From 334f32f5d8f70035e0962e729b842fa8448c37f7 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Thu, 10 Sep 2026 20:49:06 -0500 Subject: [PATCH] Cabo --- .../opendbc/car/hyundai/carcontroller.py | 6 +- opendbc_repo/opendbc/car/hyundai/interface.py | 2 +- .../opendbc/car/hyundai/tests/test_hyundai.py | 58 +++++++++++--- opendbc_repo/opendbc/car/hyundai/values.py | 7 +- .../opendbc/car/subaru/carcontroller.py | 18 ++++- .../opendbc/car/subaru/tests/test_subaru.py | 75 ++++++++++++++++++- selfdrive/controls/controlsd.py | 7 -- selfdrive/controls/lib/drive_helpers.py | 5 +- selfdrive/controls/lib/latcontrol_angle.py | 46 +++++++++++- selfdrive/controls/lib/latcontrol_torque.py | 4 + .../controls/lib/latcontrol_vehicle_tunes.py | 37 +++++++++ .../controls/tests/test_drive_helpers.py | 10 ++- selfdrive/controls/tests/test_latcontrol.py | 53 ++++++++++++- starpilot/car/ford/lateral.py | 32 ++++---- starpilot/car/ford/tests/test_lateral.py | 36 +++++++-- .../mobile/js/components/GalaxyModal.js | 54 ++++++++++++- .../js/components/LateralTuningPanel.js | 23 +++++- .../the_galaxy/tests/test_ui_vue_frontend.py | 6 ++ 18 files changed, 418 insertions(+), 61 deletions(-) diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py index 533e52cdc3..e0cb101ae9 100644 --- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py +++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py @@ -860,13 +860,13 @@ class CarController(CarControllerBase): can_sends = [] lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING - longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False)) - lfa_status_cars = ( + persistent_lfa_status_cars = ( CAR.HYUNDAI_IONIQ_6, + CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, CAR.KIA_EV6, ) lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \ - if self.CP.carFingerprint in lfa_status_cars else longitudinal_active + if self.CP.carFingerprint in persistent_lfa_status_cars else self.long_active_ecu lka_steering_long = lka_steering and lfa_longitudinal_active ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \ diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py index 470bb339e8..a17b841f6b 100644 --- a/opendbc_repo/opendbc/car/hyundai/interface.py +++ b/opendbc_repo/opendbc/car/hyundai/interface.py @@ -29,7 +29,7 @@ Ecu = structs.CarParams.Ecu def get_communication_control_request(car_fingerprint): - if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR and car_fingerprint != CAR.HYUNDAI_IONIQ_5: + if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR: return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL]) diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py index aa075c6546..85fcd065a7 100644 --- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py +++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py @@ -139,9 +139,13 @@ class TestHyundaiFingerprint: assert get_communication_control_request(CAR.KIA_EV6) == stock_request assert CAR.HYUNDAI_IONIQ_5 in CANFD_RADAR_LIVE_LONGITUDINAL_CAR - assert CAR.HYUNDAI_IONIQ_5 in CANFD_RADAR_ECU_KEEPALIVE_CAR + assert CAR.HYUNDAI_IONIQ_5 not in CANFD_RADAR_ECU_KEEPALIVE_CAR assert get_communication_control_request(CAR.HYUNDAI_IONIQ_5) == stock_request + assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN in CANFD_RADAR_LIVE_LONGITUDINAL_CAR + assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN not in CANFD_RADAR_ECU_KEEPALIVE_CAR + assert get_communication_control_request(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN) == stock_request + assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request def test_carnival_hev_low_speed_torque_rate_limits(self): @@ -2594,7 +2598,7 @@ class TestHyundaiFingerprint: cc.hudControl, cs, cc, get_test_toggles(), lka_icon=2, lfa_icon=2) steering_names = [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in inactive_msgs if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")] - assert steering_names == [("LKAS", can_bus.ACAN)] + assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)] controller.frame = 1 cc.longActive = True @@ -2604,11 +2608,18 @@ class TestHyundaiFingerprint: if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")] assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)] - @pytest.mark.parametrize("car", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6]) - def test_egmp_keeps_lfa_status_when_longitudinal_is_inactive(self, car): + @pytest.mark.parametrize(("car", "powertrain_flag"), [ + (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.EV), + (CAR.HYUNDAI_IONIQ_6, HyundaiFlags.EV), + (CAR.KIA_EV6, HyundaiFlags.EV), + (CAR.KIA_CARNIVAL_2025, 0), + (CAR.KIA_CARNIVAL_HEV_4TH_GEN, HyundaiFlags.HYBRID), + (CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, HyundaiFlags.EV), + ]) + def test_hda2_keeps_lfa_status_when_longitudinal_is_inactive(self, car, powertrain_flag): CP = CarParams.new_message() CP.carFingerprint = car - CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING) + CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | powertrain_flag) CP.openpilotLongitudinalControl = True controller = CarController(DBC[CP.carFingerprint], CP) @@ -2624,10 +2635,39 @@ class TestHyundaiFingerprint: ) controller.frame = 1 - for controller.long_active_ecu in (False, True): - msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, - cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1) - assert any(addr == 0x12A for addr, _, _ in msgs) + controller.long_active_ecu = True + msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, + cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1) + assert any(addr == 0x12A for addr, _, _ in msgs) + + @pytest.mark.parametrize("car", [ + CAR.HYUNDAI_IONIQ_6, + CAR.KIA_EV6, + CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, + ]) + def test_egmp_persistent_lfa_status_survives_ecu_fallback_state(self, car): + CP = CarParams.new_message() + CP.carFingerprint = car + CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING) + CP.openpilotLongitudinalControl = True + + controller = CarController(DBC[CP.carFingerprint], CP) + controller.frame = 1 + controller.long_active_ecu = False + cc = SimpleNamespace( + enabled=False, latActive=False, longActive=False, + actuators=SimpleNamespace(longControlState=LongCtrlState.off), + leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace(), + ) + cs = SimpleNamespace( + stock_lfa_msg=None, stock_lkas_msg=None, + left_blindspot_from_radar=False, right_blindspot_from_radar=False, + out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.park), + ) + + msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, + cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1) + assert any(addr == 0x12A for addr, _, _ in msgs) def test_gv70_electrified_longitudinal_uses_hda2_scc_contract(self): CP = CarParams.new_message() diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py index b85531477f..d7cfa094c7 100644 --- a/opendbc_repo/opendbc/car/hyundai/values.py +++ b/opendbc_repo/opendbc/car/hyundai/values.py @@ -1220,7 +1220,12 @@ CANFD_RADAR_LIVE_LONGITUDINAL_CAR = { CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, } -CANFD_RADAR_ECU_KEEPALIVE_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR - {CAR.KIA_EV6} +CANFD_RADAR_ECU_KEEPALIVE_CAR = { + CAR.HYUNDAI_IONIQ_5_PE, + CAR.HYUNDAI_IONIQ_6, + CAR.KIA_EV9, + CAR.GENESIS_GV60_EV_1ST_GEN, +} RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | { CAR.HYUNDAI_IONIQ, CAR.HYUNDAI_KONA_EV_2022, diff --git a/opendbc_repo/opendbc/car/subaru/carcontroller.py b/opendbc_repo/opendbc/car/subaru/carcontroller.py index abee950955..f721b0e9a6 100644 --- a/opendbc_repo/opendbc/car/subaru/carcontroller.py +++ b/opendbc_repo/opendbc/car/subaru/carcontroller.py @@ -20,6 +20,7 @@ _ANGLE_OVERRIDE_CONFIRM_FRAMES = 2 _ANGLE_REENGAGE_MAX_STEER_RATE = 2.0 _ANGLE_MADS_MIN_SPEED = 0.44704 _ANGLE_MADS_MAX_STEER_ANGLE = 120.0 +_ASCENT_AOL_ARM_FRAMES = 30 _STOP_START_STARTUP_DELAY_FRAMES = 100 # StarPilot's first populated toggle message can arrive several seconds after # the car controller starts while fingerprinting and settings settle. @@ -44,6 +45,7 @@ class CarController(CarControllerBase): self.angle_override_confirm_frames = 0 self.angle_lkas_active = False self.angle_handoff_active = False + self.ascent_aol_arm_frames = 0 self.cruise_button_prev = 0 self.steer_rate_counter = 0 @@ -170,6 +172,14 @@ class CarController(CarControllerBase): return self.driver_override + def _ascent_aol_ready(self, ready): + if not ready: + self.ascent_aol_arm_frames = 0 + return False + + self.ascent_aol_arm_frames = min(self.ascent_aol_arm_frames + 1, _ASCENT_AOL_ARM_FRAMES) + return self.ascent_aol_arm_frames >= _ASCENT_AOL_ARM_FRAMES + def lateral_angle(self, CC, CS): if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025: mads_only = CC.latActive and not CC.enabled @@ -199,6 +209,12 @@ class CarController(CarControllerBase): abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \ CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill + if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023: + if mads_only: + cruise_available = getattr(getattr(CS.out, "cruiseState", None), "available", True) + lkas_available = self._ascent_aol_ready(lkas_available and cruise_available) + else: + self.ascent_aol_arm_frames = _ASCENT_AOL_ARM_FRAMES if lkas_available else 0 manual_handoff = self._angle_manual_handoff( CS, lkas_available, use_steering_pressed=self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023, @@ -284,7 +300,7 @@ class CarController(CarControllerBase): return subarucan.create_steering_control(self.packer, apply_torque, apply_steer_req) def _lkas_status_active(self, CC): - if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023: + if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023): return self.angle_lkas_active return CC.latActive diff --git a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py index 1865c6b446..b9ccce9c95 100644 --- a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py +++ b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py @@ -8,7 +8,7 @@ from opendbc.can import CANPacker, CANParser from opendbc.car import Bus, fw_versions, gen_empty_fingerprint, structs from opendbc.car.fw_query_definitions import StdQueries from opendbc.car.subaru import subarucan -from opendbc.car.subaru.carcontroller import CarController +from opendbc.car.subaru.carcontroller import CarController, _ASCENT_AOL_ARM_FRAMES from opendbc.car.subaru.carstate import CarState from opendbc.car.subaru.fingerprints import FW_VERSIONS from opendbc.car.fw_versions import match_fw_to_car @@ -692,6 +692,7 @@ def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope(): steeringRateDeg=96.0, steeringTorque=7.0, steeringPressed=False, + cruiseState=SimpleNamespace(available=True), gearShifter=structs.CarState.GearShifter.drive, standstill=False, )) @@ -704,18 +705,74 @@ def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope(): CS.out.steeringAngleDeg = -100.0 CS.out.steeringRateDeg = 0.0 + for frame in range(2, _ASCENT_AOL_ARM_FRAMES + 1): + msg = controller.lateral_angle(CC, CS) + parser.update([(frame, [msg])]) + assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0 + msg = controller.lateral_angle(CC, CS) - parser.update([(2, [msg])]) + parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])]) assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1 CS.out.gearShifter = structs.CarState.GearShifter.reverse msg = controller.lateral_angle(CC, CS) - parser.update([(12, [msg])]) + parser.update([(_ASCENT_AOL_ARM_FRAMES + 2, [msg])]) assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0 assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg) -def test_lkas_hud_state_uses_outback_angle_request_state(): +def test_ascent_aol_does_not_arm_before_cruise_main_is_available(): + CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023) + controller = CarController({}, CP) + CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0)) + CS = SimpleNamespace(out=SimpleNamespace( + vEgoRaw=10.0, + steeringAngleDeg=0.0, + steeringRateDeg=0.0, + steeringTorque=0.0, + steeringPressed=False, + cruiseState=SimpleNamespace(available=False), + gearShifter=structs.CarState.GearShifter.drive, + standstill=False, + )) + parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main) + + for frame in range(_ASCENT_AOL_ARM_FRAMES): + msg = controller.lateral_angle(CC, CS) + parser.update([(frame + 1, [msg])]) + + assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0 + assert controller.ascent_aol_arm_frames == 0 + + CS.out.cruiseState.available = True + msg = controller.lateral_angle(CC, CS) + parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])]) + assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0 + assert controller.ascent_aol_arm_frames == 1 + + +def test_ascent_angle_controller_does_not_delay_normal_engagement(): + CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023) + controller = CarController({}, CP) + CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0)) + CS = SimpleNamespace(out=SimpleNamespace( + vEgoRaw=10.0, + steeringAngleDeg=0.0, + steeringRateDeg=0.0, + steeringTorque=0.0, + steeringPressed=False, + gearShifter=structs.CarState.GearShifter.drive, + standstill=False, + )) + parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main) + + msg = controller.lateral_angle(CC, CS) + parser.update([(1, [msg])]) + + assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1 + + +def test_lkas_hud_state_uses_angle_request_state(): update_source = inspect.getsource(CarController.update) assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC)" in update_source @@ -765,6 +822,16 @@ def test_outback_manual_steering_releases_angle_request_before_lkas_fault(): assert not controller._lkas_status_active(CC) +def test_ascent_hud_waits_for_angle_request(): + CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023) + controller = CarController({}, CP) + CC = SimpleNamespace(latActive=True) + + assert not controller._lkas_status_active(CC) + controller.angle_lkas_active = True + assert controller._lkas_status_active(CC) + + def test_other_angle_cars_keep_lateral_status_behavior(): CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025) controller = CarController({}, CP) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3174fac494..5bb3d2b4a5 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -404,7 +404,6 @@ class Controls: self.turn_blinker_swept = 0.0 self.twitch_guard_remaining = 0.0 self.kona_non_scc_lateral_active = False - self.kona_non_scc_lateral_faulted = False self.elantra_hev_2024_lateral_faulted = False self.elantra_hev_2024_previous_cruise_enabled = False @@ -504,11 +503,6 @@ class Controls: standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill if self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_KONA_NON_SCC: always_on_lateral_enabled = self.sm['starpilotCarState'].alwaysOnLateralEnabled - lateral_requested = (CC.enabled and self.sm['selfdriveState'].active) or always_on_lateral_enabled - if not lateral_requested: - self.kona_non_scc_lateral_faulted = False - elif CS.steerFaultTemporary: - self.kona_non_scc_lateral_faulted = True CC.latActive = get_kona_non_scc_lateral_active( CC.enabled, self.sm['selfdriveState'].active, always_on_lateral_enabled, @@ -516,7 +510,6 @@ class Controls: standstill, self.CP.steerAtStandstill, self.sm['starpilotPlan'].lateralCheck, CS.steeringPressed, self.kona_non_scc_lateral_active, - self.kona_non_scc_lateral_faulted, ) self.kona_non_scc_lateral_active = CC.latActive elif self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024: diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 7a6d5b8550..8a2a1881f8 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -89,13 +89,12 @@ def update_lateral_fault_latch(previous_latched: bool, lateral_requested: bool, def get_kona_non_scc_lateral_active(enabled: bool, active: bool, always_on_lateral_enabled: bool, steer_fault_temporary: bool, steer_fault_permanent: bool, standstill: bool, steer_at_standstill: bool, lateral_check: bool, - steering_pressed: bool, previous_lateral_active: bool, - steer_fault_latched: bool = False) -> bool: + steering_pressed: bool, previous_lateral_active: bool) -> bool: """Avoid the Kona EPS torque fault when AOL is enabled over driver steering input.""" lateral_active = get_lateral_active(enabled, active, always_on_lateral_enabled, steer_fault_temporary, steer_fault_permanent, standstill, steer_at_standstill, lateral_check) - if not lateral_active or steer_fault_latched: + if not lateral_active: return False aol_rising_edge = always_on_lateral_enabled and not enabled and not previous_lateral_active diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 6062b4780d..ffd7d3d122 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -9,26 +9,54 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees _ASCENT_ANGLE_TRACKING_GAIN = 0.25 _ASCENT_ANGLE_TRACKING_MAX_CORRECTION = 8.0 -_ASCENT_ANGLE_TRACKING_MIN_SPEED = 5.0 +_ASCENT_ANGLE_TRACKING_MIN_SPEED = 9.0 +_ASCENT_ANGLE_TRACKING_FULL_SPEED = 15.0 +_ASCENT_ANGLE_TRACKING_TURN_START = 15.0 +_ASCENT_ANGLE_TRACKING_TURN_FULL = 35.0 +_ASCENT_LOW_SPEED_FILTER_MAX_SPEED = 10.0 +_ASCENT_LOW_SPEED_FILTER_CENTER_ANGLE = 35.0 +_ASCENT_LOW_SPEED_FILTER_TIME_CONSTANT = 0.18 + + +def _clipped_weight(value: float, start: float, end: float) -> float: + return max(0.0, min(1.0, (value - start) / (end - start))) def _ascent_angle_tracking_target(target_angle: float, steering_angle: float, v_ego: float, steering_pressed: bool) -> float: - if steering_pressed or v_ego < _ASCENT_ANGLE_TRACKING_MIN_SPEED: + if steering_pressed: return target_angle - correction = (target_angle - steering_angle) * _ASCENT_ANGLE_TRACKING_GAIN + speed_weight = _clipped_weight(v_ego, _ASCENT_ANGLE_TRACKING_MIN_SPEED, _ASCENT_ANGLE_TRACKING_FULL_SPEED) + turn_weight = _clipped_weight(abs(target_angle), _ASCENT_ANGLE_TRACKING_TURN_START, _ASCENT_ANGLE_TRACKING_TURN_FULL) + correction = (target_angle - steering_angle) * _ASCENT_ANGLE_TRACKING_GAIN * max(speed_weight, turn_weight) correction = max(-_ASCENT_ANGLE_TRACKING_MAX_CORRECTION, min(_ASCENT_ANGLE_TRACKING_MAX_CORRECTION, correction)) return target_angle + correction +def _ascent_low_speed_angle_target(target_angle: float, previous_target: float, + v_ego: float, steering_pressed: bool, dt: float) -> float: + if steering_pressed: + return target_angle + + speed_weight = 1.0 - _clipped_weight(v_ego, 0.0, _ASCENT_LOW_SPEED_FILTER_MAX_SPEED) + center_weight = 1.0 - _clipped_weight(abs(target_angle), 0.0, _ASCENT_LOW_SPEED_FILTER_CENTER_ANGLE) + time_constant = _ASCENT_LOW_SPEED_FILTER_TIME_CONSTANT * speed_weight * center_weight + if time_constant <= 0.0: + return target_angle + + alpha = dt / (time_constant + dt) + return previous_target + alpha * (target_angle - previous_target) + + class LatControlAngle(LatControl): def __init__(self, CP, CI, dt): super().__init__(CP, CI, dt) self.sat_check_min_speed = 5. self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai") self.is_ascent = CP.carFingerprint == SUBARU_CAR.SUBARU_ASCENT_2023 + self.ascent_angle_target = None def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, calibrated_pose, model_data, starpilot_toggles): angle_log = log.ControlsState.LateralAngleState.new_message() @@ -36,14 +64,24 @@ class LatControlAngle(LatControl): if not active: angle_log.active = False angle_steers_des = float(CS.steeringAngleDeg) + self.ascent_angle_target = angle_steers_des else: angle_log.active = True angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) angle_steers_des += params.angleOffsetDeg if self.is_ascent: - angle_steers_des = _ascent_angle_tracking_target( + if self.ascent_angle_target is None: + self.ascent_angle_target = float(CS.steeringAngleDeg) + self.ascent_angle_target = _ascent_low_speed_angle_target( angle_steers_des, + self.ascent_angle_target, + CS.vEgo, + bool(getattr(CS, "steeringPressed", False)), + self.dt, + ) + angle_steers_des = _ascent_angle_tracking_target( + self.ascent_angle_target, CS.steeringAngleDeg, CS.vEgo, bool(getattr(CS, "steeringPressed", False)), diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 8a98b7b7d9..e8f58002b7 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -667,6 +667,10 @@ class LatControlTorque(LatControl): output_torque *= get_genesis_gv70_reversal_output_scale( setpoint, measurement, desired_lateral_jerk, CS.vEgo, ) + if not CS.steeringPressed: + output_torque = get_genesis_gv70_stabilized_output( + output_torque, self.prev_output_torque, setpoint, desired_lateral_jerk, CS.vEgo, self.dt, + ) elif sonata_hybrid_active: output_torque *= sonata_hybrid_center_taper output_torque *= sonata_hybrid_center_output_taper diff --git a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py index 8029dfe2af..5c53209854 100644 --- a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py +++ b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py @@ -260,6 +260,17 @@ GENESIS_GV70_LOW_SPEED_CENTER_OVERSHOOT_CENTER_LAT_WIDTH = 0.08 GENESIS_GV70_LOW_SPEED_CENTER_OVERSHOOT_MIN = 0.06 GENESIS_GV70_LOW_SPEED_CENTER_OVERSHOOT_LAT = 0.12 GENESIS_GV70_LOW_SPEED_CENTER_OVERSHOOT_LAT_WIDTH = 0.10 +GENESIS_GV70_OUTPUT_SMOOTHING_SPEED = 38.0 * CV.MPH_TO_MS +GENESIS_GV70_OUTPUT_SMOOTHING_SPEED_WIDTH = 6.0 * CV.MPH_TO_MS +GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_LAT = 0.48 +GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_LAT_WIDTH = 0.16 +GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_RC = 0.42 +GENESIS_GV70_OUTPUT_SMOOTHING_CURVE_RC = 0.14 +GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_RC = 0.12 +GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_PHASE = 0.04 +GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_PHASE_WIDTH = 0.08 +GENESIS_GV70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_LAT = 0.55 +GENESIS_GV70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_RC = 0.065 GENESIS_G70_FRICTION_THRESHOLD_GAIN = 0.10 GENESIS_G70_FRICTION_SPEED_ONSET = 10.0 @@ -3230,6 +3241,32 @@ def get_genesis_gv70_low_speed_center_overshoot_scale(setpoint: float, measured_ speed_weight * speed_cutoff) +def get_genesis_gv70_stabilized_output(output_torque: float, prev_output_torque: float, + desired_lateral_accel: float, desired_lateral_jerk: float, + v_ego: float, dt: float) -> float: + speed_weight = _sigmoid((max(v_ego, 0.0) - GENESIS_GV70_OUTPUT_SMOOTHING_SPEED) / + GENESIS_GV70_OUTPUT_SMOOTHING_SPEED_WIDTH) + center_weight = _sigmoid((GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_LAT - abs(desired_lateral_accel)) / + GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_LAT_WIDTH) + curve_weight = 1.0 - center_weight + response_time = (GENESIS_GV70_OUTPUT_SMOOTHING_CURVE_RC * curve_weight + + GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_RC * center_weight) + + unwind_phase = -desired_lateral_accel * desired_lateral_jerk + unwind_weight = _sigmoid((unwind_phase - GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_PHASE) / + GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_PHASE_WIDTH) + response_time += GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_RC * curve_weight * unwind_weight + + changing_direction = (abs(desired_lateral_accel) >= GENESIS_GV70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_LAT and + prev_output_torque * desired_lateral_accel <= 0.0) + if changing_direction: + response_time = min(response_time, GENESIS_GV70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_RC) + + output_alpha = dt / (max(response_time, 0.0) + dt) + smoothed_output = prev_output_torque + output_alpha * (output_torque - prev_output_torque) + return float(output_torque + speed_weight * (smoothed_output - output_torque)) + + def get_genesis_g70_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_standard_friction_threshold(v_ego) diff --git a/selfdrive/controls/tests/test_drive_helpers.py b/selfdrive/controls/tests/test_drive_helpers.py index 02eaf96239..8ec54a9bdb 100644 --- a/selfdrive/controls/tests/test_drive_helpers.py +++ b/selfdrive/controls/tests/test_drive_helpers.py @@ -35,9 +35,15 @@ def test_kona_non_scc_aol_gate_does_not_change_fault_or_normal_lateral_gates(): ) -def test_kona_non_scc_does_not_retry_after_a_latched_temporary_fault(): +def test_kona_non_scc_recovers_after_temporary_fault_clears(): assert not get_kona_non_scc_lateral_active( - False, False, True, False, False, False, False, True, False, False, True, + False, False, True, True, False, False, False, True, False, True, + ) + assert not get_kona_non_scc_lateral_active( + False, False, True, False, False, False, False, True, True, False, + ) + assert get_kona_non_scc_lateral_active( + False, False, True, False, False, False, False, True, False, False, ) diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py index 9372470fc6..7edb0efc93 100644 --- a/selfdrive/controls/tests/test_latcontrol.py +++ b/selfdrive/controls/tests/test_latcontrol.py @@ -20,6 +20,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.controls.lib.latcontrol_angle import ( LatControlAngle, _ascent_angle_tracking_target, + _ascent_low_speed_angle_target, ) from openpilot.selfdrive.controls.lib.latcontrol_pid import ( LatControlPID, @@ -54,6 +55,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_vehicle_tunes import ( get_rav4_tss2_pid_output, get_subaru_impreza_pid_output_scale, get_genesis_gv70_low_speed_center_overshoot_scale, + get_genesis_gv70_stabilized_output, get_genesis_g70_high_speed_transition_scale, get_genesis_g70_stabilized_output, normalize_flm_overrides, @@ -203,9 +205,19 @@ class TestLatControl: def test_ascent_angle_tracking_correction_is_bounded_and_handoff_safe(self): assert _ascent_angle_tracking_target(10.0, 0.0, 20.0, False) == pytest.approx(12.5) assert _ascent_angle_tracking_target(40.0, 0.0, 20.0, False) == pytest.approx(48.0) - assert _ascent_angle_tracking_target(10.0, 0.0, 4.0, False) == pytest.approx(10.0) + assert _ascent_angle_tracking_target(10.0, 0.0, 9.0, False) == pytest.approx(10.0) + assert 10.0 < _ascent_angle_tracking_target(10.0, 0.0, 12.0, False) < 12.5 + assert _ascent_angle_tracking_target(40.0, 0.0, 4.0, False) == pytest.approx(48.0) assert _ascent_angle_tracking_target(10.0, 0.0, 20.0, True) == pytest.approx(10.0) + def test_ascent_low_speed_filter_is_center_gated_and_handoff_safe(self): + filtered = _ascent_low_speed_angle_target(10.0, 0.0, 4.0, False, DT_CTRL) + + assert 0.0 < filtered < 10.0 + assert _ascent_low_speed_angle_target(10.0, 0.0, 10.0, False, DT_CTRL) == pytest.approx(10.0) + assert _ascent_low_speed_angle_target(40.0, 0.0, 4.0, False, DT_CTRL) == pytest.approx(40.0) + assert _ascent_low_speed_angle_target(10.0, 0.0, 4.0, True, DT_CTRL) == pytest.approx(10.0) + def test_torque_log_exposes_friction_controller_state(self): controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_BOLT_ACC_2022_2023) @@ -1724,6 +1736,45 @@ class TestLatControl: assert base_output != 0.0 assert tapered_output == pytest.approx(base_output * 0.5) + def test_genesis_gv70_output_stabilizer_is_speed_and_phase_aware(self): + low_speed = get_genesis_gv70_stabilized_output(-0.2, 0.2, 0.1, -0.4, 5.0, DT_CTRL) + high_speed_center = get_genesis_gv70_stabilized_output(-0.2, 0.2, 0.1, -0.4, 30.0, DT_CTRL) + high_speed_wind = get_genesis_gv70_stabilized_output(0.1, 0.3, 0.8, 0.5, 30.0, DT_CTRL) + high_speed_unwind = get_genesis_gv70_stabilized_output(0.1, 0.3, 0.8, -0.5, 30.0, DT_CTRL) + high_speed_direction_change = get_genesis_gv70_stabilized_output(-0.3, 0.3, -0.8, -0.5, 30.0, DT_CTRL) + + assert low_speed == pytest.approx(-0.2, abs=0.005) + assert abs(high_speed_center - 0.2) < abs(low_speed - 0.2) + assert high_speed_unwind > high_speed_wind > 0.1 + assert abs(high_speed_direction_change - 0.3) > abs(high_speed_center - 0.2) + + def test_genesis_gv70_output_stabilizer_update_path(self, monkeypatch): + calls = [] + + def stabilized_output(output_torque, prev_output_torque, desired_lateral_accel, + desired_lateral_jerk, v_ego, dt): + calls.append((output_torque, prev_output_torque, desired_lateral_accel, + desired_lateral_jerk, v_ego, dt)) + return 0.123 + + monkeypatch.setattr(latcontrol_torque, "get_genesis_gv70_stabilized_output", stabilized_output) + controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.GENESIS_GV70_ELECTRIFIED_1ST_GEN) + CS.vEgo = 25.0 + output, _, lac_log = controller.update( + True, CS, VM, params, False, 0.0002, False, 0.2, None, None, starpilot_toggles, + ) + + assert calls + assert lac_log.active + assert output == pytest.approx(-0.123) + + call_count = len(calls) + CS.steeringPressed = True + controller.update( + True, CS, VM, params, False, 0.0002, False, 0.2, None, None, starpilot_toggles, + ) + assert len(calls) == call_count + def test_genesis_g70_low_speed_output_guard_update_path(self): controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.GENESIS_G70_2020) CS.vEgo = 2.0 diff --git a/starpilot/car/ford/lateral.py b/starpilot/car/ford/lateral.py index 5416d31ace..ac7f0f505f 100644 --- a/starpilot/car/ford/lateral.py +++ b/starpilot/car/ford/lateral.py @@ -34,9 +34,9 @@ MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - ACCELERATION_DUE_TO_GRAVITY * 0.06 STEER_DT = CarControllerParams.STEER_STEP * DT_CTRL CURVATURE_LOOKAHEAD_MIN = 0.20 CURVATURE_LOOKAHEAD_MAX = 0.40 -MACH_E_TURN_IN_LOOKAHEAD_EXTRA = 0.40 -MACH_E_TURN_IN_MIN_CURVATURE = 0.006 -MACH_E_TURN_IN_FULL_CURVATURE = 0.009 +MACH_E_TURN_IN_LOOKAHEAD_EXTRA = 0.80 +MACH_E_TURN_IN_MIN_CURVATURE = 0.002 +MACH_E_TURN_IN_FULL_CURVATURE = 0.008 MACH_E_TURN_IN_LAG_CURVATURE = 0.006 FORD_CURVATURE_LOOKAHEAD = { CAR.FORD_EXPLORER_MK6: 0.20, @@ -184,21 +184,23 @@ class FordLateralController: precision = 0 return requested, precision - def _turn_in_preview_weight(self, desired: float, predicted: float, current: float) -> float: + def _turn_in_preview_weight(self, desired: float, preview: float, current: float) -> float: if self.CP.carFingerprint not in FORD_CONSERVATIVE_PREVIEW_CARS: return 0.0 - if desired * predicted <= 0.0 or desired * self.desired_curvature_last < 0.0: + if desired * preview <= 0.0 or desired * self.desired_curvature_last < 0.0: return 0.0 - if abs(desired) <= abs(self.desired_curvature_last) or abs(current) >= abs(desired): + if abs(desired) <= abs(self.desired_curvature_last): return 0.0 + target = max(abs(desired), abs(preview)) curvature_weight = float(np.interp( - abs(desired), + target, [MACH_E_TURN_IN_MIN_CURVATURE, MACH_E_TURN_IN_FULL_CURVATURE], [0.0, 1.0], )) + direction = float(np.sign(desired)) lag_weight = float(np.clip( - (abs(desired) - abs(current)) / MACH_E_TURN_IN_LAG_CURVATURE, + (target - direction * current) / MACH_E_TURN_IN_LAG_CURVATURE, 0.0, 1.0, )) return curvature_weight * lag_weight @@ -263,13 +265,15 @@ class FordLateralController: manual_turn and self.CP.carFingerprint in FORD_MANUAL_TURN_LATCH_CARS)) v_ego = float(CS.out.vEgoRaw) - predicted = self._predicted_curvature(v_ego, self._curvature_lookahead()) + lookahead = self._curvature_lookahead() + predicted = self._predicted_curvature(v_ego, lookahead) desired = float(actuators.curvature) - turn_in_weight = self._turn_in_preview_weight(desired, predicted, current) - if turn_in_weight > 0.0: - turn_in_predicted = self._predicted_curvature( - v_ego, self._curvature_lookahead() + MACH_E_TURN_IN_LOOKAHEAD_EXTRA) - predicted = float(np.interp(turn_in_weight, [0.0, 1.0], [predicted, turn_in_predicted])) + if self.CP.carFingerprint in FORD_CONSERVATIVE_PREVIEW_CARS: + turn_in_predicted = self._predicted_curvature(v_ego, lookahead + MACH_E_TURN_IN_LOOKAHEAD_EXTRA) + turn_in_weight = self._turn_in_preview_weight(desired, turn_in_predicted, current) + if turn_in_weight > 0.0: + turn_in_target = float(np.copysign(max(abs(desired), abs(turn_in_predicted)), desired)) + predicted = float(np.interp(turn_in_weight, [0.0, 1.0], [predicted, turn_in_target])) requested, precision = self._blend_and_scale(desired, predicted, v_ego, current) self.desired_curvature_last = desired diff --git a/starpilot/car/ford/tests/test_lateral.py b/starpilot/car/ford/tests/test_lateral.py index 2132cfac56..a583b0ba5e 100644 --- a/starpilot/car/ford/tests/test_lateral.py +++ b/starpilot/car/ford/tests/test_lateral.py @@ -144,12 +144,22 @@ def test_mach_e_preview_remains_available_on_curve_entry(controller): def test_mach_e_turn_in_preview_leads_when_path_lags(controller): controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.desired_curvature_last = 0.007 + controller.desired_curvature_last = 0.004 weight = controller._turn_in_preview_weight( - desired=0.009, predicted=0.007, current=0.006) + desired=0.005, preview=0.005, current=0.002) - assert weight == pytest.approx(0.5) + assert weight == pytest.approx(0.25) + + +def test_mach_e_turn_in_preview_leads_opposite_measured_curvature(controller): + controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 + controller.desired_curvature_last = 0.001 + + weight = controller._turn_in_preview_weight( + desired=0.003, preview=0.009, current=-0.003) + + assert weight == pytest.approx(1.0) def test_mach_e_turn_in_preview_is_not_carried_into_unwind(controller): @@ -157,7 +167,7 @@ def test_mach_e_turn_in_preview_is_not_carried_into_unwind(controller): controller.desired_curvature_last = 0.010 assert controller._turn_in_preview_weight( - desired=0.008, predicted=0.009, current=0.004) == 0.0 + desired=0.008, preview=0.009, current=0.004) == 0.0 def test_mach_e_turn_in_preview_uses_extra_model_horizon(controller, monkeypatch): @@ -165,6 +175,20 @@ def test_mach_e_turn_in_preview_uses_extra_model_horizon(controller, monkeypatch controller.sm["liveDelay"].lateralDelay = 0.4 controller.desired_curvature_last = 0.007 lookaheads = [] + monkeypatch.setattr(controller, "_predicted_curvature", + lambda _v_ego, lookahead: lookaheads.append(lookahead) or 0.012) + + controller.update( + SimpleNamespace(latActive=True), car_state(speed=8.0, curvature=0.002), + SimpleNamespace(curvature=0.010), + ) + + assert lookaheads == [pytest.approx(0.4), pytest.approx(1.2)] + + +def test_non_mach_e_does_not_request_extra_model_horizon(controller, monkeypatch): + controller.sm["liveDelay"].lateralDelay = 0.4 + lookaheads = [] monkeypatch.setattr(controller, "_predicted_curvature", lambda _v_ego, lookahead: lookaheads.append(lookahead) or 0.007) @@ -173,14 +197,14 @@ def test_mach_e_turn_in_preview_uses_extra_model_horizon(controller, monkeypatch SimpleNamespace(curvature=0.010), ) - assert lookaheads == [pytest.approx(0.4), pytest.approx(0.8)] + assert lookaheads == [pytest.approx(0.4)] def test_non_mach_e_turn_in_preview_is_unchanged(controller): controller.desired_curvature_last = 0.007 assert controller._turn_in_preview_weight( - desired=0.010, predicted=0.007, current=0.004) == 0.0 + desired=0.010, preview=0.007, current=0.004) == 0.0 def test_non_mach_e_preview_blend_is_unchanged(controller): diff --git a/starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyModal.js b/starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyModal.js index c0d7f3488c..81687dac96 100644 --- a/starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyModal.js +++ b/starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyModal.js @@ -8,12 +8,25 @@ export const GalaxyModal = { cancelLabel: { type: String, default: "Cancel" }, danger: { type: Boolean, default: false }, sheet: { type: Boolean, default: true }, + input: { type: Boolean, default: false }, + inputValue: { type: String, default: "" }, + inputPlaceholder: { type: String, default: "" }, + inputRequired: { type: Boolean, default: false }, }, emits: ["update:modelValue", "confirm", "cancel"], + data() { return { value: this.inputValue } }, + mounted() { this.focusInput() }, methods: { + focusInput() { + if (this.input) this.$nextTick(() => this.$refs.input?.focus()) + }, close() { this.$emit("update:modelValue", false) }, cancel() { this.close(); this.$emit("cancel") }, - confirm() { this.$emit("confirm"); this.close() }, + confirm() { + if (this.inputRequired && !String(this.value || "").trim()) return + this.$emit("confirm", this.input ? this.value : undefined) + this.close() + }, }, template: ` @@ -22,9 +35,11 @@ export const GalaxyModal = { @@ -64,3 +79,38 @@ export function GalaxyConfirm({ title, message, confirmLabel = "Confirm", danger app.mount(host) }) } + +export function GalaxyPrompt({ title, message, initialValue = "", placeholder = "", confirmLabel = "Confirm" } = {}) { + return new Promise((resolve) => { + const host = document.createElement("div") + document.body.appendChild(host) + const { createApp, h } = window.__galaxyVue + let app + let settled = false + const finish = (value) => { + if (settled) return + settled = true + resolve(value) + try { app?.unmount?.() } catch (e) {} + host.remove() + } + app = createApp({ + render() { + return h(GalaxyModal, { + modelValue: true, + title, + message, + input: true, + inputValue: String(initialValue || ""), + inputPlaceholder: placeholder, + inputRequired: true, + confirmLabel, + "onUpdate:modelValue": (v) => { if (!v) finish(null) }, + onConfirm: (value) => finish(String(value || "").trim()), + onCancel: () => finish(null), + }) + }, + }) + app.mount(host) + }) +} diff --git a/starpilot/system/the_galaxy/assets/mobile/js/components/LateralTuningPanel.js b/starpilot/system/the_galaxy/assets/mobile/js/components/LateralTuningPanel.js index ff5cd1ae7e..e6e7391e5c 100644 --- a/starpilot/system/the_galaxy/assets/mobile/js/components/LateralTuningPanel.js +++ b/starpilot/system/the_galaxy/assets/mobile/js/components/LateralTuningPanel.js @@ -1,6 +1,6 @@ import { api, showSnackbar } from "../api.js" import { usePolling } from "../composables.js" -import { GalaxyConfirm } from "./GalaxyModal.js" +import { GalaxyConfirm, GalaxyPrompt } from "./GalaxyModal.js" import { GxNotice } from "./GxNotice.js" const MAX_ROUTES = 250 @@ -479,6 +479,11 @@ export const LateralTuningPanel = { startPending(kind, opts = {}) { this.pending = { kind, tuneId: opts.tuneId || "" } this.pendingName = opts.name || "" + this.$nextTick(() => { + const editor = this.$refs.pendingEditor + editor?.scrollIntoView({ behavior: "smooth", block: "center" }) + editor?.querySelector("input")?.focus() + }) }, cancelPending() { this.pending = null; this.pendingName = "" }, async confirmPending() { @@ -520,6 +525,18 @@ export const LateralTuningPanel = { async applySavedTune(tune) { await this.runWith(() => api.flmApplySavedTune(tune.tuneId), "Saved tune applied.") }, + async renameSavedTune(tune) { + if (!tune?.tuneId || this.busy) return + const name = await GalaxyPrompt({ + title: "Rename Saved Tune", + message: `Choose a new name for “${tune.name || "Saved Tune"}”.`, + initialValue: tune.name || "", + placeholder: "Name this tune...", + confirmLabel: "Rename", + }) + if (name === null) return + await this.runWith(() => api.flmRenameSavedTune(tune.tuneId, name), "Tune renamed.") + }, async submitTune(tune) { const ok = await GalaxyConfirm({ title: "Send to Firestar", @@ -582,7 +599,7 @@ export const LateralTuningPanel = { -
+
@@ -786,7 +803,7 @@ export const LateralTuningPanel = {
- +
diff --git a/starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py b/starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py index d01bdefe5b..56bd872cad 100644 --- a/starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py +++ b/starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py @@ -495,10 +495,16 @@ def test_ui_all_remaining_classic_tools_native_no_embed(): assert "fetch(" not in _read(rel), f"{rel} should not use raw fetch()" lateral = _read("js/components/LateralTuningPanel.js") + modal = _read("js/components/GalaxyModal.js") assert "MAX_SEGMENTS = 5" in lateral assert "segmentRanges" in lateral and "selectedSegmentRanges" in lateral assert "flmAnalyze(this.selectedRoutes, this.selectedSegmentRanges())" in lateral assert "routeSelectedSegmentCount" in lateral + assert "GalaxyPrompt" in lateral + assert "renameSavedTune(tune)" in lateral + assert "initialValue: tune.name" in lateral + assert "export function GalaxyPrompt" in modal + assert "inputRequired" in modal def test_ui_cameras_hub_vasm_and_pip_native_no_embed():