mirror of
https://github.com/MoreTore/openpilot.git
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Volt | Genesis | Ioniq | Kia | Model randomizer
This commit is contained in:
firestar5683
@@ -2,17 +2,19 @@ from hypothesis import settings, given, strategies as st
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import pytest
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from opendbc.car import gen_empty_fingerprint
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from opendbc.can import CANPacker
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from opendbc.car import Bus, gen_empty_fingerprint
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from opendbc.car.structs import CarParams
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from opendbc.car.fw_versions import build_fw_dict
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from opendbc.car.hyundai.carstate import CarState
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from opendbc.car.hyundai.interface import CarInterface
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from opendbc.car.hyundai import hyundaicanfd
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from opendbc.car.hyundai.hyundaicanfd import CanBus
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from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
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from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
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HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
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UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
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HyundaiFlags, get_platform_codes, HyundaiSafetyFlags
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CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags
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from opendbc.car.hyundai.fingerprints import FW_VERSIONS
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Ecu = CarParams.Ecu
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@@ -120,6 +122,39 @@ class TestHyundaiFingerprint:
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assert CarState.get_canfd_blinker_sig_names(CAR.HYUNDAI_KONA_EV_2ND_GEN, False) == ("LEFT_LAMP_ALT", "RIGHT_LAMP_ALT")
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assert CarState.get_canfd_blinker_sig_names(CAR.KIA_EV6, False) == ("LEFT_LAMP", "RIGHT_LAMP")
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def test_sportage_angle_steering_uses_adas_cmd_with_send_lfa(self):
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fingerprint = gen_empty_fingerprint()
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cam_can = CanBus(None, fingerprint).CAM
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fingerprint[cam_can][0xCB] = 24
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CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
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assert CP.flags & HyundaiFlags.SEND_LFA
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assert CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING
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packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
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msgs = hyundaicanfd.create_steering_messages(packer, CP, CanBus(CP), True, True, 1.0, 12.3)
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assert [(addr, bus) for addr, _, bus in msgs] == [(0xCB, CanBus(CP).ECAN)]
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def test_sportage_angle_jerk_override_is_scoped(self):
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sportage = CarParams.new_message()
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sportage.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
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sportage.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_ANGLE_STEERING)
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comparison_angle = CarParams.new_message()
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comparison_angle.carFingerprint = CAR.KIA_EV6
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comparison_angle.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_ANGLE_STEERING)
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ioniq6 = CarParams.new_message()
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ioniq6.carFingerprint = CAR.HYUNDAI_IONIQ_6
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ioniq6.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
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sportage_params = CarControllerParams(sportage)
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comparison_params = CarControllerParams(comparison_angle)
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ioniq6_params = CarControllerParams(ioniq6)
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assert sportage_params.ANGLE_LIMITS.MAX_LATERAL_JERK < comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK
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assert comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK == ioniq6_params.ANGLE_LIMITS.MAX_LATERAL_JERK
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def test_blacklisted_parts(self, subtests):
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# Asserts no ECUs known to be shared across platforms exist in the database.
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# Tucson having Santa Cruz camera and EPS for example
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@@ -1,5 +1,5 @@
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import re
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from dataclasses import dataclass, field
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from dataclasses import dataclass, field, replace
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from enum import IntFlag
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from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
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@@ -29,6 +29,7 @@ class CarControllerParams:
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ANGLE_ACTIVE_TORQUE_REDUCTION_GAIN = 0.6
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def __init__(self, CP, vEgoRaw=100.):
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self.ANGLE_LIMITS = self.ANGLE_LIMITS
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self.STEER_DELTA_UP = 3
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self.STEER_DELTA_DOWN = 7
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self.STEER_DRIVER_ALLOWANCE = 50
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@@ -52,6 +53,13 @@ class CarControllerParams:
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if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
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self.STEER_THRESHOLD = 175
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# The Sportage angle port is rough at low speed on the higher global jerk limit.
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# Keep the branch-wide higher limit for other cars, but restore the older calmer
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# jerk ceiling on this port only.
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if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
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self.ANGLE_LIMITS = replace(self.ANGLE_LIMITS,
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MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL))
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# To determine the limit for your car, find the maximum value that the stock LKAS will request.
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# If the max stock LKAS request is <384, add your car to this list.
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elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
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@@ -1,2 +1,2 @@
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extern const uint8_t gitversion[19];
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const uint8_t gitversion[19] = "DEV-49c71e2e-DEBUG";
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const uint8_t gitversion[19] = "DEV-f20d22d6-DEBUG";
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@@ -1 +1 @@
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DEV-49c71e2e-DEBUG
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DEV-f20d22d6-DEBUG
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@@ -155,81 +155,81 @@ VOLT_STANDARD_FF_CUTOFF = 1.30
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VOLT_STANDARD_FF_CUTOFF_WIDTH = 0.24
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VOLT_STANDARD_TRANSITION_SPEED = 10.0
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VOLT_STANDARD_PHASE_SCALE = 0.10
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VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.02
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VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.06
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VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.30
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VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.08
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VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.14
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VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.12
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VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.22
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VOLT_STANDARD_FRICTION_MULT = 1.04
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VOLT_STANDARD_FRICTION_LAT_RISE = 0.20
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VOLT_STANDARD_FRICTION_JERK_RISE = 0.24
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VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.02
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VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.18
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VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.02
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VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.10
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VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.04
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VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.18
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VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.01
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VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
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VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.02
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VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.08
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VOLT_STANDARD_CENTER_TAPER_MAX = 0.11
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VOLT_STANDARD_CENTER_TAPER_LAT = 0.12
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VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.04
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VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.14
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VOLT_STANDARD_CENTER_TAPER_MAX = 0.08
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VOLT_STANDARD_CENTER_TAPER_LAT = 0.10
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VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.02
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VOLT_STANDARD_CENTER_TAPER_SPEED = 17.0
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VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
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VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
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GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
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GENESIS_G90_FF_GAIN_LEFT = 0.13
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GENESIS_G90_FF_GAIN_RIGHT = 0.10
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GENESIS_G90_FF_GAIN_RIGHT = 0.14
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GENESIS_G90_FF_ONSET = 0.10
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GENESIS_G90_FF_ONSET_WIDTH = 0.05
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GENESIS_G90_FF_CUTOFF = 1.55
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GENESIS_G90_FF_CUTOFF_WIDTH = 0.30
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GENESIS_G90_TRANSITION_SPEED = 8.5
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GENESIS_G90_PHASE_SCALE = 0.12
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GENESIS_G90_TURN_IN_BOOST_LEFT = 0.14
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GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.22
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GENESIS_G90_UNWIND_TAPER_LEFT = 0.12
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GENESIS_G90_UNWIND_TAPER_RIGHT = 0.18
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GENESIS_G90_TURN_IN_BOOST_LEFT = 0.22
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GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.34
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GENESIS_G90_UNWIND_TAPER_LEFT = 0.18
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GENESIS_G90_UNWIND_TAPER_RIGHT = 0.26
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GENESIS_G90_FRICTION_MULT = 1.02
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GENESIS_G90_FRICTION_LAT_RISE = 0.22
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GENESIS_G90_FRICTION_JERK_RISE = 0.24
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GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
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GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
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GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.08
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GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.14
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GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.05
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GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.08
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GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.07
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GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.11
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GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.12
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GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.20
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GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.06
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GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
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GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.10
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GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
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IONIQ_6_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
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IONIQ_6_LATERAL_TESTING_GROUND_VARIANT = "C"
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IONIQ_6_FF_GAIN_LEFT = 0.04
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IONIQ_6_FF_GAIN_RIGHT = 0.015
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IONIQ_6_FF_GAIN_LEFT = 0.045
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IONIQ_6_FF_GAIN_RIGHT = 0.008
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IONIQ_6_FF_ONSET = 0.10
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IONIQ_6_FF_ONSET_WIDTH = 0.04
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IONIQ_6_FF_CUTOFF = 0.60
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IONIQ_6_FF_CUTOFF_WIDTH = 0.14
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IONIQ_6_TRANSITION_SPEED = 10.0
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IONIQ_6_PHASE_SCALE = 0.10
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IONIQ_6_TURN_IN_BOOST_LEFT = 0.38
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IONIQ_6_TURN_IN_BOOST_RIGHT = 0.32
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IONIQ_6_UNWIND_TAPER_LEFT = 0.34
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IONIQ_6_UNWIND_TAPER_RIGHT = 0.54
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IONIQ_6_TURN_IN_BOOST_LEFT = 0.42
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IONIQ_6_TURN_IN_BOOST_RIGHT = 0.40
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IONIQ_6_UNWIND_TAPER_LEFT = 0.40
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IONIQ_6_UNWIND_TAPER_RIGHT = 0.66
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IONIQ_6_FRICTION_MULT = 0.995
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IONIQ_6_FRICTION_LAT_RISE = 0.20
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IONIQ_6_FRICTION_JERK_RISE = 0.24
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IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.12
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IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
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IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.24
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IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.36
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IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
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IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.44
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IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
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IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
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IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.18
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IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.28
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IONIQ_6_CENTER_TAPER_MAX = 0.05
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IONIQ_6_CENTER_TAPER_LAT = 0.10
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IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
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IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.34
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IONIQ_6_CENTER_TAPER_MAX = 0.025
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IONIQ_6_CENTER_TAPER_LAT = 0.08
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IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
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IONIQ_6_CENTER_TAPER_SPEED = 20.0
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IONIQ_6_CENTER_TAPER_SPEED = 22.0
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IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
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KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
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@@ -181,7 +181,7 @@ class TestLatControl:
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def test_genesis_g90_ff_scale_curve(self):
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assert get_genesis_g90_ff_scale(0.0, 0.0, 20.0) == 1.0
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assert get_genesis_g90_ff_scale(0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(-0.5, 0.0, 20.0)
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assert get_genesis_g90_ff_scale(-0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(0.5, 0.0, 20.0)
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assert get_genesis_g90_ff_scale(0.6, 0.7, 8.0) > get_genesis_g90_ff_scale(0.6, 0.0, 8.0) > get_genesis_g90_ff_scale(0.6, -0.7, 8.0)
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assert get_genesis_g90_ff_scale(-0.6, -0.7, 8.0) > get_genesis_g90_ff_scale(-0.6, 0.0, 8.0) > get_genesis_g90_ff_scale(-0.6, 0.7, 8.0)
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assert get_genesis_g90_ff_scale(2.0, 0.0, 20.0) < get_genesis_g90_ff_scale(0.8, 0.0, 20.0)
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@@ -219,7 +219,9 @@ class TestLatControl:
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right_turn_in = get_ioniq_6_friction_threshold(6.0, -0.5, -0.8)
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left_unwind = get_ioniq_6_friction_threshold(6.0, 0.5, -0.8)
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right_unwind = get_ioniq_6_friction_threshold(6.0, -0.5, 0.8)
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assert left_turn_in < right_turn_in < base < left_unwind < right_unwind
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assert max(left_turn_in, right_turn_in) < base
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assert left_unwind >= base
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assert right_unwind >= base
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def test_ioniq_6_friction_scale_curve(self):
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base = get_ioniq_6_friction_scale(25.0, 0.5, 0.8)
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@@ -60,6 +60,39 @@ def _get_param_str(params: Params, key: str, default: str = "") -> str:
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return str(val)
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def _get_default_param_str(params: Params, key: str) -> str:
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try:
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val = params.get_default_value(key)
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except Exception:
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return ""
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if val is None:
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return ""
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if isinstance(val, bytes):
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try:
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return val.decode("utf-8")
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except Exception:
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return ""
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return str(val)
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def _resolve_mirrored_param(params: Params, primary_key: str, secondary_key: str) -> str:
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primary_val = _get_param_str(params, primary_key).strip()
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secondary_val = _get_param_str(params, secondary_key).strip()
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if primary_val == secondary_val:
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return secondary_val or primary_val
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primary_default = _get_default_param_str(params, primary_key).strip()
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secondary_default = _get_default_param_str(params, secondary_key).strip()
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primary_non_default = bool(primary_val) and primary_val != primary_default
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secondary_non_default = bool(secondary_val) and secondary_val != secondary_default
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if secondary_non_default:
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return secondary_val
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if primary_non_default:
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return primary_val
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return secondary_val or primary_val
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def _canonical_model_id(model_id: str) -> str:
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key = (model_id or "").strip().lower()
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return BUILTIN_MODEL_KEY if key in BUILTIN_MODEL_ALIASES else key
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@@ -143,14 +176,10 @@ class ModelState:
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def __init__(self, context: CLContext):
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# Dynamically build paths based on current model ID
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params = Params()
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model_id_raw = _get_param_str(params, "Model")
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if not model_id_raw:
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model_id_raw = _get_param_str(params, "DrivingModel", BUILTIN_MODEL_KEY)
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model_id_raw = _resolve_mirrored_param(params, "Model", "DrivingModel") or BUILTIN_MODEL_KEY
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model_id = _canonical_model_id(model_id_raw)
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model_version = _get_param_str(params, "ModelVersion")
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if not model_version:
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model_version = _get_param_str(params, "DrivingModelVersion")
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model_version = _resolve_mirrored_param(params, "ModelVersion", "DrivingModelVersion")
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model_dir = MODELS_PATH
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use_builtin_model = model_id == BUILTIN_MODEL_KEY
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@@ -1,5 +1,6 @@
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#!/usr/bin/env python3
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import json
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import random
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import re
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import urllib.request
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@@ -89,6 +90,12 @@ class ModelManager:
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return raw.decode("utf-8", errors="ignore").strip()
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return str(raw).strip()
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def _param_bool(self, key: str) -> bool:
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try:
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return bool(self.params.get_bool(key))
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except Exception:
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return self._param_text(key).lower() in {"1", "true", "yes", "on"}
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def _default_param_text(self, key: str) -> str:
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try:
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default_value = self.params.get_default_value(key)
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@@ -100,6 +107,23 @@ class ModelManager:
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return default_value.decode("utf-8", errors="ignore").strip()
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return str(default_value).strip()
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def _resolve_mirrored_param(self, primary_key: str, secondary_key: str) -> str:
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primary_val = self._param_text(primary_key)
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secondary_val = self._param_text(secondary_key)
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if primary_val == secondary_val:
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return secondary_val or primary_val
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||||
|
||||
primary_default = self._default_param_text(primary_key)
|
||||
secondary_default = self._default_param_text(secondary_key)
|
||||
primary_non_default = bool(primary_val) and primary_val != primary_default
|
||||
secondary_non_default = bool(secondary_val) and secondary_val != secondary_default
|
||||
|
||||
if secondary_non_default:
|
||||
return secondary_val
|
||||
if primary_non_default:
|
||||
return primary_val
|
||||
return secondary_val or primary_val
|
||||
|
||||
def _load_catalog_from_params(self):
|
||||
self.available_models = [entry for entry in self._param_text("AvailableModels").split(",") if entry]
|
||||
self.model_versions = [entry for entry in self._param_text("ModelVersions").split(",") if entry]
|
||||
@@ -119,7 +143,7 @@ class ModelManager:
|
||||
|
||||
def _ensure_model_params(self):
|
||||
selected_model = self._selected_model()
|
||||
current_version = self._param_text("ModelVersion") or self._param_text("DrivingModelVersion")
|
||||
current_version = self._resolve_mirrored_param("ModelVersion", "DrivingModelVersion")
|
||||
if not current_version:
|
||||
current_version = self._default_param_text("ModelVersion") or self._default_param_text("DrivingModelVersion") or "v11"
|
||||
|
||||
@@ -141,8 +165,15 @@ class ModelManager:
|
||||
if index < len(self.model_versions) and model_key
|
||||
}
|
||||
|
||||
def _blacklisted_model_keys(self) -> set[str]:
|
||||
return {
|
||||
self._canonical_model_key(entry)
|
||||
for entry in self._param_text("BlacklistedModels").split(",")
|
||||
if entry.strip()
|
||||
}
|
||||
|
||||
def _selected_model(self) -> str:
|
||||
selected = self._param_text("Model") or self._param_text("DrivingModel")
|
||||
selected = self._resolve_mirrored_param("Model", "DrivingModel")
|
||||
if selected:
|
||||
return self._canonical_model_key(selected)
|
||||
default_value = self._default_param_text("Model") or self._default_param_text("DrivingModel")
|
||||
@@ -178,6 +209,60 @@ class ModelManager:
|
||||
return False
|
||||
return all((MODELS_PATH / filename).is_file() for filename in required_files)
|
||||
|
||||
def _installed_model_choices(self) -> list[tuple[str, str, str]]:
|
||||
self._load_catalog_from_params()
|
||||
version_map = self._model_version_map()
|
||||
blacklisted_keys = self._blacklisted_model_keys()
|
||||
choices: list[tuple[str, str, str]] = []
|
||||
seen_keys: set[str] = set()
|
||||
|
||||
for index, model_key in enumerate(self.available_models):
|
||||
if not model_key:
|
||||
continue
|
||||
|
||||
canonical_key = self._canonical_model_key(model_key)
|
||||
if canonical_key in blacklisted_keys or canonical_key in seen_keys:
|
||||
continue
|
||||
|
||||
model_version = version_map.get(model_key) or version_map.get(canonical_key) or ""
|
||||
if not model_version and is_builtin_model_key(canonical_key):
|
||||
model_version = self._default_param_text("ModelVersion") or self._default_param_text("DrivingModelVersion") or "v11"
|
||||
|
||||
if not self._is_model_downloaded(model_key, model_version):
|
||||
continue
|
||||
|
||||
model_name = self.available_model_names[index] if index < len(self.available_model_names) else canonical_key
|
||||
choices.append((canonical_key, model_name, model_version))
|
||||
seen_keys.add(canonical_key)
|
||||
|
||||
return choices
|
||||
|
||||
def randomize_selected_model(self) -> str | None:
|
||||
if not self._param_bool("ModelRandomizer"):
|
||||
return None
|
||||
|
||||
choices = self._installed_model_choices()
|
||||
if not choices:
|
||||
print("Model Randomizer skipped: no installed, non-blacklisted models available.")
|
||||
return None
|
||||
|
||||
selected = self._selected_model()
|
||||
eligible_choices = [choice for choice in choices if self._canonical_model_key(choice[0]) != selected]
|
||||
if not eligible_choices:
|
||||
eligible_choices = choices
|
||||
|
||||
model_key, model_name, model_version = random.choice(eligible_choices)
|
||||
if not model_version:
|
||||
model_version = self._default_param_text("ModelVersion") or self._default_param_text("DrivingModelVersion") or "v11"
|
||||
|
||||
self._set_model_param_keys(model_key, model_name, model_version)
|
||||
try:
|
||||
self.params_memory.put_bool("StarPilotTogglesUpdated", True)
|
||||
except Exception:
|
||||
pass
|
||||
print(f"Model Randomizer selected {model_name} ({model_key}, {model_version}).")
|
||||
return model_key
|
||||
|
||||
def _sync_selected_model_version(self):
|
||||
version_map = self._model_version_map()
|
||||
name_map = {model_key: model_name for model_key, model_name in zip(self.available_models, self.available_model_names)}
|
||||
@@ -194,7 +279,7 @@ class ModelManager:
|
||||
self._set_model_param_keys(selected, selected_name, version)
|
||||
return
|
||||
|
||||
fallback_version = self._param_text("ModelVersion") or self._param_text("DrivingModelVersion")
|
||||
fallback_version = self._resolve_mirrored_param("ModelVersion", "DrivingModelVersion")
|
||||
if not fallback_version:
|
||||
fallback_version = self._default_param_text("ModelVersion") or self._default_param_text("DrivingModelVersion") or "v11"
|
||||
self._set_model_param_keys(selected, name_map.get(selected, ""), fallback_version)
|
||||
@@ -390,6 +475,7 @@ class ModelManager:
|
||||
|
||||
self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "All models downloaded!")
|
||||
self.params_memory.remove(MODEL_DOWNLOAD_ALL_PARAM)
|
||||
self.randomize_selected_model()
|
||||
|
||||
def update_tinygrad(self):
|
||||
# This branch ships tinygrad runtime in-tree. "Update" here refreshes local model files.
|
||||
|
||||
@@ -115,7 +115,7 @@ def sync_drive_stats(params, session):
|
||||
except Exception as exception:
|
||||
print(f"Failed to sync drive stats: {exception}")
|
||||
|
||||
def transition_offroad(starpilot_planner, theme_manager, thread_manager, time_validated, sm, params, starpilot_toggles):
|
||||
def transition_offroad(starpilot_planner, model_manager, theme_manager, thread_manager, time_validated, sm, params, starpilot_toggles):
|
||||
params.put("LastGPSPosition", json.dumps(starpilot_planner.gps_position))
|
||||
|
||||
if starpilot_toggles.lock_doors_timer != 0:
|
||||
@@ -124,6 +124,8 @@ def transition_offroad(starpilot_planner, theme_manager, thread_manager, time_va
|
||||
if starpilot_toggles.random_themes:
|
||||
theme_manager.update_active_theme(time_validated, starpilot_toggles, randomize_theme=True)
|
||||
|
||||
model_manager.randomize_selected_model()
|
||||
|
||||
if time_validated:
|
||||
thread_manager.run_with_lock(send_stats)
|
||||
|
||||
@@ -193,6 +195,7 @@ def starpilot_thread():
|
||||
run_update_checks = False
|
||||
safe_mode_active = safe_mode_enabled(params_raw)
|
||||
started_previously = False
|
||||
model_randomizer_previously = params.get_bool("ModelRandomizer")
|
||||
time_validated = False
|
||||
|
||||
error_log = ERROR_LOGS_PATH / "error.txt"
|
||||
@@ -216,7 +219,7 @@ def starpilot_thread():
|
||||
starpilot_toggles = update_toggles(starpilot_variables, started, theme_manager, thread_manager, time_validated, params, starpilot_toggles)
|
||||
serialized_starpilot_toggles = serialize_starpilot_toggles(starpilot_toggles)
|
||||
toggle_broadcast_pending = True
|
||||
transition_offroad(starpilot_planner, theme_manager, thread_manager, time_validated, sm, params, starpilot_toggles)
|
||||
transition_offroad(starpilot_planner, model_manager, theme_manager, thread_manager, time_validated, sm, params, starpilot_toggles)
|
||||
|
||||
run_update_checks = True
|
||||
elif started and not started_previously:
|
||||
@@ -268,6 +271,11 @@ def starpilot_thread():
|
||||
serialized_starpilot_toggles = serialize_starpilot_toggles(starpilot_toggles)
|
||||
toggle_broadcast_pending = True
|
||||
|
||||
model_randomizer_enabled = params.get_bool("ModelRandomizer")
|
||||
if model_randomizer_enabled and not model_randomizer_previously and not started:
|
||||
model_manager.randomize_selected_model()
|
||||
model_randomizer_previously = model_randomizer_enabled
|
||||
|
||||
periodic_update_due = monotonic_now >= next_periodic_update_check
|
||||
if periodic_update_due:
|
||||
next_periodic_update_check = get_next_periodic_update_check(monotonic_now, periodic_update_phase)
|
||||
|
||||
Reference in New Issue
Block a user