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firestar5683
33 lines
1.1 KiB
Python
33 lines
1.1 KiB
Python
"""Vehicle-scoped availability for experimental lateral-only testing.
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Experimental mode normally implies that openpilot may run its longitudinal
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planner. A few stock-ACC platforms can safely use the mode for model/lateral
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testing as long as the longitudinal actuator gate remains closed. Keep this
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allow-list narrow and explicit so stock-ACC vehicles do not gain an
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experimental control path accidentally.
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"""
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from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
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# The 2023+ Hyundai Palisade platform also identifies Kia Telluride routes.
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LATERAL_ONLY_EXPERIMENTAL_CARS = frozenset({
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HYUNDAI_CAR.HYUNDAI_PALISADE_2023,
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})
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def lateral_only_experimental_available(CP) -> bool:
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"""Return whether this car may expose Experimental Mode without openpilot long."""
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return (
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not bool(getattr(CP, "openpilotLongitudinalControl", False)) and
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getattr(CP, "carFingerprint", None) in LATERAL_ONLY_EXPERIMENTAL_CARS
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)
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def experimental_mode_available(CP) -> bool:
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"""Return whether Experimental Mode is valid for the current car."""
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return (
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bool(getattr(CP, "openpilotLongitudinalControl", False)) or
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lateral_only_experimental_available(CP)
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)
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