37 lines
1.3 KiB
Python
37 lines
1.3 KiB
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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Always-on-Lateral input adapter for Subaru: turns the dashboard LKAS button into
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a carState lkas ButtonEvent so the shared AOL state machine can toggle lateral.
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"""
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from enum import StrEnum
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from iqdbc.car import Bus, structs
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from iqdbc.car.subaru.values import SubaruFlags
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from iqdbc.lvbs.aol_base import AolCarStateBase
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from iqdbc.can.parser import CANParser
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_LKAS = structs.CarState.ButtonEvent.Type.lkas
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# ES_LKAS_State/LKAS_Dash_State: 0 = neutral, 1 = LKAS shown on, 2 = LKAS shown off
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_DASH_ON = 1
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_DASH_OFF = 2
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class AolCarState(AolCarStateBase):
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def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
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if self.CP.flags & SubaruFlags.PREGLOBAL:
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return
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self.prev_lkas_button = self.lkas_button
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self.lkas_button = can_parsers[Bus.cam].vl["ES_LKAS_State"]["LKAS_Dash_State"]
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if self._is_toggle_edge():
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ret.buttonEvents = [*ret.buttonEvents, structs.CarState.ButtonEvent(type=_LKAS, pressed=True)]
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def _is_toggle_edge(self) -> bool:
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# every dash-state change is a deliberate press except the off->on rebound (2 -> 1)
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if self.lkas_button == self.prev_lkas_button:
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return False
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return not (self.prev_lkas_button == _DASH_OFF and self.lkas_button == _DASH_ON)
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