mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-17 19:02:06 +08:00
Rick Lan
34 lines
1.3 KiB
Python
34 lines
1.3 KiB
Python
#!/usr/bin/env python3.7
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import subprocess
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from common.params import Params
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params = Params()
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def get_last_modified():
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return Params().get('DragonLastModified', encoding='utf-8')
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def is_online():
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return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
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def common_controller_update(lane_change_enabled):
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dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
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if dragon_lat_ctrl:
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lane_change_enabled = True if params.get("LaneChangeEnabled", encoding='utf8') == "1" else False
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if not lane_change_enabled:
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dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
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else:
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dragon_enable_steering_on_signal = False
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else:
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dragon_enable_steering_on_signal = False
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return dragon_lat_ctrl, lane_change_enabled, dragon_enable_steering_on_signal
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def common_controller_ctrl(enabled, dragon_lat_ctrl, dragon_enable_steering_on_signal, left_blinker, right_blinker, steer_req):
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if enabled:
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if dragon_enable_steering_on_signal:
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if left_blinker or right_blinker:
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steer_req = 0 if isinstance(steer_req, int) else False
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if not dragon_lat_ctrl:
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steer_req = 0 if isinstance(steer_req, int) else False
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return steer_req
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