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Device: Offroad Mode (#596)

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* try scrolling

* Revert "try scrolling"

This reverts commit 18cc0828c0efe1ea0ed9d56c1788756a37b011d3.

* init

* event

* add logic

* last bit

* expose toggle

* update toggle

* add offroad btn to it

* fix

* update
This commit is contained in:
Jason Wen
2025-01-20 16:59:54 -05:00
committed by GitHub
parent bc67effb6d
commit 5f10529a88
19 changed files with 459 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/params.cc
+2
View File
@@ -204,6 +204,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"ApiCache_DriveStats", PERSISTENT},
{"EnableGithubRunner", PERSISTENT | BACKUP},
{"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
{"OffroadMode", CLEAR_ON_MANAGER_START},
{"OffroadMode_Status", CLEAR_ON_MANAGER_START},
// MADS params
{"Mads", PERSISTENT | BACKUP},
selfdrive/pandad/panda_safety.cc
+5
View File
@@ -81,3 +81,8 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
pandas_[i]->set_safety_model(safety_model, safety_param);
}
}
bool PandaSafety::getOffroadMode() {
auto offroad_mode = params_.getBool("OffroadMode");
return offroad_mode;
}
selfdrive/pandad/pandad.cc
+5 -5
View File
@@ -205,7 +205,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
}
std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, PandaSafety *panda_safety) {
bool ignition_local = false;
const uint32_t pandas_cnt = pandas.size();
@@ -253,7 +253,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
health.ignition_line_pkt = 0;
}
ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !panda_safety->getOffroadMode();
pandaStates.push_back(health);
}
@@ -340,7 +340,7 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
pm->send("peripheralState", msg);
}
void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started, PandaSafety *panda_safety) {
static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
std::vector<std::string> connected_serials;
@@ -349,7 +349,7 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
}
{
auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
if (!ignition_opt) {
LOGE("Failed to get ignition_opt");
return;
@@ -461,7 +461,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
// Process panda state at 10 Hz
if (rk.frame() % 10 == 0) {
process_panda_state(pandas, &pm, spoofing_started);
process_panda_state(pandas, &pm, spoofing_started, &panda_safety);
panda_safety.configureSafetyMode();
}
selfdrive/pandad/pandad.h
+1
View File
@@ -12,6 +12,7 @@ class PandaSafety {
public:
PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
void configureSafetyMode();
bool getOffroadMode();
private:
void updateMultiplexingMode();
selfdrive/selfdrived/alerts_offroad.json
+4
View File
@@ -44,5 +44,9 @@
"Offroad_Recalibration": {
"text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
"severity": 0
},
"OffroadMode_Status": {
"text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.",
"severity": 1
}
}
selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+49 -2
View File
@@ -93,13 +93,60 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
connect(uiState(), &UIState::offroadTransition, poweroffBtn, &PushButtonSP::setVisible);
}
addItem(power_layout);
offroadBtn = new PushButtonSP(tr("Offroad Mode"));
offroadBtn->setFixedWidth(power_layout->sizeHint().width());
QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
QVBoxLayout *power_group_layout = new QVBoxLayout();
power_group_layout->setSpacing(30);
power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
power_group_layout->addLayout(power_layout);
addItem(power_group_layout);
QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
for (auto btn : findChildren<PushButtonSP*>()) {
if (btn != rebootBtn && btn != poweroffBtn) {
if (btn != rebootBtn && btn != poweroffBtn && btn != offroadBtn) {
btn->setEnabled(offroad);
}
}
});
}
void DevicePanelSP::setOffroadMode() {
if (!uiState()->engaged()) {
if (params.getBool("OffroadMode")) {
if (ConfirmationDialog::confirm(tr("Are you sure you want to exit Always Offroad mode?"), tr("Confirm"), this)) {
// Check engaged again in case it changed while the dialog was open
if (!uiState()->engaged()) {
params.remove("OffroadMode");
}
}
} else {
if (ConfirmationDialog::confirm(tr("Are you sure you want to enter Always Offroad mode?"), tr("Confirm"), this)) {
// Check engaged again in case it changed while the dialog was open
if (!uiState()->engaged()) {
params.putBool("OffroadMode", true);
}
}
}
} else {
ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this);
}
updateState();
}
void DevicePanelSP::showEvent(QShowEvent *event) {
updateState();
}
void DevicePanelSP::updateState() {
if (!isVisible()) {
return;
}
bool offroad_mode_param = params.getBool("OffroadMode");
offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
}
selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+34
View File
@@ -15,9 +15,43 @@ class DevicePanelSP : public DevicePanel {
public:
explicit DevicePanelSP(SettingsWindowSP *parent = 0);
void showEvent(QShowEvent *event) override;
void setOffroadMode();
void updateState();
private:
std::map<QString, PushButtonSP*> buttons;
PushButtonSP *offroadBtn;
const QString alwaysOffroadStyle = R"(
PushButtonSP {
border-radius: 20px;
font-size: 50px;
font-weight: 450;
height: 150px;
padding: 0 25px 0 25px;
color: #FFFFFF;
background-color: #393939;
}
PushButtonSP:pressed {
background-color: #4A4A4A;
}
)";
const QString autoOffroadStyle = R"(
PushButtonSP {
border-radius: 20px;
font-size: 50px;
font-weight: 450;
height: 150px;
padding: 0 25px 0 25px;
color: #FFFFFF;
background-color: #E22C2C;
}
PushButtonSP:pressed {
background-color: #FF2424;
}
)";
const QString rebootButtonStyle = R"(
PushButtonSP {
selfdrive/ui/translations/main_ar.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">إيقاف التشغيل</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">تأكيد</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -527,6 +555,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_de.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">Ausschalten</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">Bestätigen</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_es.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">Apagar</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">Confirmar</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -523,6 +551,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_fr.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">Éteindre</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">Confirmer</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -523,6 +551,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_ja.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">電源を切る</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">確認</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -521,6 +549,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_ko.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">전원 끄기</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">확인</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation>장치 온도가 너무 높습니다. 시작하기 전에 온도를 낮춰주세요. 현재 내부 부품 온도: %1</translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_pt-BR.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">Desligar</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">Confirmar</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -523,6 +551,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_th.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">ปิดเครื่อง</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">ยืนยัน</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา</translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_tr.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">Sistemi kapat</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">Onayla</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -521,6 +549,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_zh-CHS.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">关机</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">确认</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation>设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1</translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
selfdrive/ui/translations/main_zh-CHT.ts
+32
View File
@@ -321,6 +321,34 @@
<source>Power Off</source>
<translation type="unfinished">關機</translation>
</message>
<message>
<source>Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Are you sure you want to exit Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Confirm</source>
<translation type="unfinished">確認</translation>
</message>
<message>
<source>Are you sure you want to enter Always Offroad mode?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Disengage to Enter Always Offroad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Exit Always Offroad</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Always Offroad</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@@ -522,6 +550,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation>裝置溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1</translation>
</message>
<message>
<source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OffroadHome</name>
system/hardware/hardwared.py
+7 -1
View File
@@ -310,6 +310,12 @@ def hardware_thread(end_event, hw_queue) -> None:
# ensure device is fully booted
startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
# user-forced status
offroad_mode = params.get_bool("OffroadMode")
startup_conditions["not_always_offroad"] = not offroad_mode
onroad_conditions["not_always_offroad"] = not offroad_mode
set_offroad_alert("OffroadMode_Status", offroad_mode)
# if the temperature enters the danger zone, go offroad to cool down
onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
extra_text = f"{offroad_comp_temp:.1f}C"
@@ -392,7 +398,7 @@ def hardware_thread(end_event, hw_queue) -> None:
cloudlog.warning(f"shutting device down, offroad since {off_ts}")
params.put_bool("DoShutdown", True)
msg.deviceState.started = started_ts is not None
msg.deviceState.started = started_ts is not None and not offroad_mode
msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))
last_ping = params.get("LastAthenaPingTime")