torque_settings.DOCUMENT_KEY, torque_settings.MAX_DOCUMENT_BYTES)
|
|
if not controller_readable or not torque_readable or controller_raw is None or torque_raw is None:
|
|
raise ValueError('Saved torque profiles unavailable')
|
|
controller = controller_selection.parse_document(controller_raw)
|
|
torque = torque_settings.parse_document(torque_raw)
|
|
controller_ids = set(controller['vehicles'])
|
|
torque_ids = set(torque)
|
|
identities = controller_ids | torque_ids
|
|
if len(identities) != 1 or controller_ids != torque_ids:
|
|
raise ValueError('Saved torque vehicle is ambiguous')
|
|
return tuple(sorted(identities))
|
|
|
|
|
|
def saved_torque_context(params):
|
|
selection = read_selection(params)
|
|
if not selection.readable or not selection.valid or selection.platform is not None:
|
|
return None, None
|
|
try:
|
|
identities = _saved_torque_identities(params)
|
|
saved = _startup_snapshot(params)
|
|
cp, raw = _factory_context(params, identities[0], saved)
|
|
if cp is None:
|
|
return None, None
|
|
if read_selection(params) != selection or _startup_snapshot(params) != saved or _saved_torque_identities(params) != identities:
|
|
return None, None
|
|
revision = hashlib.sha256(repr((selection.raw, saved, identities)).encode()).digest()
|
|
return cp, b'saved-torque-configuration:' + revision + raw
|
|
except (AttributeError, KeyError, OSError, RuntimeError, TypeError, ValueError, OverflowError):
|
|
return None, None
|
|
|
|
|
|
def settings_configuration(params, physical_cp, physical_raw):
|
|
saved = _startup_snapshot(params)
|
|
cp, token = configuration_context(params, physical_cp, physical_raw)
|
|
editing_saved = False
|
|
if cp is None:
|
|
cp, token = saved_torque_context(params)
|
|
editing_saved = cp is not None
|
|
if cp is None or _startup_snapshot(params) != saved:
|
|
return None, token, False, False
|
|
from openpilot.starpilot.car.hyundai.settings import supports_long_configuration
|
|
configurable_long = bool(supports_long_configuration(cp))
|
|
revision = hashlib.sha256(repr(saved).encode()).digest()
|
|
return cp, b'settings-configuration:' + revision + (token or b''), editing_saved, configurable_long
|