plexy and noah

2026-06-27 17:42:04 +08:00 · 2026-06-23 18:00:13 -05:00
parent 7e8832d672
commit 1382200cda
3 changed files with 161 additions and 88 deletions
@@ -632,29 +632,13 @@ KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 8.5
 KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.4

 VOLT_PLEXY_LATERAL_TESTING_GROUND_ID = testing_ground.id_7
-VOLT_PLEXY_FF_GAIN_LEFT = 0.12
-VOLT_PLEXY_FF_GAIN_RIGHT = 0.07
-VOLT_PLEXY_FF_ONSET = 0.10
-VOLT_PLEXY_FF_ONSET_WIDTH = 0.06
-VOLT_PLEXY_FF_CUTOFF = 1.35
-VOLT_PLEXY_FF_CUTOFF_WIDTH = 0.24
-VOLT_PLEXY_TRANSITION_SPEED = 10.5
-VOLT_PLEXY_PHASE_SCALE = 0.10
-VOLT_PLEXY_TURN_IN_BOOST_LEFT = 0.22
-VOLT_PLEXY_TURN_IN_BOOST_RIGHT = 0.24
-VOLT_PLEXY_UNWIND_TAPER_LEFT = 0.22
-VOLT_PLEXY_UNWIND_TAPER_RIGHT = 0.56
-VOLT_PLEXY_FRICTION_MULT = 1.04
-VOLT_PLEXY_FRICTION_LAT_RISE = 0.22
-VOLT_PLEXY_FRICTION_JERK_RISE = 0.24
-VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
-VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.12
-VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_LEFT = 0.15
-VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.34
-VOLT_PLEXY_TURN_IN_FRICTION_BOOST_LEFT = 0.08
-VOLT_PLEXY_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
-VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_LEFT = 0.16
-VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_RIGHT = 0.40
+VOLT_PLEXY_FF_EXTRA_MULT_LEFT = 1.10
+VOLT_PLEXY_FF_EXTRA_MULT_RIGHT = 1.22
+VOLT_PLEXY_FRICTION_SCALE_MULT_LEFT = 1.04
+VOLT_PLEXY_FRICTION_SCALE_MULT_RIGHT = 1.08
+VOLT_PLEXY_FRICTION_THRESHOLD_MULT_LEFT = 0.95
+VOLT_PLEXY_FRICTION_THRESHOLD_MULT_RIGHT = 0.93
+VOLT_PLEXY_CENTER_TAPER_REDUCTION_MULT = 0.80
 PRIUS_TRANSITION_SPEED = 10.0
 PRIUS_PHASE_SCALE = 0.09
 PRIUS_FF_GAIN_LEFT = 0.12
@@ -2023,72 +2007,34 @@ def volt_plexy_lateral_testing_ground_active() -> bool:
  return testing_ground.use(VOLT_PLEXY_LATERAL_TESTING_GROUND_ID)


-def _volt_plexy_sigmoid(x: float) -> float:
-  return _sigmoid(x)
-
-
-def _volt_plexy_low_speed_factor(v_ego: float) -> float:
-  return 1.0 / (1.0 + (max(v_ego, 0.0) / VOLT_PLEXY_TRANSITION_SPEED) ** 2)
-
-
-def _volt_plexy_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
-  return math.tanh((desired_lateral_accel * desired_lateral_jerk) / VOLT_PLEXY_PHASE_SCALE)
-
-
 def _volt_plexy_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
  return left_value if desired_lateral_accel >= 0.0 else right_value


-def _volt_plexy_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
-  lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / VOLT_PLEXY_FRICTION_LAT_RISE)
-  jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / VOLT_PLEXY_FRICTION_JERK_RISE)
-  return _volt_plexy_low_speed_factor(v_ego) * lat_factor * jerk_factor
-
-
 def get_volt_plexy_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
-  if desired_lateral_accel == 0.0:
-    return 1.0
-
-  gain = _volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_FF_GAIN_LEFT, VOLT_PLEXY_FF_GAIN_RIGHT)
-  abs_lateral_accel = abs(desired_lateral_accel)
-  onset = _volt_plexy_sigmoid((abs_lateral_accel - VOLT_PLEXY_FF_ONSET) / VOLT_PLEXY_FF_ONSET_WIDTH)
-  cutoff = _volt_plexy_sigmoid((VOLT_PLEXY_FF_CUTOFF - abs_lateral_accel) / VOLT_PLEXY_FF_CUTOFF_WIDTH)
-  extra_scale = gain * onset * cutoff
-  phase = _volt_plexy_transition_phase(desired_lateral_accel, desired_lateral_jerk)
-  turn_in_weight = max(phase, 0.0)
-  unwind_weight = max(-phase, 0.0)
-  low_speed_factor = _volt_plexy_low_speed_factor(v_ego)
-  turn_in_boost = 1.0 + (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_TURN_IN_BOOST_LEFT, VOLT_PLEXY_TURN_IN_BOOST_RIGHT) *
-                          turn_in_weight * low_speed_factor)
-  unwind_taper = 1.0 - (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_UNWIND_TAPER_LEFT, VOLT_PLEXY_UNWIND_TAPER_RIGHT) *
-                         unwind_weight * (0.35 + 0.65 * low_speed_factor))
-  return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
+  standard_scale = get_volt_standard_ff_scale(desired_lateral_accel, desired_lateral_jerk, v_ego)
+  extra_scale = standard_scale - 1.0
+  extra_mult = _volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_FF_EXTRA_MULT_LEFT, VOLT_PLEXY_FF_EXTRA_MULT_RIGHT)
+  return 1.0 + (extra_scale * extra_mult)


 def get_volt_plexy_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
-  base_threshold = get_friction_threshold(v_ego)
-  transition_envelope = _volt_plexy_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
-  phase = _volt_plexy_transition_phase(desired_lateral_accel, desired_lateral_jerk)
-  turn_in_weight = max(phase, 0.0)
-  unwind_weight = max(-phase, 0.0)
-  threshold_scale = 1.0 - (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_LEFT, VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
-                           transition_envelope * turn_in_weight)
-  threshold_scale += (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_LEFT, VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_RIGHT) *
-                      transition_envelope * unwind_weight)
-  return base_threshold * min(max(threshold_scale, 0.84), 1.14)
+  standard_threshold = get_volt_standard_friction_threshold(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  threshold_mult = _volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_FRICTION_THRESHOLD_MULT_LEFT, VOLT_PLEXY_FRICTION_THRESHOLD_MULT_RIGHT)
+  return standard_threshold * threshold_mult


 def get_volt_plexy_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
-  transition_envelope = _volt_plexy_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
-  phase = _volt_plexy_transition_phase(desired_lateral_accel, desired_lateral_jerk)
-  turn_in_weight = max(phase, 0.0)
-  unwind_weight = max(-phase, 0.0)
-  friction_scale = VOLT_PLEXY_FRICTION_MULT
-  friction_scale += (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_TURN_IN_FRICTION_BOOST_LEFT, VOLT_PLEXY_TURN_IN_FRICTION_BOOST_RIGHT) *
-                     transition_envelope * turn_in_weight)
-  friction_scale -= (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_LEFT, VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_RIGHT) *
-                     transition_envelope * unwind_weight)
-  return min(max(friction_scale, 0.90), 1.12)
+  standard_scale = get_volt_standard_friction_scale(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  friction_extra = standard_scale - 1.0
+  friction_mult = _volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_FRICTION_SCALE_MULT_LEFT, VOLT_PLEXY_FRICTION_SCALE_MULT_RIGHT)
+  return 1.0 + (friction_extra * friction_mult)
+
+
+def get_volt_plexy_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
+  standard_scale = get_volt_standard_center_taper_scale(desired_lateral_accel, v_ego)
+  standard_reduction = 1.0 - standard_scale
+  return 1.0 - (standard_reduction * VOLT_PLEXY_CENTER_TAPER_REDUCTION_MULT)


 class LatControlTorque(LatControl):
@@ -2131,7 +2077,6 @@ class LatControlTorque(LatControl):
    self.is_kia_forte = CP.carFingerprint in KIA_FORTE_CARS
    self.is_kia_ev6 = CP.carFingerprint in KIA_EV6_CARS
    self.is_civic_bosch_modified = CP.carFingerprint == HONDA_CAR.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED)
-    self.is_volt_cc = CP.carFingerprint == GM_CAR.CHEVROLET_VOLT_CC
    self.is_silverado = CP.carFingerprint in SILVERADO_CARS
    if self.is_ioniq_6:
      self.low_speed_reset_threshold = min(self.low_speed_reset_threshold, IONIQ_6_LOW_SPEED_PID_RESET_SPEED)
@@ -2268,9 +2213,10 @@ class LatControlTorque(LatControl):
      kia_niro_phev_2022_active = self.is_kia_niro_phev_2022
      kia_forte_active = self.is_kia_forte
      kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
-      volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active()
+      volt_plexy_test_active = self.is_volt_standard and volt_plexy_lateral_testing_ground_active()
      ioniq_5_center_taper = get_ioniq_5_center_taper_scale(setpoint, CS.vEgo) if ioniq_5_active else 1.0
      volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
+      volt_plexy_center_taper = get_volt_plexy_center_taper_scale(setpoint, CS.vEgo) if volt_plexy_test_active else 1.0
      ioniq_ev_old_center_taper = get_ioniq_ev_old_center_taper_scale(setpoint, CS.vEgo) if ioniq_ev_old_active else 1.0
      ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_active else 1.0
      sonata_center_taper = get_sonata_center_taper_scale(setpoint, CS.vEgo) if sonata_active else 1.0
@@ -2344,9 +2290,10 @@ class LatControlTorque(LatControl):
      elif self.is_silverado:
        ff *= silverado_center_taper
      elif volt_plexy_test_active:
-        ff *= get_volt_plexy_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        ff *= get_volt_plexy_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * volt_plexy_center_taper
        friction_threshold = get_volt_plexy_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
        friction_scale = get_volt_plexy_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = 1.0 + ((friction_scale - 1.0) * volt_plexy_center_taper)
      elif self.is_civic_bosch_modified:
        ff *= get_civic_bosch_modified_b_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * civic_bosch_modified_a_center_taper
        friction_threshold = CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD
@@ -2379,6 +2326,8 @@ class LatControlTorque(LatControl):
                                                                  output_torque, CS.vEgo)
      elif volt_standard_test_active:
        output_torque *= volt_standard_center_taper
+      elif volt_plexy_test_active:
+        output_torque *= volt_plexy_center_taper
      elif kia_ev6_test_active:
        output_torque *= kia_ev6_low_speed_center_taper
      elif self.is_silverado:
@@ -207,19 +207,42 @@
  color: var(--warning-bg);
 }

+.mm-chip-user-favorite {
+  background: rgba(142, 108, 211, 0.18);
+  border-color: rgba(142, 108, 211, 0.55);
+  color: var(--accent-color);
+}
+
 .mm-chip-warning {
  background: rgba(224, 85, 119, 0.12);
  border-color: rgba(224, 85, 119, 0.45);
  color: var(--danger-fg);
 }

+.mm-icon-btn,
 .mm-star {
  background: transparent;
-  border: none;
-  color: #e0b45a;
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-base);
+  color: var(--text-muted);
+  display: inline-flex;
  font-size: 1rem;
+  justify-content: center;
  line-height: 1;
-  padding: 0;
+  min-height: 2.2rem;
+  min-width: 2.45rem;
+  padding: 0.45rem;
+}
+
+.mm-icon-btn:hover:not(:disabled) {
+  background: var(--secondary-bg);
+  color: var(--text-color);
+}
+
+.mm-icon-btn.is-active {
+  background: rgba(142, 108, 211, 0.18);
+  border-color: rgba(142, 108, 211, 0.55);
+  color: var(--accent-color);
 }

 .mm-empty {
@@ -238,7 +261,12 @@
  }

  .mm-btn {
-    width: 100%;
+    flex: 1 1 auto;
+    width: auto;
+  }
+
+  .mm-icon-btn {
+    flex: 0 0 2.6rem;
  }

  .mm-search {
@@ -7,6 +7,7 @@ const state = reactive({
  actionBusy: false,
  sortMode: "alphabetical",
  communityFavoriteFilter: "all",
+  userFavoriteFilter: "all",
  models: [],
  currentModel: "",
  summary: { installed: 0, missing: 0, total: 0 },
@@ -91,6 +92,12 @@ function modelSortCompare(a, b) {
 function getFilteredModels() {
  let rows = [...state.models].filter(model => model && typeof model === "object");

+  if (state.userFavoriteFilter === "yes") {
+    rows = rows.filter(model => !!model.userFavorite);
+  } else if (state.userFavoriteFilter === "no") {
+    rows = rows.filter(model => !model.userFavorite);
+  }
+
  if (state.communityFavoriteFilter === "yes") {
    rows = rows.filter(model => !!model.communityFavorite);
  } else if (state.communityFavoriteFilter === "no") {
@@ -143,8 +150,15 @@ function getReleaseOrderedModels() {
 }

 function getInstalledModels() {
-  const rows = state.sortMode === "release_date" ? getReleaseOrderedModels() : getVisibleModels();
-  return rows.filter(model => !!model.installed);
+  return state.models
+    .filter(model => model && typeof model === "object" && !!model.installed)
+    .sort(modelSortCompare);
+}
+
+function getUserFavoriteModels(installedOnly = false) {
+  const rows = state.models.filter(model => model && typeof model === "object" && !!model.userFavorite);
+  const filtered = installedOnly ? rows.filter(model => !!model.installed) : rows;
+  return filtered.sort(modelSortCompare);
 }

 function getCurrentModelName() {
@@ -317,6 +331,28 @@ async function deleteModel(modelKey) {
  notify(payload.message || `Deleted files for "${modelKey}".`);
 }

+async function setUserFavorite(modelKey, shouldFavorite) {
+  const key = safeText(modelKey, "");
+  if (!key) return;
+
+  const favorites = getUserFavoriteModels(false)
+    .map(model => safeText(model.value, ""))
+    .filter(Boolean)
+    .filter(value => value !== key);
+
+  if (shouldFavorite) {
+    favorites.push(key);
+  }
+
+  const payload = await fetchJson("/api/models/preferences", {
+    method: "PUT",
+    headers: { "Content-Type": "application/json" },
+    body: JSON.stringify({ userFavorites: favorites }),
+  });
+
+  notify(payload.message || (shouldFavorite ? "Model added to your favorites." : "Model removed from your favorites."));
+}
+
 async function refreshManifest() {
  const payload = await fetchJson("/api/models/refresh_manifest", { method: "POST" });
  notify(payload.message || "Model manifest refreshed.");
@@ -336,7 +372,8 @@ async function runAction(action, modelKey = "") {
      return;
    }

-    if (state.status.isOnroad && action !== "refresh") {
+    const allowedOnroadActions = new Set(["refresh", "favorite", "unfavorite"]);
+    if (state.status.isOnroad && !allowedOnroadActions.has(action)) {
      notify("Actions are blocked while onroad.", "error");
      return;
    }
@@ -356,6 +393,12 @@ async function runAction(action, modelKey = "") {
      const confirmed = window.confirm(`Delete local files for model \"${modelKey}\"?`);
      if (!confirmed) return;
      await deleteModel(modelKey);
+    } else if (action === "favorite") {
+      if (!modelKey) return;
+      await setUserFavorite(modelKey, true);
+    } else if (action === "unfavorite") {
+      if (!modelKey) return;
+      await setUserFavorite(modelKey, false);
    }

    await fetchStatus();
@@ -397,6 +440,14 @@ function bindDomHandlers() {
      return;
    }

+    if (target.id === "mm-favorite-model-select") {
+      const modelKey = safeText(target.value, "");
+      if (!modelKey) return;
+      runAction("select", modelKey).catch(() => {});
+      target.value = "";
+      return;
+    }
+
    if (target.id === "mm-sort-mode-select") {
      const value = safeText(target.value, "alphabetical");
      state.sortMode = value === "release_date" ? "release_date" : "alphabetical";
@@ -411,6 +462,15 @@ function bindDomHandlers() {
        state.communityFavoriteFilter = "all";
      }
    }
+
+    if (target.id === "mm-user-filter-select") {
+      const value = safeText(target.value, "all");
+      if (value === "yes" || value === "no" || value === "all") {
+        state.userFavoriteFilter = value;
+      } else {
+        state.userFavoriteFilter = "all";
+      }
+    }
  });
 }

@@ -444,6 +504,8 @@ function renderActions(model) {
 function renderModelRow(model) {
  const label = safeText(model.label, safeText(model.value, "Unnamed"));
  const key = safeText(model.value, "");
+  const favoriteAction = model.userFavorite ? "unfavorite" : "favorite";
+  const favoriteTitle = model.userFavorite ? "Remove from your favorites" : "Add to your favorites";

  return html`
    <div class="mm-row">
@@ -457,11 +519,20 @@ function renderModelRow(model) {
          ${state.sortMode === "release_date" ? "" : model.series ? html`<span class="mm-chip">${safeText(model.series)}</span>` : ""}
          ${model.version ? html`<span class="mm-chip">Version ${safeText(model.version)}</span>` : ""}
          ${model.released ? html`<span class="mm-chip">Released ${safeText(model.released)}</span>` : ""}
+          ${model.userFavorite ? html`<span class="mm-chip mm-chip-user-favorite">Your Favorite</span>` : ""}
          ${model.communityFavorite ? html`<span class="mm-chip mm-chip-favorite">Community Favorite</span>` : ""}
          ${model.partial ? html`<span class="mm-chip mm-chip-warning">Partial Files</span>` : ""}
        </div>
      </div>
      <div class="mm-row-actions">
+        <button
+          class="mm-icon-btn ${model.userFavorite ? "is-active" : ""}"
+          data-mm-action="${favoriteAction}"
+          data-model="${key}"
+          title="${favoriteTitle}"
+          aria-label="${favoriteTitle}">
+          <i class="bi ${model.userFavorite ? "bi-star-fill" : "bi-star"}"></i>
+        </button>
        ${renderActions(model)}
      </div>
    </div>
@@ -525,6 +596,7 @@ export function ModelManager() {
      <div class="mm-status">
        <span class="mm-chip">Current: ${getCurrentModelName()}</span>
        <span class="mm-chip">Progress: ${safeText(state.status.progress, "Idle")}</span>
+        <span class="mm-chip">${() => getUserFavoriteModels(false).length} personal favorites</span>
        ${() => state.status.isOnroad ? html`<span class="mm-chip mm-chip-warning">Onroad: actions disabled</span>` : ""}
      </div>

@@ -548,6 +620,23 @@ export function ModelManager() {
          })()}
        </select>

+        <label class="mm-filter-label" for="mm-favorite-model-select">Favorite Models</label>
+        <select class="mm-select" id="mm-favorite-model-select" disabled="${() => getUserFavoriteModels(true).length === 0}">
+          ${(() => {
+            const favorites = getUserFavoriteModels(true);
+            return favorites.length > 0
+              ? html`
+                <option value="">Choose a favorite</option>
+                ${favorites.map(model => html`
+                  <option value="${safeText(model.value)}">
+                    ${safeText(model.label, model.value)}
+                  </option>
+                `)}
+              `
+              : html`<option value="">No installed favorites</option>`;
+          })()}
+        </select>
+
        <label class="mm-filter-label" for="mm-sort-mode-select">Sort</label>
        <select class="mm-select" id="mm-sort-mode-select">
          <option value="alphabetical" selected="${() => state.sortMode === "alphabetical" || false}">Alphabetical</option>
@@ -556,6 +645,13 @@ export function ModelManager() {

        <div class="mm-filter-break"></div>

+        <label class="mm-filter-label" for="mm-user-filter-select">Your Favorite</label>
+        <select class="mm-select" id="mm-user-filter-select">
+          <option value="all" selected="${() => state.userFavoriteFilter === "all" || false}">All</option>
+          <option value="yes" selected="${() => state.userFavoriteFilter === "yes" || false}">Yes</option>
+          <option value="no" selected="${() => state.userFavoriteFilter === "no"}">No</option>
+        </select>
+
        <label class="mm-filter-label" for="mm-community-filter-select">Community Favorite</label>
        <select class="mm-select" id="mm-community-filter-select">
          <option value="all" selected="${() => state.communityFavoriteFilter === "all" || false}">All</option>