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firestar5683
53 lines
2.6 KiB
Python
53 lines
2.6 KiB
Python
"""Source-bound edits for the shared final acceleration ceiling."""
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import math
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from openpilot.starpilot.longitudinal.output_max import KEY, DEFAULT, MINIMUM, MAXIMUM, MAX_BYTES, capability, read_maximum
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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 OutputMaximumFeature:
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def __init__(self, owner):
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self.owner = owner
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def row(self) -> FeatureRow:
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owner = self.owner
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saved = read_maximum(owner.params)
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parked = owner.authority("parked_preferences")
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capable = None if parked else capability(owner.vehicle_params())
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allowed = (parked or capable is not None and owner.authority("long_output")) and saved.readable
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return FeatureRow(KEY, "Maximum acceleration", str(saved.value) if saved.valid else "Invalid saved value", saved.raw,
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step=0.1 if saved.valid else 0.0, minimum=MINIMUM, maximum=MAXIMUM, unit="m/s²",
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available=allowed, reason="Updates within one second; vehicle limits still apply" if saved.valid else
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"Restore 4.0 to replace the invalid saved value" if saved.readable else "Saved value cannot be read",
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vehicle_fingerprint=None if parked else owner.vehicle_fingerprint(), capability=capable,
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repair_value="" if saved.valid else str(DEFAULT), default_value=str(DEFAULT))
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def apply(self, request) -> bool:
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if (request.key != KEY or request.dependencies or request.related_source is not None or request.display_unit or
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request.direction):
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return False
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try:
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value = float(request.value)
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except (TypeError, ValueError, OverflowError):
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return False
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if not math.isfinite(value) or not MINIMUM <= value <= MAXIMUM:
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return False
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owner = self.owner
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def authorized() -> bool:
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saved = read_maximum(owner.params)
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parked_request = request.capability is None and request.vehicle_fingerprint is None
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if parked_request:
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allowed = owner.authority("parked_preferences")
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else:
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capable = capability(owner.vehicle_params())
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allowed = (owner.authority("long_output") and capable is not None and capable == request.capability and
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owner.vehicle_fingerprint() == request.vehicle_fingerprint)
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return bool(allowed and saved.readable and saved.raw == request.expected and (saved.valid or value == DEFAULT))
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result = commit_exact(owner.params, key=KEY, max_bytes=MAX_BYTES, raw=str(value).encode(), expected=request.expected,
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authorized=authorized, temp_prefix=".long-output-")
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return result.committed and result.verified
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