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https://github.com/firestar5683/StarPilot.git
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firestar5683
38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
"""StarPilot-owned Ford selection; BluePilot receives only its original mode values."""
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from enum import IntEnum
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from opendbc.car.ford.values import CAR
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from openpilot.starpilot.saved_source import read_saved
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KEY = "FordPrefLateralControl"
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CHOICES = ("BluePilot Curvature", "BluePilot Angle", "StarPilot Controller")
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TUNED_CARS = frozenset((CAR.FORD_MUSTANG_MACH_E_MK1, CAR.FORD_EXPLORER_MK6))
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class FordController(IntEnum):
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BLUEPILOT_CURVATURE = 0
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BLUEPILOT_ANGLE = 1
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STARPILOT = 2
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def default_controller(cp):
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tuned = cp is not None and cp.brand == "ford" and cp.carFingerprint in TUNED_CARS
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return FordController.STARPILOT if tuned else FordController.BLUEPILOT_CURVATURE
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def read_controller(cp, params):
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raw, readable = read_saved(params, KEY, 16)
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if not readable:
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return None, raw, False
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# Existing zero defaults become vehicle defaults; existing angle selections remain explicit.
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selected = default_controller(cp) if raw in (None, b"0") else {
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b"1": FordController.BLUEPILOT_ANGLE,
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b"2": FordController.BLUEPILOT_CURVATURE,
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b"3": FordController.STARPILOT,
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}.get(raw)
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return selected, raw, True
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def encoded_choice(label):
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return dict(zip(CHOICES, (b"2", b"1", b"3"), strict=True)).get(label)
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