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https://github.com/firestar5683/StarPilot.git
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firestar5683
d5b0c26f91
Add Tesla HW1 and supported namespace handling with explicit native admission and unknown-bit rejection.
62 lines
3.0 KiB
Python
62 lines
3.0 KiB
Python
"""Saved screen gestures for a detected Tesla Vehicle CAN connection."""
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from openpilot.starpilot.saved_document import commit_exact
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from openpilot.starpilot.saved_source import read_saved
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from openpilot.starpilot.ui.feature_settings_state import FeatureRow
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KEYS = frozenset(('TeslaAOLScreenTap', 'TeslaAOLDisengageOnBrake'))
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ROWS = (
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('TeslaAOLScreenTap', 'Three-Finger AOL Tap',
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'Touch the Tesla screen with three fingers to toggle Always On Lateral. Requires Always On Lateral and the detected Vehicle CAN add-on cable. ' +
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'Does not engage or cancel cruise control. Applies after the next startup.'),
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('TeslaAOLDisengageOnBrake', 'Disengage AOL on Brake',
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'With screen-tap steering enabled, pressing the brake disarms Always On Lateral. ' +
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'Turn off to keep steering armed during braking. Applies after the next startup.'),
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)
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class TeslaScreenFeature:
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def __init__(self, owner):
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self.params = owner.params
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self.authority = owner.authority
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self.vehicle_params = owner.vehicle_params
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self.vehicle_fingerprint = owner.vehicle_fingerprint
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def capability(self):
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from opendbc.car.tesla.screen_button import screen_tap_supported
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cp = self.vehicle_params()
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if not screen_tap_supported(cp):
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return None
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return (str(cp.carFingerprint), str(cp.brand), int(cp.flags), bool(cp.openpilotLongitudinalControl),
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bool(cp.pcmCruise), int(cp.alternativeExperience),
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tuple((str(config.safetyModel), int(config.safetyParam)) for config in cp.safetyConfigs))
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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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rows = []
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for key, label, reason in ROWS:
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raw, readable = read_saved(self.params, key, 8)
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valid = readable and raw in (None, b'0', b'1')
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rows.append(FeatureRow(key, label, ('On' if raw == b'1' else 'Off') if valid else 'Invalid saved choice',
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source=raw, choices=('Off', 'On') if valid else (), default_value='Off',
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available=parked and self.authority('parked_preferences') and valid,
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reason=reason if valid else 'Invalid saved choice', capability=capability))
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return tuple(rows)
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def apply(self, request):
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if (request.key not in KEYS or request.value not in ('Off', 'On') or not request.confirmation or
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request.expected not in (None, b'0', b'1') or request.dependencies or request.related_source is not None or
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request.display_unit or request.direction):
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return False
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def authorized():
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return (self.authority('parked_preferences') and bool(request.vehicle_fingerprint) and
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self.vehicle_fingerprint() == request.vehicle_fingerprint and request.capability is not None and
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self.capability() == request.capability)
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result = commit_exact(self.params, key=request.key, max_bytes=8, expected=request.expected,
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raw=b'1' if request.value == 'On' else b'0', authorized=authorized, temp_prefix='.tesla-screen-')
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return result.committed and result.verified
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