IQ.Pilot Prebuilt Release @ 27f668a

artifacts/package_runtime/iqdbc/lvbs/car/rivian/aol.py

@@ -0,0 +1,30 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Always-on-Lateral output adapter for Rivian: derives the per-frame lateral-active
+and lane-keep icon state the LKAS command needs from the shared AOL state.
+"""
+from collections import namedtuple
+
+from iqdbc.car import structs
+from iqdbc.car.interfaces import CarStateBase
+
+# Rivian EPAS rejects large-angle torque, so lateral is dropped past this bound.
+_MAX_STEERING_ANGLE = 90.0
+
+AolDataIQ = namedtuple("AolDataIQ", ["lka_icon_states", "lat_active"])
+
+
+class AolCarController:
+  def __init__(self):
+    self.aol = AolDataIQ(False, False)
+
+  def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase) -> None:
+    prev_active = self.aol.lat_active
+    if CC_IQ.aol.available:
+      lat_active = CC.latActive and abs(CS.out.steeringAngleDeg) < _MAX_STEERING_ANGLE
+      lka_icon = prev_active
+    else:
+      lat_active = CC.latActive
+      lka_icon = CC.enabled
+    self.aol = AolDataIQ(lka_icon, lat_active)