IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/car/interfaces.py

@@ -0,0 +1,92 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from iqdbc.car import structs as _dbc
+from iqpilot.common.params import Params as _Store, UnknownKeyName as _UnknownKey
+from iqpilot.common.swaglog import cloudlog as _log
+from iqpilot.selfdrive.controls.lib.latcontrol_torque import get_nn_model_path as _resolve_nn
+
+import iqpilot.system.sentry as _telemetry
+
+_ANGLE = _dbc.CarParams.SteerControlType.angle
+
+# Port tunables surfaced to the fingerprint step, flat so the read is one pass.
+_TUNABLES = (
+  "IQHyundaiLongTune",
+  "IQSubaruCreepAssist",
+  "IQSubaruCreepAssistManualBrake",
+  "IQTeslaFsdVisualization",
+  "IQTeslaTorqueBlend",
+  "IQToyotaFactoryLong",
+  "ToyotaSnGHack",
+)
+
+
+def initialize_params(store):
+  return [{name: store.get(name, return_default=True)} for name in _TUNABLES]
+
+
+def log_fingerprint(cp) -> None:
+  ident = cp.carFingerprint
+  if ident == "MOCK":
+    _telemetry.capture_fingerprint_mock()
+  else:
+    _telemetry.capture_fingerprint(ident, cp.brand)
+
+
+def set_speed_limit_controller_availability(cp, cp_iq, store=None) -> bool:
+  """Gate the speed-limit controller off on platforms that can't run it, dropping a
+  stuck 'control' mode down to 'warning'."""
+  store = store or _Store()
+  brand = cp.brand
+  off = (brand == "rivian"
+         or (brand == "tesla" and store.get_bool("IsReleaseIqBranch"))
+         or (not cp.openpilotLongitudinalControl and cp_iq.pcmCruiseSpeed))
+  if off and store.get("IQSpeedAssistMode", return_default=True) == 3:  # control -> warning
+    store.put("IQSpeedAssistMode", 2)
+  return not off
+
+
+def _stamp_lateral_model(cp, cp_iq, store) -> bool:
+  where, label, precise = _resolve_nn(cp)
+  nn = cp_iq.iqLateralNet
+  nn.model.path, nn.model.name, nn.fuzzyFingerprint = where, label, not precise
+  if label == "MOCK":
+    _log.error({"nnff event": "car doesn't match any Neural Network model"})
+    return False
+  return cp.steerControlType != _ANGLE and store.get_bool("NeuralNetworkFeedForward")
+
+
+def _cleanup_unsupported_params(cp, cp_iq, store=None) -> None:
+  store = store or _Store()
+  doomed = {
+    "NeuralNetworkFeedForward": cp.steerControlType == _ANGLE,
+    "LongIncrementsEnabled": not cp.openpilotLongitudinalControl and cp_iq.pcmCruiseSpeed,
+  }
+  for name, gone in doomed.items():
+    if gone:
+      _log.warning(f"unsupported on this port, clearing {name}")
+      store.remove(name)
+  set_speed_limit_controller_availability(cp, cp_iq, store)
+
+
+def _apply_radar_scan_switch(cp, store) -> None:
+  if cp.brand != "honda" or cp.radarUnavailable:
+    return
+  try:
+    switch = store.get("IQHondaRadarScan")
+  except _UnknownKey:
+    # params store predates the key (mid-update): the switch defaults on
+    return
+  # opt-out kill switch: only an explicit "0" disables, so a never-materialized param stays on
+  if switch in (b"0", "0"):
+    _log.warning("IQHondaRadarScan disabled, running without the radar object scan")
+    cp.radarUnavailable = True
+
+
+def apply_iq_car_config(ci, store=None) -> None:
+  store = store or _Store()
+  if _stamp_lateral_model(ci.CP, ci.CP_IQ, store):
+    ci.configure_torque_tune(ci.CP.carFingerprint, ci.CP.lateralTuning)
+  _cleanup_unsupported_params(ci.CP, ci.CP_IQ, store)
+  _apply_radar_scan_switch(ci.CP, store)