From 1382200cda95466b7fa2606028b024ee2481655c Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Tue, 23 Jun 2026 18:00:13 -0500 Subject: [PATCH] plexy and noah --- selfdrive/controls/lib/latcontrol_torque.py | 111 +++++------------- .../assets/components/tools/model_manager.css | 36 +++++- .../assets/components/tools/model_manager.js | 102 +++++++++++++++- 3 files changed, 161 insertions(+), 88 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index f767af74f..35b1ff8f0 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -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: diff --git a/starpilot/system/the_galaxy/assets/components/tools/model_manager.css b/starpilot/system/the_galaxy/assets/components/tools/model_manager.css index 42092fa84..acec127dc 100644 --- a/starpilot/system/the_galaxy/assets/components/tools/model_manager.css +++ b/starpilot/system/the_galaxy/assets/components/tools/model_manager.css @@ -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 { diff --git a/starpilot/system/the_galaxy/assets/components/tools/model_manager.js b/starpilot/system/the_galaxy/assets/components/tools/model_manager.js index ac5c1f307..d91156711 100644 --- a/starpilot/system/the_galaxy/assets/components/tools/model_manager.js +++ b/starpilot/system/the_galaxy/assets/components/tools/model_manager.js @@ -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`
@@ -457,11 +519,20 @@ function renderModelRow(model) { ${state.sortMode === "release_date" ? "" : model.series ? html`${safeText(model.series)}` : ""} ${model.version ? html`Version ${safeText(model.version)}` : ""} ${model.released ? html`Released ${safeText(model.released)}` : ""} + ${model.userFavorite ? html`Your Favorite` : ""} ${model.communityFavorite ? html`Community Favorite` : ""} ${model.partial ? html`Partial Files` : ""}
+ ${renderActions(model)}
@@ -525,6 +596,7 @@ export function ModelManager() {
Current: ${getCurrentModelName()} Progress: ${safeText(state.status.progress, "Idle")} + ${() => getUserFavoriteModels(false).length} personal favorites ${() => state.status.isOnroad ? html`Onroad: actions disabled` : ""}
@@ -548,6 +620,23 @@ export function ModelManager() { })()} + + + + + + + +