mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
72 lines
4.1 KiB
Python
72 lines
4.1 KiB
Python
from opendbc.car import structs
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from opendbc.car.tesla.values import CAR
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from openpilot.starpilot.saved_document import commit_exact
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from openpilot.starpilot.car.tesla.radar_settings import DOCUMENT_KEY, MAX_BYTES, encode, read_radar_settings
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from openpilot.starpilot.ui.feature_settings_state import FeatureRow
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KEYS = frozenset(("preap_radar:mode", "preap_radar:offset"))
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FLOAT32_MAX = 3.4028234663852886e38
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def capability(cp):
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if cp is None or cp.brand != "tesla" or cp.carFingerprint != CAR.TESLA_MODEL_S_PREAP:
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return None
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if (cp.flags or cp.notCar or cp.transmissionType == structs.CarParams.TransmissionType.manual or
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cp.fingerprintSource == structs.CarParams.FingerprintSource.fixed):
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return None
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configurations = tuple((str(s.safetyModel), int(s.safetyParam)) for s in cp.safetyConfigs)
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if len(configurations) != 1 or configurations[0] not in (("teslaPreap", 0), ("teslaPreap", 2), ("teslaPreap", 6), ("noOutput", 0)):
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return None
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return (cp.carFingerprint, configurations, bool(cp.dashcamOnly), bool(cp.passive))
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class PreAPRadarFeature:
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def __init__(self, owner):
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self.owner = owner
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def rows(self):
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owner = self.owner
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capable = capability(owner.vehicle_params())
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if capable is None:
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return []
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saved = read_radar_settings(owner.params)
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source = dict(saved.sources).get(DOCUMENT_KEY)
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allowed = owner.authority("parked_preferences")
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mode = "Behind nosecone" if saved.behind_nosecone else "Front" if saved.enabled else "Off"
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return [FeatureRow("preap_radar:mode", "Hardware radar", mode if saved.valid else "Invalid saved configuration", source,
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choices=("Off", "Front", "Behind nosecone") if saved.valid else (),
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repair_value="" if saved.valid else "Off", available=allowed, capability=capable, vehicle_fingerprint=owner.vehicle_fingerprint(),
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dependencies=saved.sources, reason="Parked hardware setup. Applies after restart."),
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FeatureRow("preap_radar:offset", "Radar lateral offset", str(saved.offset) if saved.valid else "Invalid saved configuration", source,
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step=0.05 if saved.valid else 0.0, minimum=-FLOAT32_MAX, maximum=FLOAT32_MAX, unit="m",
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repair_value="" if saved.valid else "0.0", available=allowed, capability=capable, vehicle_fingerprint=owner.vehicle_fingerprint(),
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dependencies=saved.sources, reason="Parked hardware setup. Applies after restart.")]
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def apply(self, request):
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if request.key not in KEYS or request.related_source is not None or request.direction or request.display_unit:
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return False
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row = next((row for row in self.rows() if row.key == request.key), None)
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if row is None or not row.available or request.capability != row.capability or request.dependencies != row.dependencies or request.expected != row.source:
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return False
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saved = read_radar_settings(self.owner.params)
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try:
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if request.key == "preap_radar:mode":
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if request.value not in ("Off", "Front", "Behind nosecone") or (not saved.valid and request.value != "Off"):
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return False
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mode = {"Off": "off", "Front": "front", "Behind nosecone": "nosecone"}[request.value]
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raw = encode(mode, saved.offset if saved.valid else 0.0)
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else:
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if not saved.valid and request.value != "0.0":
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return False
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mode = "nosecone" if saved.behind_nosecone else "front" if saved.enabled else "off"
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raw = encode(mode, request.value)
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except (ValueError, TypeError, OverflowError):
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return False
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def authorized():
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fresh = next((row for row in self.rows() if row.key == request.key), None)
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return bool(fresh is not None and fresh.available and fresh.capability == request.capability and
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fresh.dependencies == request.dependencies and self.owner.vehicle_fingerprint() == request.vehicle_fingerprint)
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result = commit_exact(self.owner.params, key=DOCUMENT_KEY, max_bytes=MAX_BYTES, raw=raw, expected=request.expected,
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authorized=authorized, temp_prefix=".preap-radar-")
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return result.committed and result.verified
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