IQ.Pilot Prebuilt Release @ 67fd9c2

artifacts/package_runtime/iqdbc/car/structs.py

@@ -0,0 +1,145 @@
+from dataclasses import dataclass as _dataclass, field, is_dataclass
+from enum import Enum, StrEnum as _StrEnum, auto
+from typing import dataclass_transform, get_origin
+import os
+import capnp
+from iqdbc.car.common.basedir import BASEDIR
+try:
+  from iqpilot.cereal import car
+except ImportError:
+  capnp.remove_import_hook()
+  car = capnp.load(os.path.join(BASEDIR, "car.capnp"))
+
+CarState = car.CarState
+RadarData = car.RadarData
+CarControl = car.CarControl
+CarParams = car.CarParams
+
+CarStateT = capnp.lib.capnp._StructModule
+RadarDataT = capnp.lib.capnp._StructModule
+CarControlT = capnp.lib.capnp._StructModule
+CarParamsT = capnp.lib.capnp._StructModule
+
+AUTO_OBJ = object()
+def auto_field():
+  return AUTO_OBJ
+@dataclass_transform()
+def auto_dataclass(cls=None, /, **kwargs):
+  cls_annotations = cls.__dict__.get('__annotations__', {})
+  for name, typ in cls_annotations.items():
+    current_value = getattr(cls, name)
+    if current_value is AUTO_OBJ:
+      origin_typ = get_origin(typ) or typ
+      if isinstance(origin_typ, str):
+        raise TypeError(f"Forward references are not supported for auto_field: '{origin_typ}'. Use a default_factory with lambda instead.")
+      elif origin_typ in (int, float, str, bytes, list, tuple, bool) or is_dataclass(origin_typ):
+        setattr(cls, name, field(default_factory=origin_typ))
+      elif issubclass(origin_typ, Enum):  # first enum is the default
+        setattr(cls, name, field(default=next(iter(origin_typ))))
+      else:
+        raise TypeError(f"Unsupported type for auto_field: {origin_typ}")
+  return _dataclass(cls, **kwargs)
+
+class StrEnum(_StrEnum):
+  @staticmethod
+  def _generate_next_value_(name, *args):
+    return name
+
+@auto_dataclass
+class IQCarParams:
+  flags: int = auto_field()
+  iqSafetyFlags: int = auto_field()
+  pcmCruiseSpeed: bool = auto_field()
+  enableGasInterceptor: bool = auto_field()
+  longitudinalStoppingSpeedOverride: float = auto_field()
+  stoppingDecelRateOverride: float = auto_field()
+  longActiveWithGasOverride: bool = auto_field()
+
+  iqLateralNet: 'IQCarParams.LateralNet' = field(default_factory=lambda: IQCarParams.LateralNet())
+
+  @auto_dataclass
+  class LateralNet:
+    model: 'IQCarParams.LateralNet.Model' = field(default_factory=lambda: IQCarParams.LateralNet.Model())
+    fuzzyFingerprint: bool = auto_field()
+
+    @auto_dataclass
+    class Model:
+      path: str = auto_field()
+      name: str = auto_field()
+
+
+@auto_dataclass
+class AlwaysOnLateral:
+  state: 'AlwaysOnLateral.AlwaysOnLateralState' = field(
+    default_factory=lambda: AlwaysOnLateral.AlwaysOnLateralState.disabled
+  )
+  enabled: bool = auto_field()
+  active: bool = auto_field()
+  available: bool = auto_field()
+
+  class AlwaysOnLateralState(StrEnum):
+    disabled = auto()
+    paused = auto()
+    enabled = auto()
+    softDisabling = auto()
+    overriding = auto()
+
+
+@auto_dataclass
+class LeadData:
+  dRel: float = auto_field()
+  yRel: float = auto_field()
+  vRel: float = auto_field()
+  aRel: float = auto_field()
+  vLead: float = auto_field()
+  dPath: float = auto_field()
+  vLat: float = auto_field()
+  vLeadK: float = auto_field()
+  aLeadK: float = auto_field()
+  fcw: bool = auto_field()
+  status: bool = auto_field()
+  aLeadTau: float = auto_field()
+  modelProb: float = auto_field()
+  radar: bool = auto_field()
+  radarTrackId: int = auto_field()
+
+  aLeadDEPRECATED: float = auto_field()
+
+
+@auto_dataclass
+class IQCarControl:
+  aol: 'AlwaysOnLateral' = field(default_factory=lambda: AlwaysOnLateral())
+  params: list['IQCarControl.Param'] = auto_field()
+  leadOne: 'LeadData' = field(default_factory=lambda: LeadData())
+  leadTwo: 'LeadData' = field(default_factory=lambda: LeadData())
+  angleOffsetDeg: float = auto_field()
+  # VW PQ "Blend IQ.Pilot + Stock ACC Radar" intent (radar_manager -> RadarHandler)
+  radarBlendActive: bool = auto_field()
+  radarEngageReq: bool = auto_field()
+  radarCancelReq: bool = auto_field()
+  useRadarAccel: bool = auto_field()
+  radarSetSpeedKph: float = auto_field()
+  radarGapBars: int = auto_field()
+
+  @auto_dataclass
+  class Param:
+    key: str = auto_field()
+    value: bytes = auto_field()
+    type: 'IQCarControl.ParamType' = field(
+      default_factory=lambda: IQCarControl.ParamType.string
+    )
+
+  class ParamType(StrEnum):
+    string = auto()
+    bool = auto()
+    int = auto()
+    float = auto()
+    time = auto()
+    json = auto()
+    bytes = auto()
+
+
+@auto_dataclass
+class IQCarState:
+  speedLimit: float = auto_field()
+  alcOverrideAlert: bool = auto_field()