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firestar5683
39 lines
1.7 KiB
Python
39 lines
1.7 KiB
Python
"""Ioniq 6 saved left-paddle longitudinal cancel, separate from ordinary Cancel."""
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from opendbc.car.structs import car
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from openpilot.selfdrive.selfdrived.events import ET, EVENTS, EventName
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from openpilot.starpilot.longitudinal.ioniq6_start import eligible as ioniq6_long_eligible
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from openpilot.starpilot.saved_source import read_saved
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ButtonType = car.CarState.ButtonEvent.Type
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def saved_enabled(params) -> bool:
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try:
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raw, readable = read_saved(params, "NostalgiaMode", 8)
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return readable and raw == b"1"
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except (OSError, TypeError, ValueError):
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return False
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def paddle_cancel(cp, cs, *, enabled: bool, saved: bool) -> bool:
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return bool(saved and enabled and ioniq6_long_eligible(cp) and cs.canValid and not cs.canTimeout and
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any(event.type == ButtonType.altButton2 and event.pressed for event in cs.buttonEvents))
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def physical_cancel(cs) -> bool:
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return any(event.type == ButtonType.cancel for event in cs.buttonEvents)
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def aol_no_entry(event_names, cs, *, paddle_only_cancel: bool, cruise_main_required: bool = True,
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allow_below_engage_speed: bool = False, allow_lateral_cancel: bool = False) -> bool:
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"""Apply vehicle-owned lateral exceptions without changing ordinary cruise events."""
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return any(event not in (EventName.pedalPressed, EventName.seatbeltNotLatched) and ET.NO_ENTRY in EVENTS.get(event, {}) and
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(event != EventName.belowEngageSpeed or not allow_below_engage_speed) and
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(event != EventName.wrongCarMode or cruise_main_required) and
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(event != EventName.buttonCancel or
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(not allow_lateral_cancel and (not paddle_only_cancel or physical_cancel(cs))))
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for event in event_names)
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