IQ.Lvbs/IQ.Pilot
8
7
Fork 3
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ fddcfba

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-07-21 13:46:05 -05:00
parent eea1278105
commit b6c0232c12
667 changed files with 3218 additions and 1780 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
common/params.cc
View File

@@ -103,14 +103,10 @@ Params::~Params() {
assert(queue.empty());
}
std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
std::vector<std::string> Params::allKeys() const {
std::vector<std::string> ret;
ret.reserve(keys.size());
for (const auto &[name, attrs] : keys) {
const bool matches = (flag == ALL) || ((attrs.flags & flag) != 0);
if (matches) {
ret.push_back(name);
}
for (auto &p : keys) {
ret.push_back(p.first);
}
return ret;
}

3
common/params.h
View File

@@ -18,7 +18,6 @@ enum ParamKeyFlag {
DONT_LOG = 0x20,
DEVELOPMENT_ONLY = 0x40,
CLEAR_ON_IGNITION_ON = 0x80,
KONN3KT_BACKUP = 0x100,
ALL = 0xFFFFFFFF
};
@@ -46,7 +45,7 @@ public:
Params(const Params&) = delete;
Params& operator=(const Params&) = delete;
std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
std::vector<std::string> allKeys() const;
bool checkKey(const std::string &key);
ParamKeyFlag getKeyFlag(const std::string &key);
ParamKeyType getKeyType(const std::string &key);

367
common/params_keys.h
View File

@@ -7,8 +7,8 @@
inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
{"AdbEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"AlwaysOnDM", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"AdbEnabled", {PERSISTENT, BOOL}},
{"AlwaysOnDM", {PERSISTENT, BOOL}},
{"ApiCache_Device", {PERSISTENT, STRING}},
{"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
{"AssistNowToken", {PERSISTENT, STRING}},
@@ -31,20 +31,20 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"CurrentBootlog", {PERSISTENT, STRING}},
{"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
{"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
{"DisablePowerDown", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"DisableUpdates", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"UpdaterInstallMode", {PERSISTENT | KONN3KT_BACKUP, STRING, "download_and_install"}},
{"DisengageOnAccelerator", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"DisablePowerDown", {PERSISTENT, BOOL}},
{"DisableUpdates", {PERSISTENT, BOOL, "0"}},
{"UpdaterInstallMode", {PERSISTENT, STRING, "download_and_install"}},
{"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
{"DongleId", {PERSISTENT, STRING}},
{"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
{"DevicePowerState", {CLEAR_ON_MANAGER_START, STRING}},
{"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
{"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
{"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
{"AlphaLongitudinalEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"ExperimentalMode", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"ExperimentalModeConfirmed", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"FastSleep", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"AlphaLongitudinalEnabled", {PERSISTENT, BOOL}},
{"ExperimentalMode", {PERSISTENT, BOOL}},
{"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
{"FastSleep", {PERSISTENT, BOOL}},
{"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
{"ForcePowerDown", {PERSISTENT, BOOL}},
{"GitAuthBlob", {PERSISTENT, BYTES}},
@@ -52,21 +52,21 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"GitCommit", {PERSISTENT, STRING}},
{"GitCommitDate", {PERSISTENT, STRING}},
{"GitDiff", {PERSISTENT, STRING}},
{"GithubSshKeys", {PERSISTENT | KONN3KT_BACKUP, STRING}},
{"GithubUsername", {PERSISTENT | KONN3KT_BACKUP, STRING}},
{"GithubSshKeys", {PERSISTENT, STRING}},
{"GithubUsername", {PERSISTENT, STRING}},
{"GitRemote", {PERSISTENT, STRING}},
{"GsmApn", {PERSISTENT | KONN3KT_BACKUP, STRING}},
{"GsmMetered", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"GsmRoaming", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"GsmApn", {PERSISTENT, STRING}},
{"GsmMetered", {PERSISTENT, BOOL, "1"}},
{"GsmRoaming", {PERSISTENT, BOOL}},
{"HardwareSerial", {PERSISTENT, STRING}},
{"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
{"HephaestusdPid", {PERSISTENT, INT}},
{"InstallDate", {PERSISTENT, TIME}},
{"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
{"IsEngaged", {PERSISTENT, BOOL}},
{"IsLdwEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"IsLdwEnabled", {PERSISTENT, BOOL}},
{"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
{"IsMetric", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"IsMetric", {PERSISTENT, BOOL}},
{"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
{"IsOnroad", {PERSISTENT, BOOL}},
{"IsRhdDetected", {PERSISTENT, BOOL}},
@@ -77,7 +77,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"JoystickAolRequest", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, STRING}},
{"Konn3ktSshKeys", {PERSISTENT, STRING}},
{"Konn3ktBleTransportEnabled", {PERSISTENT, BOOL, "1"}},
{"LanguageSetting", {PERSISTENT | KONN3KT_BACKUP, STRING, "en"}},
{"Konn3ktLibdatachannelWebRTC", {PERSISTENT, BOOL, "0"}},
{"LanguageSetting", {PERSISTENT, STRING, "en"}},
{"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
{"LastGPSPosition", {PERSISTENT, STRING}},
{"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
@@ -88,7 +89,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
{"LastUpdateTime", {PERSISTENT, TIME}},
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
{"LiveDelay", {PERSISTENT | KONN3KT_BACKUP, BYTES}},
{"LiveDelay", {PERSISTENT, BYTES}},
{"LiveParameters", {PERSISTENT, JSON}},
{"LiveParametersV2", {PERSISTENT, BYTES}},
{"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
@@ -97,8 +98,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
{"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
{"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
{"LongitudinalPersonality", {PERSISTENT | KONN3KT_BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
{"NetworkMetered", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
{"NetworkMetered", {PERSISTENT, BOOL}},
{"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
{"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
{"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
@@ -114,26 +115,26 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
{"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
{"OpenpilotEnabledToggle", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
{"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
{"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
{"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
{"PrimeType", {PERSISTENT, INT}},
{"RecordAudio", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"RecordAudioFeedback", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"DashcamEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"RecordFront", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"RecordAudio", {PERSISTENT, BOOL}},
{"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
{"DashcamEnabled", {PERSISTENT, BOOL, "1"}},
{"RecordFront", {PERSISTENT, BOOL}},
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
{"SecOCKey", {PERSISTENT | DONT_LOG | KONN3KT_BACKUP, STRING}},
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
{"ShowDebugInfo", {PERSISTENT, BOOL}},
{"RouteCount", {PERSISTENT, INT, "0"}},
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
{"SshEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"SshEnabled", {PERSISTENT, BOOL}},
{"TermsVersion", {PERSISTENT, STRING}},
{"TorqueBar", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"TorqueBar", {PERSISTENT, BOOL, "0"}},
{"TrainingVersion", {PERSISTENT, STRING}},
{"UbloxAvailable", {PERSISTENT, BOOL}},
{"UsbStorageEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"UsbStorageEnabled", {PERSISTENT, BOOL}},
{"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
{"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
{"UpdaterAvailableBranches", {PERSISTENT, STRING}},
@@ -151,132 +152,132 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
// --- iqpilot params --- //
{"ApiCache_DriveStats", {PERSISTENT, JSON}},
{"AutoLaneChangeBsmDelay", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"AutoLaneChangeTimer", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"NavExitLaneChange", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"IQBlinkerMinLateralSpeed", {PERSISTENT | KONN3KT_BACKUP, INT, "20"}}, // MPH or km/h
{"IQBlinkerPauseLateral", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"Brightness", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"AutoLaneChangeBsmDelay", {PERSISTENT, BOOL, "0"}},
{"AutoLaneChangeTimer", {PERSISTENT, INT, "0"}},
{"NavExitLaneChange", {PERSISTENT, BOOL, "0"}},
{"IQBlinkerMinLateralSpeed", {PERSISTENT, INT, "20"}}, // MPH or km/h
{"IQBlinkerPauseLateral", {PERSISTENT, INT, "0"}},
{"Brightness", {PERSISTENT, INT, "0"}},
{"CarList", {PERSISTENT, JSON}},
{"IQCarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
{"IQCarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
{"IQCarParamsPersistent", {PERSISTENT, BYTES}},
{"IQCarParamsPersistentV2", {PERSISTENT, BYTES}},
{"CarPlatformBundle", {PERSISTENT | KONN3KT_BACKUP, JSON}},
{"ChevronInfo", {PERSISTENT | KONN3KT_BACKUP, INT, "4"}},
{"DeviceBootMode", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"IQDevUIInfo", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"EnableEsimProvisioning", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"GreenLightAlert", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"InteractivityTimeout", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"CarPlatformBundle", {PERSISTENT, JSON}},
{"ChevronInfo", {PERSISTENT, INT, "4"}},
{"DeviceBootMode", {PERSISTENT, INT, "0"}},
{"IQDevUIInfo", {PERSISTENT, INT, "0"}},
{"EnableEsimProvisioning", {PERSISTENT, BOOL, "1"}},
{"GreenLightAlert", {PERSISTENT, BOOL, "0"}},
{"InteractivityTimeout", {PERSISTENT, INT, "0"}},
{"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
{"IsReleaseIqBranch", {CLEAR_ON_MANAGER_START, BOOL}},
{"LastGPSPositionIQLoc", {PERSISTENT, STRING}},
{"LeadDepartAlert", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"LongIncrementsEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"LongIncrementTapStep", {PERSISTENT | KONN3KT_BACKUP, INT, "1"}},
{"LongIncrementHoldStep", {PERSISTENT | KONN3KT_BACKUP, INT, "5"}},
{"IQE2ESetSpeedMode", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"IQE2ESetSpeedUseCurrent", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"IQE2ESetSpeedMph", {PERSISTENT | KONN3KT_BACKUP, INT, "65"}},
{"MaxTimeOffroad", {PERSISTENT | KONN3KT_BACKUP, INT, "1800"}},
{"NightMode", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"newLeadMpc", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"LeadDepartAlert", {PERSISTENT, BOOL, "0"}},
{"LongIncrementsEnabled", {PERSISTENT, BOOL, "0"}},
{"LongIncrementTapStep", {PERSISTENT, INT, "1"}},
{"LongIncrementHoldStep", {PERSISTENT, INT, "5"}},
{"IQE2ESetSpeedMode", {PERSISTENT, INT, "0"}},
{"IQE2ESetSpeedUseCurrent", {PERSISTENT, BOOL, "0"}},
{"IQE2ESetSpeedMph", {PERSISTENT, INT, "65"}},
{"MaxTimeOffroad", {PERSISTENT, INT, "1800"}},
{"NightMode", {PERSISTENT, BOOL, "0"}},
{"newLeadMpc", {PERSISTENT, BOOL, "1"}},
{"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
{"ForceOnroadUntil", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
{"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
{"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
{"OnroadScreenOffBrightness", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"OnroadScreenOffTimer", {PERSISTENT | KONN3KT_BACKUP, INT, "15"}},
{"OnScreenNavigation", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"OnlineOSMaps", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"OfflineOSMaps", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"OSMapsStyleMode", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"OSMapsHeadingUp", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"OnroadScreenOffBrightness", {PERSISTENT, INT, "0"}},
{"OnroadScreenOffTimer", {PERSISTENT, INT, "15"}},
{"OnScreenNavigation", {PERSISTENT, BOOL, "0"}},
{"OnlineOSMaps", {PERSISTENT, BOOL, "1"}},
{"OfflineOSMaps", {PERSISTENT, BOOL, "0"}},
{"OSMapsStyleMode", {PERSISTENT, INT, "0"}},
{"OSMapsHeadingUp", {PERSISTENT, BOOL, "1"}},
{"OfflineTilesBaseUrl", {PERSISTENT, STRING}},
{"OnroadUploads", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"IQAlertSilence", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"RainbowMode", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"RocketFuel", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"ShowTurnSignals", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"StandstillTimer", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"OnroadUploads", {PERSISTENT, BOOL, "1"}},
{"IQAlertSilence", {PERSISTENT, BOOL, "0"}},
{"RainbowMode", {PERSISTENT, BOOL, "0"}},
{"RocketFuel", {PERSISTENT, BOOL, "0"}},
{"ShowTurnSignals", {PERSISTENT, BOOL, "0"}},
{"StandstillTimer", {PERSISTENT, BOOL, "0"}},
// AOL (Always On Lateral) params
{"AolEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"AolMainCruiseAllowed", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"AolSteeringMode", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"AolUnifiedEngagementMode", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"AolEnabled", {PERSISTENT, BOOL, "1"}},
{"AolMainCruiseAllowed", {PERSISTENT, BOOL, "1"}},
{"AolSteeringMode", {PERSISTENT, INT, "0"}},
{"AolUnifiedEngagementMode", {PERSISTENT, BOOL, "1"}},
// Model Manager params
{"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
{"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
{"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "-1"}},
{"ModelManager_Favs", {PERSISTENT | KONN3KT_BACKUP, STRING}},
{"ModelManager_Favs", {PERSISTENT, STRING}},
{"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
{"ModelManager_ModelsCache", {PERSISTENT | KONN3KT_BACKUP, JSON}},
{"ModelManager_ModelsCache", {PERSISTENT, JSON}},
// Neural Network Feed Forward
{"NeuralNetworkFeedForward", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"NeuralNetworkFeedForward", {PERSISTENT, BOOL, "0"}},
// Backup Manager params
{"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
{"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
// iqpilot car specific params
{"HyundaiLongitudinalTuning", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"SubaruStopAndGo", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"SubaruStopAndGoManualParkingBrake", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"TeslaCoopSteering", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"ToyotaEnforceStockLongitudinal", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"HyundaiLongitudinalTuning", {PERSISTENT, INT, "0"}},
{"SubaruStopAndGo", {PERSISTENT, BOOL, "0"}},
{"SubaruStopAndGoManualParkingBrake", {PERSISTENT, BOOL, "0"}},
{"TeslaCoopSteering", {PERSISTENT, BOOL, "0"}},
{"ToyotaEnforceStockLongitudinal", {PERSISTENT, BOOL, "0"}},
{"VwPqEpsPatched", {PERSISTENT, BOOL}},
{"ToyotaSnGHack", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"pqhca5or7Toggle", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"iqMqbAccResume", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"iqMqbSteeringLockout", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"AllowLateralWhenLongUnavailable", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"ToyotaSnGHack", {PERSISTENT, BOOL, "0"}},
{"pqhca5or7Toggle", {PERSISTENT, BOOL}},
{"iqMqbAccResume", {PERSISTENT, BOOL, "0"}},
{"iqMqbSteeringLockout", {PERSISTENT, BOOL, "0"}},
{"AllowLateralWhenLongUnavailable", {PERSISTENT, BOOL}},
{"IQDynamicMode", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"IQDynamicBlendStockRadar", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"IQDynamicConditionalCurves", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"IQDynamicConditionalSlowerLead", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"IQDynamicConditionalStoppedLead", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"IQDynamicConditionalModelStops", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"IQDynamicConditionalSLCFallback", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"IQDynamicConditionalSpeed", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "18.0"}},
{"IQDynamicConditionalLeadSpeed", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "24.0"}},
{"IQDynamicModelStopTime", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "3.0"}},
{"IQDynamicMinimumForceStopLength", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0.0"}},
{"IQForceStops", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"IQCustomStopDistance", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}}, // meters, -2..2; negative = stop closer, positive = stop further back; independent of IQForceStops
{"BlindSpot", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"IQExpandedStatus", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"IQDynamicMode", {PERSISTENT, BOOL, "0"}},
{"IQDynamicBlendStockRadar", {PERSISTENT, BOOL, "0"}},
{"IQDynamicConditionalCurves", {PERSISTENT, BOOL, "1"}},
{"IQDynamicConditionalSlowerLead", {PERSISTENT, BOOL, "1"}},
{"IQDynamicConditionalStoppedLead", {PERSISTENT, BOOL, "1"}},
{"IQDynamicConditionalModelStops", {PERSISTENT, BOOL, "1"}},
{"IQDynamicConditionalSLCFallback", {PERSISTENT, BOOL, "1"}},
{"IQDynamicConditionalSpeed", {PERSISTENT, FLOAT, "18.0"}},
{"IQDynamicConditionalLeadSpeed", {PERSISTENT, FLOAT, "24.0"}},
{"IQDynamicModelStopTime", {PERSISTENT, FLOAT, "3.0"}},
{"IQDynamicMinimumForceStopLength", {PERSISTENT, FLOAT, "0.0"}},
{"IQForceStops", {PERSISTENT, BOOL, "1"}},
{"IQCustomStopDistance", {PERSISTENT, INT, "0"}}, // meters, -2..2; negative = stop closer, positive = stop further back; independent of IQForceStops
{"BlindSpot", {PERSISTENT, BOOL, "0"}},
{"IQExpandedStatus", {PERSISTENT, BOOL, "0"}},
{"HomePanelWidget", {PERSISTENT, STRING, "changelog"}},
// iqpilot model params
{"CameraOffset", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0.0"}},
{"LagdToggle", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"LagdToggleDelay", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0.2"}},
{"CameraOffset", {PERSISTENT, FLOAT, "0.0"}},
{"LagdToggle", {PERSISTENT, BOOL, "1"}},
{"LagdToggleDelay", {PERSISTENT, FLOAT, "0.2"}},
{"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
{"LaneChangeBsd", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}}, // -1 ignore BSD, 0 default, 1 block lane change on BSD
{"LaneChangeContinuous", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}}, // 0 one-shot per blinker, 1 chain on held blinker (torque-gated)
{"LaneChangeDelay", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0.0"}}, // tenths of a second; scaled by 0.1 in desire_helper
{"LaneChangeNeedTorque", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}}, // <0 disable blinker LC, 0 default, >0 require torque
{"IQLaneTurnDesire", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"IQLaneTurnValue", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "19.0"}},
{"PlanplusControl", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "1.0"}},
{"LaneChangeBsd", {PERSISTENT, INT, "0"}}, // -1 ignore BSD, 0 default, 1 block lane change on BSD
{"LaneChangeContinuous", {PERSISTENT, BOOL, "0"}}, // 0 one-shot per blinker, 1 chain on held blinker (torque-gated)
{"LaneChangeDelay", {PERSISTENT, FLOAT, "0.0"}}, // tenths of a second; scaled by 0.1 in desire_helper
{"LaneChangeNeedTorque", {PERSISTENT, INT, "0"}}, // <0 disable blinker LC, 0 default, >0 require torque
{"IQLaneTurnDesire", {PERSISTENT, BOOL, "0"}},
{"IQLaneTurnValue", {PERSISTENT, FLOAT, "19.0"}},
{"PlanplusControl", {PERSISTENT, FLOAT, "1.0"}},
{"LatSmoothSec", {PERSISTENT, INT, "13"}},
{"ModelSmoothingEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"ModelLatSmoothSec", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"ModelSmoothingEnabled", {PERSISTENT, BOOL, "0"}},
{"ModelLatSmoothSec", {PERSISTENT, INT, "0"}},
// IQ.Pilot Parameters:
{"ShowBSMIndicators", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"ShowSteeringArc", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"ShowRoadName", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"ShowRealTimeAcceleration", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"ShowBSMIndicators", {PERSISTENT, BOOL, "0"}},
{"ShowSteeringArc", {PERSISTENT, BOOL, "0"}},
{"ShowRoadName", {PERSISTENT, BOOL, "0"}},
{"ShowRealTimeAcceleration", {PERSISTENT, BOOL, "0"}},
{"ForceSmallUI", {PERSISTENT, BOOL, "0"}},
{"DeveloperUI", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"OBrightness", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"OBrightnessManual", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"OBrightnessDelay", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"DeveloperUI", {PERSISTENT, BOOL, "0"}},
{"OBrightness", {PERSISTENT, BOOL, "0"}},
{"OBrightnessManual", {PERSISTENT, BOOL, "0"}},
{"OBrightnessDelay", {PERSISTENT, BOOL, "0"}},
{"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
{"MapdVersion", {PERSISTENT, STRING}},
{"MapdSettings", {PERSISTENT, JSON}}, // pfeiferj/mapd v2 persistent settings (read/written by the mapd binary)
@@ -290,10 +291,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"AthenaNavigationRoute", {CLEAR_ON_MANAGER_START, JSON}},
{"NavigationActive", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
{"NavigationDestination", {CLEAR_ON_MANAGER_START, JSON}},
{"NavigationEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"NavigationDebugFlags", {PERSISTENT | KONN3KT_BACKUP, JSON}},
{"NavigationEnabled", {PERSISTENT, BOOL, "0"}},
{"NavigationDebugFlags", {PERSISTENT, JSON}},
{"NavigationManeuvers", {CLEAR_ON_MANAGER_START, JSON}},
{"NavigationPreferences", {PERSISTENT | KONN3KT_BACKUP, JSON}},
{"NavigationPreferences", {PERSISTENT, JSON}},
{"NavigationRenderRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
{"NavigationRecalculateRoutes", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
{"NavigationRouteAlternatives", {CLEAR_ON_MANAGER_START, JSON}},
@@ -311,37 +312,37 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"OsmStateNames", {PERSISTENT, JSON}},
{"OsmWayTest", {PERSISTENT, STRING}},
{"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
{"RoadNameToggle", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"IQSpeedAssistMode", {PERSISTENT | KONN3KT_BACKUP, INT, "1"}},
{"IQSpeedAssistOffsetType", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"IQSpeedAssistPolicy", {PERSISTENT | KONN3KT_BACKUP, INT, "3"}},
{"IQSpeedAssistValueOffset", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"SpeedLimitController", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"ConstructionZoneAssist", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"VisionVehicleTracks", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"AmbientTrackDots", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"ConstructionZoneSpeed", {PERSISTENT | KONN3KT_BACKUP, INT, "60"}},
{"ShowSpeedLimits", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"SLCPolicy", {PERSISTENT | KONN3KT_BACKUP, INT, "1"}},
{"SLCAutoConfirm", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"SLCSetSpeedToLimit", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"speed_limit_offset1", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0"}},
{"speed_limit_offset2", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0"}},
{"speed_limit_offset3", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0"}},
{"speed_limit_offset4", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0"}},
{"speed_limit_offset5", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0"}},
{"speed_limit_offset6", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0"}},
{"speed_limit_offset7", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "0"}},
{"SpeedLimitConfirmationHigher", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"SpeedLimitConfirmationLower", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"MapSpeedLookaheadHigher", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "5.0"}},
{"MapSpeedLookaheadLower", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "5.0"}},
{"SLCFallbackExperimentalMode", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"SLCFallbackSetSpeed", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"SLCFallbackPreviousSpeedLimit", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"SLCOverrideMethod", {PERSISTENT | KONN3KT_BACKUP, INT, "0"}},
{"SLCOnlineFiller", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"SLCDataCollection", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"RoadNameToggle", {PERSISTENT, BOOL, "0"}},
{"IQSpeedAssistMode", {PERSISTENT, INT, "1"}},
{"IQSpeedAssistOffsetType", {PERSISTENT, INT, "0"}},
{"IQSpeedAssistPolicy", {PERSISTENT, INT, "3"}},
{"IQSpeedAssistValueOffset", {PERSISTENT, INT, "0"}},
{"SpeedLimitController", {PERSISTENT, BOOL, "0"}},
{"ConstructionZoneAssist", {PERSISTENT, BOOL, "0"}},
{"VisionVehicleTracks", {PERSISTENT, BOOL, "0"}},
{"AmbientTrackDots", {PERSISTENT, BOOL, "1"}},
{"ConstructionZoneSpeed", {PERSISTENT, INT, "60"}},
{"ShowSpeedLimits", {PERSISTENT, BOOL, "0"}},
{"SLCPolicy", {PERSISTENT, INT, "1"}},
{"SLCAutoConfirm", {PERSISTENT, BOOL, "0"}},
{"SLCSetSpeedToLimit", {PERSISTENT, BOOL, "0"}},
{"speed_limit_offset1", {PERSISTENT, FLOAT, "0"}},
{"speed_limit_offset2", {PERSISTENT, FLOAT, "0"}},
{"speed_limit_offset3", {PERSISTENT, FLOAT, "0"}},
{"speed_limit_offset4", {PERSISTENT, FLOAT, "0"}},
{"speed_limit_offset5", {PERSISTENT, FLOAT, "0"}},
{"speed_limit_offset6", {PERSISTENT, FLOAT, "0"}},
{"speed_limit_offset7", {PERSISTENT, FLOAT, "0"}},
{"SpeedLimitConfirmationHigher", {PERSISTENT, BOOL, "1"}},
{"SpeedLimitConfirmationLower", {PERSISTENT, BOOL, "0"}},
{"MapSpeedLookaheadHigher", {PERSISTENT, FLOAT, "5.0"}},
{"MapSpeedLookaheadLower", {PERSISTENT, FLOAT, "5.0"}},
{"SLCFallbackExperimentalMode", {PERSISTENT, BOOL, "0"}},
{"SLCFallbackSetSpeed", {PERSISTENT, BOOL, "0"}},
{"SLCFallbackPreviousSpeedLimit", {PERSISTENT, BOOL, "1"}},
{"SLCOverrideMethod", {PERSISTENT, INT, "0"}},
{"SLCOnlineFiller", {PERSISTENT, BOOL, "0"}},
{"SLCDataCollection", {PERSISTENT, BOOL, "0"}},
{"MapBoxRequests", {PERSISTENT, JSON}},
{"OverpassRequests", {PERSISTENT, JSON}},
{"SpeedLimits", {PERSISTENT, JSON}},
@@ -350,37 +351,37 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"UpdateSpeedLimits", {CLEAR_ON_IGNITION_ON}},
{"UpdateSpeedLimitsStatus", {CLEAR_ON_IGNITION_ON, STRING}},
{"SLCMapboxSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0"}},
{"NavigateOnIQPilot", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"NavOnlineTargets", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"NavOfflineFallback", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"NavPreferOfflineSources", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"OfflineRoutingEnabled", {PERSISTENT | KONN3KT_BACKUP, BOOL, "1"}},
{"OfflineRoutingOnly", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"OfflineRoutingHost", {PERSISTENT | KONN3KT_BACKUP, STRING, "http://127.0.0.1:8002"}},
{"pqhca5or7Toggle", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"AllowLateralWhenLongUnavailable", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"EnableCurvatureController", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"EnableSpeedLimitControl", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"MapCurveSpeedController", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"VisionCurveSpeedController", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"SpeedCameraAlerts", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"RedLightCameraAlerts", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"FlockCameraAlerts", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"SpeedCameraSlowdown", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"SpeedCameraSafetyFactor", {PERSISTENT | KONN3KT_BACKUP, FLOAT, "1.0"}},
{"NavigateOnIQPilot", {PERSISTENT, BOOL, "1"}},
{"NavOnlineTargets", {PERSISTENT, BOOL, "1"}},
{"NavOfflineFallback", {PERSISTENT, BOOL, "1"}},
{"NavPreferOfflineSources", {PERSISTENT, BOOL, "0"}},
{"OfflineRoutingEnabled", {PERSISTENT, BOOL, "1"}},
{"OfflineRoutingOnly", {PERSISTENT, BOOL, "0"}},
{"OfflineRoutingHost", {PERSISTENT, STRING, "http://127.0.0.1:8002"}},
{"pqhca5or7Toggle", {PERSISTENT, BOOL}},
{"AllowLateralWhenLongUnavailable", {PERSISTENT, BOOL}},
{"EnableCurvatureController", {PERSISTENT, BOOL, "0"}},
{"EnableSpeedLimitControl", {PERSISTENT, BOOL, "0"}},
{"MapCurveSpeedController", {PERSISTENT, BOOL, "0"}},
{"VisionCurveSpeedController", {PERSISTENT, BOOL, "0"}},
{"SpeedCameraAlerts", {PERSISTENT, BOOL, "0"}},
{"RedLightCameraAlerts", {PERSISTENT, BOOL, "0"}},
{"FlockCameraAlerts", {PERSISTENT, BOOL, "0"}},
{"SpeedCameraSlowdown", {PERSISTENT, BOOL, "0"}},
{"SpeedCameraSafetyFactor", {PERSISTENT, FLOAT, "1.0"}},
{"NavCamerasData", {PERSISTENT, JSON}},
{"EnableLongComfortMode", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"EnableSpeedLimitPredicative", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"EnableSLPredReactToSL", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"EnableSLPredReactToCurves", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"ForceRHDForBSM", {PERSISTENT | KONN3KT_BACKUP, BOOL, "0"}},
{"EnableLongComfortMode", {PERSISTENT, BOOL, "0"}},
{"EnableSpeedLimitPredicative", {PERSISTENT, BOOL, "0"}},
{"EnableSLPredReactToSL", {PERSISTENT, BOOL, "0"}},
{"EnableSLPredReactToCurves", {PERSISTENT, BOOL, "0"}},
{"ForceRHDForBSM", {PERSISTENT, BOOL, "0"}},
{"NavDestination", {PERSISTENT, STRING}},
{"eBrakeActive", {CLEAR_ON_MANAGER_START | KONN3KT_BACKUP, BOOL, "0"}},
{"Konn3ktAllowOffroadExternalCanTx", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"MapboxToken", {PERSISTENT | KONN3KT_BACKUP, STRING}},
{"MapboxTokenQRCode", {PERSISTENT | KONN3KT_BACKUP, JSON}},
{"TomTomToken", {PERSISTENT | KONN3KT_BACKUP, STRING}},
{"UIAccentColor", {PERSISTENT | KONN3KT_BACKUP, STRING, "#00FFF5"}},
{"AngleLateralControl", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"ALCTorqueBlend", {PERSISTENT | KONN3KT_BACKUP, BOOL}},
{"eBrakeActive", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
{"Konn3ktAllowOffroadExternalCanTx", {PERSISTENT, BOOL}},
{"MapboxToken", {PERSISTENT, STRING}},
{"MapboxTokenQRCode", {PERSISTENT, JSON}},
{"TomTomToken", {PERSISTENT, STRING}},
{"UIAccentColor", {PERSISTENT, STRING, "#00FFF5"}},
{"AngleLateralControl", {PERSISTENT, BOOL}},
{"ALCTorqueBlend", {PERSISTENT, BOOL}},
};

7
common/params_pyx.pyx
View File

@@ -18,7 +18,6 @@ cdef extern from "common/params.h":
CLEAR_ON_OFFROAD_TRANSITION
DEVELOPMENT_ONLY
CLEAR_ON_IGNITION_ON
KONN3KT_BACKUP
ALL
cpdef enum ParamKeyType:
@@ -44,7 +43,7 @@ cdef extern from "common/params.h":
optional[string] getKeyDefaultValue(string) nogil
string getParamPath(string) nogil
void clearAll(ParamKeyFlag)
vector[string] allKeys(ParamKeyFlag)
vector[string] allKeys()
PYTHON_2_CPP = {
(str, STRING): lambda v: v,
@@ -182,8 +181,8 @@ cdef class Params:
def get_type(self, key):
return self.p.getKeyType(self.check_key(key))
def all_keys(self, flag=ParamKeyFlag.ALL):
return self.p.allKeys(flag)
def all_keys(self):
return self.p.allKeys()
def get_default_value(self, key):
cdef string k = self.check_key(key)