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vEgoCluster: fix starting from stop (#25350)

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* we can't switch back and forth

* update translations
old-commit-hash: b6910923d18af7332f781a7c83b2601fd7862e3f
This commit is contained in:
Shane Smiskol
2022-08-03 21:03:53 -07:00
committed by GitHub
parent 57961d8364
commit 83ff495062
7 changed files with 45 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/interfaces.py
+5 -2
View File
@@ -61,6 +61,7 @@ class CarInterfaceBase(ABC):
self.steering_unpressed = 0
self.low_speed_alert = False
self.silent_steer_warning = True
self.v_ego_cluster_seen = False
self.CS = None
self.can_parsers = []
@@ -162,8 +163,10 @@ class CarInterfaceBase(ABC):
ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
if ret.vEgoCluster == 0.0:
if ret.vEgoCluster == 0.0 and not self.v_ego_cluster_seen:
ret.vEgoCluster = ret.vEgo
else:
self.v_ego_cluster_seen = True
if ret.cruiseState.speedCluster == 0:
ret.cruiseState.speedCluster = ret.cruiseState.speed
@@ -321,7 +324,7 @@ class CarStateBase(ABC):
def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
if gear is None:
return GearShifter.unknown
d: Dict[str, car.CarState.GearShifter] = {
'P': GearShifter.park, 'PARK': GearShifter.park,
'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
selfdrive/ui/qt/onroad.cc
+7 -1
View File
@@ -193,7 +193,13 @@ void NvgWindow::updateState(const UIState &s) {
}
// Handle older routes where vEgoCluster is not set
float v_ego = sm["carState"].getCarState().getVEgoCluster() == 0.0 ? sm["carState"].getCarState().getVEgo() : sm["carState"].getCarState().getVEgoCluster();
float v_ego;
if (sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) {
v_ego = sm["carState"].getCarState().getVEgo();
} else {
v_ego = sm["carState"].getCarState().getVEgoCluster();
v_ego_cluster_seen = true;
}
float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
selfdrive/ui/qt/onroad.h
+1
View File
@@ -66,6 +66,7 @@ private:
bool rightHandDM = false;
bool has_us_speed_limit = false;
bool has_eu_speed_limit = false;
bool v_ego_cluster_seen = false;
int status = STATUS_DISENGAGED;
protected:
selfdrive/ui/translations/main_ja.ts
+8 -8
View File
@@ -490,30 +490,30 @@ location set</source>
<context>
<name>NvgWindow</name>
<message>
<location filename="../qt/onroad.cc" line="212"/>
<location filename="../qt/onroad.cc" line="218"/>
<source>km/h</source>
<translation>km/h</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="212"/>
<location filename="../qt/onroad.cc" line="218"/>
<source>mph</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="280"/>
<location filename="../qt/onroad.cc" line="283"/>
<location filename="../qt/onroad.cc" line="286"/>
<location filename="../qt/onroad.cc" line="289"/>
<source>MAX</source>
<translation>最高速度</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="327"/>
<location filename="../qt/onroad.cc" line="330"/>
<location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="336"/>
<source>SPEED</source>
<translation>速度</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="336"/>
<location filename="../qt/onroad.cc" line="339"/>
<location filename="../qt/onroad.cc" line="342"/>
<source>LIMIT</source>
<translation>制限速度</translation>
</message>
selfdrive/ui/translations/main_ko.ts
+8 -8
View File
@@ -490,30 +490,30 @@ location set</source>
<context>
<name>NvgWindow</name>
<message>
<location filename="../qt/onroad.cc" line="212"/>
<location filename="../qt/onroad.cc" line="218"/>
<source>km/h</source>
<translation>km/h</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="212"/>
<location filename="../qt/onroad.cc" line="218"/>
<source>mph</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="280"/>
<location filename="../qt/onroad.cc" line="283"/>
<location filename="../qt/onroad.cc" line="286"/>
<location filename="../qt/onroad.cc" line="289"/>
<source>MAX</source>
<translation>MAX</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="327"/>
<location filename="../qt/onroad.cc" line="330"/>
<location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="336"/>
<source>SPEED</source>
<translation>SPEED</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="336"/>
<location filename="../qt/onroad.cc" line="339"/>
<location filename="../qt/onroad.cc" line="342"/>
<source>LIMIT</source>
<translation>LIMIT</translation>
</message>
selfdrive/ui/translations/main_zh-CHS.ts
+8 -8
View File
@@ -488,30 +488,30 @@ location set</source>
<context>
<name>NvgWindow</name>
<message>
<location filename="../qt/onroad.cc" line="212"/>
<location filename="../qt/onroad.cc" line="218"/>
<source>km/h</source>
<translation>km/h</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="212"/>
<location filename="../qt/onroad.cc" line="218"/>
<source>mph</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="280"/>
<location filename="../qt/onroad.cc" line="283"/>
<location filename="../qt/onroad.cc" line="286"/>
<location filename="../qt/onroad.cc" line="289"/>
<source>MAX</source>
<translation>最高定速</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="327"/>
<location filename="../qt/onroad.cc" line="330"/>
<location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="336"/>
<source>SPEED</source>
<translation>SPEED</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="336"/>
<location filename="../qt/onroad.cc" line="339"/>
<location filename="../qt/onroad.cc" line="342"/>
<source>LIMIT</source>
<translation>LIMIT</translation>
</message>
selfdrive/ui/translations/main_zh-CHT.ts
+8 -8
View File
@@ -490,30 +490,30 @@ location set</source>
<context>
<name>NvgWindow</name>
<message>
<location filename="../qt/onroad.cc" line="212"/>
<location filename="../qt/onroad.cc" line="218"/>
<source>km/h</source>
<translation>km/h</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="212"/>
<location filename="../qt/onroad.cc" line="218"/>
<source>mph</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="280"/>
<location filename="../qt/onroad.cc" line="283"/>
<location filename="../qt/onroad.cc" line="286"/>
<location filename="../qt/onroad.cc" line="289"/>
<source>MAX</source>
<translation>最高</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="327"/>
<location filename="../qt/onroad.cc" line="330"/>
<location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="336"/>
<source>SPEED</source>
<translation>速度</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="336"/>
<location filename="../qt/onroad.cc" line="339"/>
<location filename="../qt/onroad.cc" line="342"/>
<source>LIMIT</source>
<translation>速限</translation>
</message>