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Adapt BluePilot PR #145 by jrneulight (fe5b019568c8c13fb894dc6d8d779d60985051a8) to the existing exact native profile protocol. Default off; qualified parked setting applies at next startup. Preserve existing larger Mach-E envelope, all yaw/heartbeat/relay health, command limits and shadow freshness checks. Cloud qualification: 171 host tests and 170 subtests; 80 new native/geometry tests; 153 existing native tests and 9131 subtests; release native tests, pandad protocol inventory and full ARM debug/release builds passed. Rebuilt source-stamped firmware follows before branch publication.
75 lines
3.5 KiB
Python
75 lines
3.5 KiB
Python
"""Parked, init-only pinion measurement preference shared by native UI and Galaxy."""
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from opendbc.car.ford.aol import qualified as aol_qualified
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from opendbc.car.ford.pinion import KEY
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from openpilot.starpilot.saved_source import read_saved
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from openpilot.starpilot.saved_document import commit_exact
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from openpilot.starpilot.ui.feature_settings_state import FeatureRow
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CHOICES = {0: "Off", 1: "On"}
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def read_choice(params):
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raw, readable = read_saved(params, KEY, 8)
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valid = readable and raw in (None, b"0", b"1")
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return int(valid and raw == b"1"), raw, readable, valid
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class FordPinionFeature:
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def __init__(self, owner):
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self.owner = owner
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def capability(self):
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cp = self.owner.vehicle_params()
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try:
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if cp is None:
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return None
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from opendbc.car.ford.pinion import GEOMETRY
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if cp.carFingerprint not in GEOMETRY or not aol_qualified(cp):
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return None
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return (str(cp.carFingerprint), int(cp.flags), int(cp.alternativeExperience), bool(cp.openpilotLongitudinalControl),
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bool(cp.pcmCruise), str(cp.steerControlType), bool(cp.passive), bool(cp.dashcamOnly), bool(cp.notCar),
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tuple((str(c.safetyModel), int(c.safetyParam)) for c in cp.safetyConfigs))
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except (AttributeError, TypeError, ValueError, OverflowError):
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return None
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def dependencies(self):
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values = []
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for key in ("SafeMode", "AlwaysOnLateral"):
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raw, readable = read_saved(self.owner.params, key, 8)
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if not readable or raw not in ((None, b"0") if key == "SafeMode" else (None, b"0", b"1")):
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return None
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values.append((key, raw))
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return tuple(values)
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def rows(self, parked):
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capability = self.capability()
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if capability is None:
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return ()
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value, raw, readable, valid = read_choice(self.owner.params)
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dependencies = self.dependencies()
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return (FeatureRow(KEY, "Use Pinion Yaw Sensor", CHOICES[value] if valid else "Invalid saved choice", raw,
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choices=tuple(CHOICES.values()), available=parked and self.owner.authority("parked_preferences") and
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readable and dependencies is not None, capability=capability,
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dependencies=dependencies or (), repair_value="" if valid else CHOICES[0], default_value=CHOICES[0],
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reason="Off by default. Uses steering-pinion curvature instead of RCM yaw in control and Panda safety. "
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+ "Applies next vehicle startup; Safe Mode must be off."),)
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def apply(self, request):
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value = next((code for code, label in CHOICES.items() if label == request.value), None)
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if (request.key != KEY or value is None or request.related_source is not None or request.display_unit or request.direction):
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return False
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def authorized():
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capability = self.capability()
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_, raw, readable, valid = read_choice(self.owner.params)
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dependencies = self.dependencies()
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return (self.owner.authority("parked_preferences") and bool(request.vehicle_fingerprint) and
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self.owner.vehicle_fingerprint() == request.vehicle_fingerprint and capability is not None and
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capability == request.capability and dependencies is not None and dependencies == request.dependencies and
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readable and raw == request.expected and (valid or value == 0))
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result = commit_exact(self.owner.params, key=KEY, max_bytes=8, raw=str(value).encode(), expected=request.expected,
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authorized=authorized, temp_prefix=".ford-pinion-")
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return result.committed and result.verified
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