mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
98 lines
4.4 KiB
Python
98 lines
4.4 KiB
Python
"""Select an admitted vehicle-owned longitudinal tuning policy."""
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from opendbc.car.gm.conventional_pedal import policy_for as conventional_pedal_policy_for
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from opendbc.car.gm.camera import policy_for as camera_policy_for
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from opendbc.car.gm.hybrid_cc import policy_for as hybrid_policy_for
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from opendbc.car.gm.ordinary_cc import policy_for as ordinary_cc_policy_for
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from opendbc.car.gm.bolt_cc import policy_for as bolt_cc_policy_for
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from opendbc.car.gm.longitudinal import policy_for as gm_pedal_policy_for, volt_policy_for, euv_policy_for, ascm_policy_for, sdgm_policy_for
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from opendbc.car.gm.cc_longitudinal import policy_for as volt_cc_policy_for
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from opendbc.car.gm.suburban import (policy_for as suburban_policy_for,
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stopping_decel_rate as gm_suburban_stopping_decel_rate)
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from opendbc.car.hyundai.g90_longitudinal import (stopping_decel_rate as hyundai_stopping_decel_rate,
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forecast_should_stop as hyundai_forecast_should_stop)
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def installed_policy_for(cp):
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from opendbc.car.hyundai.ray_pedal import longitudinal_policy_for as ray_policy_for
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return (ray_policy_for(cp) or hybrid_policy_for(cp) or suburban_policy_for(cp) or conventional_pedal_policy_for(cp) or
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camera_policy_for(cp) or ordinary_cc_policy_for(cp) or
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sdgm_policy_for(cp) or ascm_policy_for(cp) or gm_pedal_policy_for(cp) or volt_policy_for(cp) or
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euv_policy_for(cp) or volt_cc_policy_for(cp) or bolt_cc_policy_for(cp))
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def policy_for(cp, startup_preferences=None):
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from opendbc.car.gm.long_tune import selected_policy
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installed = installed_policy_for(cp)
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selection = getattr(startup_preferences, "gm_longitudinal_tune", 0)
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return selected_policy(cp, installed, selection)
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def stopping_decel_rate(cp, policy):
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from opendbc.car.hyundai.legacy_long_aol import stopping_decel_rate as legacy_stop_rate
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rate = legacy_stop_rate(cp)
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if rate is not None:
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return rate
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from opendbc.car.toyota.prius_longitudinal import stopping_decel_rate as prius_filter_stop_rate
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rate = prius_filter_stop_rate(cp)
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if rate is not None:
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return rate
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from opendbc.car.toyota.values import stopping_decel_rate as toyota_stopping_decel_rate
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rate = toyota_stopping_decel_rate(cp)
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if rate is not None:
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return rate
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from opendbc.car.honda.parameter_profiles import stopping_decel_rate as honda_stopping_decel_rate
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rate = honda_stopping_decel_rate(cp)
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if rate is not None:
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return rate
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from opendbc.car.hyundai.gv70_longitudinal import stopping_decel_rate as gv70_stop_rate
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rate = gv70_stop_rate(cp)
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if rate is not None:
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return rate
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rate = hyundai_stopping_decel_rate(cp)
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if rate is not None:
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return rate
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rate = gm_suburban_stopping_decel_rate(cp)
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if rate is not None:
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return rate
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return policy.stopping_decel_rate if policy is not None else 1.0
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def stopping_policy_for(cp, dt):
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from opendbc.car.hyundai.blended_stopping import policy_for as blended_stopping_policy_for
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from opendbc.car.hyundai.ev9_stopping import policy_for as ev9_stopping_policy_for
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from opendbc.car.hyundai.ioniq5pe_stopping import policy_for as pe_stopping_policy_for
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return pe_stopping_policy_for(cp, dt) or ev9_stopping_policy_for(cp, dt) or blended_stopping_policy_for(cp, dt)
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def forecast_should_stop(cp, speeds, time_indices, action_t, fallback):
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from opendbc.car.honda.parameter_profiles import forecast_should_stop as honda_forecast_should_stop
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decision = honda_forecast_should_stop(cp, speeds, time_indices, action_t)
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if decision is not None:
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return decision
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from opendbc.car.hyundai.gv70_longitudinal import forecast_should_stop as gv70_forecast_stop
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decision = gv70_forecast_stop(cp, speeds, time_indices, action_t)
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if decision is not None:
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return decision
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decision = hyundai_forecast_should_stop(cp, speeds, time_indices, action_t)
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return fallback if decision is None else decision
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def tracked_lead_scale(cp):
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from opendbc.car.hyundai.gv70_longitudinal import tracked_lead_scale as hyundai_tracked_lead_scale
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return hyundai_tracked_lead_scale(cp)
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def planner_cost_owner(cp):
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from opendbc.car.hyundai.gv70_costs import eligible
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if not eligible(cp):
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return None
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from openpilot.starpilot.longitudinal.gv70_cost_context import GV70CostContext
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return GV70CostContext()
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def far_follow_owner(cp, dt):
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from openpilot.starpilot.longitudinal.niro_follow import eligible, NiroFarFollow
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return NiroFarFollow(dt) if eligible(cp) else None
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