IQ.Pilot Release Commit @ 0798119

iqpilot/vehicle/vehicle.py

@@ -0,0 +1,59 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from cereal import log
+from iqdbc.car import structs
+from iqdbc.car.chrysler.values import RAM_DT
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.iqpilot.selfdrive.selfdrived.events import IQEvents
+
+_E = log.OnroadEvent.EventName
+_GEAR = structs.CarState.GearShifter
+
+# RAM_DT trucks with an enable floor at/above this need the gear-gated steer-floor latch
+_RAM_STEER_FLOOR_MS = 14.5
+
+
+class VehicleEvents:
+  """Brand-specific corrections layered onto the generic onroad event set.
+
+  openpilot's shared event path doesn't cover a couple of platform quirks: RAM_DT owns its
+  own low-speed steering floor, and a gas-interceptor Toyota can creep off a stop without the
+  stock resume prompt. Each supported brand gets a small handler that edits the live event set.
+  """
+
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+    self._steer_floor_held = False
+
+  def update(self, CS: structs.CarState, events: Events) -> IQEvents:
+    handler = self._BRAND_HANDLERS.get(self.CP.brand)
+    if handler is not None:
+      handler(self, CS, events)
+    return IQEvents()
+
+  def _ram_steer_floor(self, CS: structs.CarState, events: Events) -> None:
+    if self.CP.carFingerprint in RAM_DT:
+      # RAM_DT drives its own steer floor, so drop openpilot's generic alert and latch ours instead.
+      # Two independent gates on purpose: clearing above the enable floor, then re-latching when
+      # parked out of Drive — the latch wins when both hold at once.
+      events.remove(_E.belowSteerSpeed)
+      if CS.vEgo >= self.CP.minEnableSpeed:
+        self._steer_floor_held = False
+      if self.CP.minEnableSpeed >= _RAM_STEER_FLOOR_MS and CS.gearShifter != _GEAR.drive:
+        self._steer_floor_held = True
+    if self._steer_floor_held:
+      events.add(_E.belowSteerSpeed)
+
+  def _toyota_interceptor_resume(self, CS: structs.CarState, events: Events) -> None:
+    if not self.CP.openpilotLongitudinalControl:
+      return
+    stopped_and_coasting = CS.cruiseState.standstill and not CS.brakePressed
+    if stopped_and_coasting and self.CP_IQ.enableGasInterceptor:
+      events.remove(_E.resumeRequired)
+
+  _BRAND_HANDLERS = {
+    'chrysler': _ram_steer_floor,
+    'toyota': _toyota_interceptor_resume,
+  }