mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-14 16:33:59 +08:00
alan-polk
8da0c9d916
StarPilot's angle-only bluepilot_lateral adaptation and the BluePilot-derived curvature strategies (Mach-E, classic, Explorer, generic CAN FD, new-port curvature, manual-turn latch, curvature preview, pinion measurement) are removed, with their extended safety profiles 16/32/64 and the interim angle word 128. Ford lateral is upstream's stock curvature path until the BluePilot lateral library is mounted. StarPilot's own Ford features stay, re-keyed from the extended words to the stock ones: - AOL: classic 32 -> 0, Mach-E 18 and the CAN FD trucks 66 -> 2 (+1 with openpilot long); the CAN FD retained-display rules apply to word 2. Edge/Mondeo/Transit and the manual bit (256) are unchanged. - release CAN FD long: word 3 (was 19/67); 19 and 67 are now retired and denied. - stock cruise switch, CAN FD camera-lead radar handling, hands-free cluster: keyed on the Ford family. - classic stock ACC (0) keeps the no-ACCDATA TX list the extended classic profile had. Bits 9-14 of the Ford param are reserved for the BluePilot lateral library's startup bits (safety/modes/ford_param.h); AOL and pandad mask them out of the profile word. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
49 lines
2.6 KiB
Python
49 lines
2.6 KiB
Python
"""Ford hands-free cluster display preference shared by Galaxy and the native feature presentation."""
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from openpilot.starpilot.saved_document import commit_exact
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from openpilot.starpilot.ui.feature_settings_state import FeatureRow
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class FordClusterFeature:
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"""Shared native/Galaxy saved display preference for Ford CAN-FD profiles."""
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def __init__(self, owner):
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self.owner = owner
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def capability(self):
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from openpilot.starpilot.car.ford.cluster_preferences import qualified
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cp = self.owner.vehicle_params()
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try:
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if cp is None or not qualified(cp):
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return None
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return (str(cp.carFingerprint), int(cp.flags), int(cp.alternativeExperience), bool(cp.openpilotLongitudinalControl),
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tuple((str(c.safetyModel), int(c.safetyParam)) for c in cp.safetyConfigs))
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except (AttributeError, TypeError, ValueError, OverflowError):
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return None
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def rows(self, parked):
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from openpilot.starpilot.car.ford.cluster_preferences import KEY, CHOICES, read_choice
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capability = self.capability()
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if capability is None:
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return ()
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value, raw, readable, valid = read_choice(self.owner.params)
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return (FeatureRow(KEY, "Ford hands-free cluster display", CHOICES[value] if valid else "Invalid saved choice", raw,
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choices=tuple(CHOICES.values()), available=parked and self.owner.authority("parked_preferences") and readable,
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capability=capability, repair_value="" if valid else CHOICES[0], default_value=CHOICES[0],
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reason="Changes the active cluster icon only; driver attention requirements remain unchanged."),)
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def apply(self, request):
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from openpilot.starpilot.car.ford.cluster_preferences import KEY, CHOICES, read_choice
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value = next((code for code, label in CHOICES.items() if label == request.value), None)
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if (request.key != KEY or value is None or request.related_source is not None or request.display_unit or request.direction):
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return False
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def authorized():
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capability = self.capability()
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_, raw, readable, valid = read_choice(self.owner.params)
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return (self.owner.authority("parked_preferences") and bool(request.vehicle_fingerprint) and
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self.owner.vehicle_fingerprint() == request.vehicle_fingerprint and capability is not None and
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capability == request.capability and readable and raw == request.expected and (valid or value == 0))
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result = commit_exact(self.owner.params, key=KEY, max_bytes=8, raw=str(value).encode(), expected=request.expected,
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authorized=authorized, temp_prefix=".ford-cluster-")
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return result.committed and result.verified
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