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https://github.com/firestar5683/StarPilot.git
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firestar5683
87 lines
4.5 KiB
Python
87 lines
4.5 KiB
Python
"""Parked Jetlink selection and its read-only provisioning status."""
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from __future__ import annotations
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MODES = ("off", "usb", "ios")
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class JetlinkSettings:
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def __init__(self, *, params=None, link=None, device_type=None, chestnut=None, runtime=None):
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self._params = params
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self._link = link
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self._device_type = device_type
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self._chestnut = chestnut
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self._runtime = runtime
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def params(self):
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if self._params is None:
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from openpilot.common.params import Params
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self._params = Params()
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return self._params
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def snapshot(self):
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try:
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return self._snapshot()
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except (OSError, RuntimeError, ValueError, ImportError):
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return {"mode": "off", "supported": False, "chestnut": False, "enabled": False,
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"present": False, "prepared": False, "active": False, "runtimeState": "unavailable", "state": "unavailable",
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"reason": "Jetlink status is unavailable; the local model remains in use.",
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"progress": "", "model": None, "transport": "USB", "chargePhone": False}
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def _snapshot(self):
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from openpilot.starpilot.models.jetlink_adapter import adapter, get_jetlink, runtime_status, supported_device
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if self._device_type is None:
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from openpilot.common.hardware import HARDWARE
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device = HARDWARE.get_device_type()
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else:
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device = self._device_type()
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supported = supported_device(device)
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chestnut = self._chestnut() if self._chestnut is not None else adapter().chestnut_present()
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params = self.params()
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raw = params.get("JetlinkMode")
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mode = MODES[raw] if type(raw) is int and 0 <= raw < len(MODES) else "off"
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link = self._link() if self._link is not None else get_jetlink()
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status = link.status() if link is not None else None
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reason = "" if supported else "Jetlink requires a comma 3X or comma 4."
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if mode != "off" and status is None:
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reason = reason or "Jetlink is unavailable; the local model remains in use."
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if status is not None and status.reason:
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reason = str(status.reason)
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progress = status.progress if status is not None and isinstance(status.progress, dict) else {}
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runtime = self._runtime() if self._runtime is not None else runtime_status()
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active = mode != "off" and supported and not chestnut and runtime.get("active") is True
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runtime_state = runtime.get("state", "unavailable")
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stage = str(progress.get("stage", ""))
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state = "off" if mode == "off" else "unavailable" if reason else "prepared" if status.ready else stage or "pending"
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if active:
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state = "active"
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elif mode != "off" and not reason and runtime_state in ("joining", "retrying", "ready"):
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state = {"joining": "connecting", "retrying": "fallback / reconnecting", "ready": "waiting for disengagement"}[runtime_state]
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return {"mode": mode, "supported": supported, "chestnut": chestnut, "enabled": bool(status and status.enabled and supported),
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"present": bool(status and status.present), "prepared": bool(mode != "off" and status and status.ready and supported),
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"active": active, "runtimeState": runtime_state,
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"activeArtifactSha256": runtime.get("artifact_sha256") if active else None,
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"activeCheckpoint": runtime.get("model_checkpoint") if active else None,
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"state": state, "reason": reason, "progress": str(progress.get("msg", "")),
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"model": status.model if status is not None else None,
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"transport": status.transport if status is not None else "USB",
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"chargePhone": params.get_bool("JetlinkChargePhone")}
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def configure(self, payload):
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if not payload or set(payload) - {"mode", "chargePhone"}:
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raise ValueError("Invalid Jetlink settings")
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if "mode" in payload and payload["mode"] not in MODES:
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raise ValueError("Choose Off, USB, or iPhone")
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if "chargePhone" in payload and type(payload["chargePhone"]) is not bool:
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raise ValueError("Invalid phone charging setting")
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view = self.snapshot()
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if payload.get("mode", "off") != "off" and not view["supported"]:
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raise ValueError("Jetlink requires a comma 3X or comma 4")
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if payload.get("mode", "off") != "off" and view["chestnut"]:
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raise ValueError("Chestnut is connected; Jetlink cannot run alongside it")
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params = self.params()
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if "chargePhone" in payload:
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params.put_bool("JetlinkChargePhone", payload["chargePhone"], block=True)
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if "mode" in payload:
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params.put("JetlinkMode", MODES.index(payload["mode"]), block=True)
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return {"message": "Jetlink settings saved. Check connection status before driving."}
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