firestar5683
72 lines
1.9 KiB
Python
72 lines
1.9 KiB
Python
#!/usr/bin/env python3
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from __future__ import annotations
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import sys
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from pathlib import Path
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from typing import Protocol
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LONG_PITCH_KEY = "LongPitch"
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STEER_KP_KEY = "SteerKP"
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STEER_KP_STOCK_KEY = "SteerKPStock"
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DEFAULT_STEER_KP = 0.6
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LEGACY_STEER_KP = 0.7
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QT_STEER_KP_PLACEHOLDER = 1.0
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LAUNCH_PARAM_MIGRATION_MARKER = ".starpilot_launch_param_migrations_v1"
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class ParamsLike(Protocol):
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def get_param_path(self, key: str = "") -> str: ...
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def get_bool(self, key: str) -> bool: ...
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def get_float(self, key: str) -> float: ...
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def put_bool(self, key: str, value: bool) -> None: ...
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def put_float(self, key: str, value: float) -> None: ...
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def _approx_equal(lhs: float, rhs: float, tolerance: float = 1e-6) -> bool:
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return abs(lhs - rhs) <= tolerance
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def _default_marker_path(params: ParamsLike) -> Path:
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return Path(params.get_param_path()) / LAUNCH_PARAM_MIGRATION_MARKER
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def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None = None) -> None:
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marker = marker_path or _default_marker_path(params)
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if marker.exists():
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return
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marker.parent.mkdir(parents=True, exist_ok=True)
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if not params.get_bool(LONG_PITCH_KEY):
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params.put_bool(LONG_PITCH_KEY, True)
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steer_kp = params.get_float(STEER_KP_KEY)
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if _approx_equal(steer_kp, 0.0) or _approx_equal(steer_kp, LEGACY_STEER_KP):
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params.put_float(STEER_KP_KEY, DEFAULT_STEER_KP)
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steer_kp_stock = params.get_float(STEER_KP_STOCK_KEY)
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if (_approx_equal(steer_kp_stock, 0.0) or
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_approx_equal(steer_kp_stock, LEGACY_STEER_KP) or
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_approx_equal(steer_kp_stock, QT_STEER_KP_PLACEHOLDER)):
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params.put_float(STEER_KP_STOCK_KEY, DEFAULT_STEER_KP)
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marker.touch()
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def main() -> int:
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try:
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from openpilot.common.params import Params
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apply_launch_param_migrations(Params())
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except Exception as exc:
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print(f"launch_param_migrations.py failed: {exc}", file=sys.stderr)
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return 1
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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