34 lines
1.1 KiB
Python
34 lines
1.1 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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"""
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from collections import namedtuple
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from opendbc.car import structs
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from opendbc.car.interfaces import CarStateBase
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MAX_STEERING_ANGLE = 90.0
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AolDataIQ = namedtuple("AolDataIQ",
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["lka_icon_states", "lat_active"])
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class AolCarController:
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def __init__(self):
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self.aol = AolDataIQ(False, False)
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self.lka_icon_states = False
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self.lat_active = False
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def aol_status_update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase) -> AolDataIQ:
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if CC_IQ.aol.available:
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self.lka_icon_states = self.lat_active
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self.lat_active = CC.latActive and abs(CS.out.steeringAngleDeg) < MAX_STEERING_ANGLE
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else:
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self.lka_icon_states = CC.enabled
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self.lat_active = CC.latActive
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return AolDataIQ(self.lka_icon_states, self.lat_active)
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def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase) -> None:
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self.aol = self.aol_status_update(CC, CC_IQ, CS)
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