IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/controls/lib/helpers/blinker_pause.py

@@ -0,0 +1,82 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from iqpilot.cereal import car
+
+from iqpilot.common.constants import CV
+from iqpilot.common.params import Params
+
+
+class SignalPauseEngine:
+  _KEY_ON = "IQBlinkerPauseLateral"
+  _KEY_UNIT = "IsMetric"
+  _KEY_GATE = "IQBlinkerMinLateralSpeed"
+
+  def __init__(self):
+    self._kv = Params()
+    self._state = {"on": False, "metric": False, "gate": 0.0}
+    self.reload_setup()
+
+  @staticmethod
+  def _one_signal(cs: car.CarState) -> bool:
+    return bool(cs.leftBlinker) ^ bool(cs.rightBlinker)
+
+  @staticmethod
+  def _as_float(raw) -> float:
+    try:
+      return float(raw) if raw is not None else 0.0
+    except (TypeError, ValueError):
+      return 0.0
+
+  def _pull_setup(self) -> None:
+    self._state["on"] = self._kv.get_bool(self._KEY_ON)
+    self._state["metric"] = self._kv.get_bool(self._KEY_UNIT)
+    self._state["gate"] = self._as_float(self._kv.get(self._KEY_GATE))
+
+  def _gate_mps(self) -> float:
+    factor = CV.KPH_TO_MS if self._state["metric"] else CV.MPH_TO_MS
+    return self._state["gate"] * factor
+
+  def reload_setup(self) -> None:
+    self._pull_setup()
+
+  def heartbeat(self) -> None:
+    self._pull_setup()
+
+  def is_paused(self, cs: car.CarState) -> bool:
+    return bool(self._state["on"] and self._one_signal(cs) and cs.vEgo < self._gate_mps())
+
+  @property
+  def enabled(self):
+    return self._state["on"]
+
+  @enabled.setter
+  def enabled(self, value):
+    self._state["on"] = bool(value)
+
+  @property
+  def is_metric(self):
+    return self._state["metric"]
+
+  @is_metric.setter
+  def is_metric(self, value):
+    self._state["metric"] = bool(value)
+
+  @property
+  def min_speed(self):
+    return self._state["gate"]
+
+  @min_speed.setter
+  def min_speed(self, value):
+    self._state["gate"] = float(value)
+
+
+class IQSignalPauseController(SignalPauseEngine):
+  def __init__(self):
+    super().__init__()
+
+  def get_params(self) -> None:
+    self.reload_setup()
+
+  def update(self, cs: car.CarState) -> bool:
+    return self.is_paused(cs)