Reapply "offset cluster"

common/params_keys.h

@@ -263,6 +263,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EVTuning", {PERSISTENT, BOOL, "0", "0", 3}},
     {"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
     {"FlashPanda", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"GMDashSpoofOffsets", {PERSISTENT, BOOL, "0", "0", 2}},
     {"GMPedalLongitudinal", {PERSISTENT, BOOL, "1", "1", 2}},
     {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2}},
     {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0"}},

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-8c00f0a3-DEBUG";
+const uint8_t gitversion[19] = "DEV-78c30377-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-8c00f0a3-DEBUG
+DEV-78c30377-DEBUG

selfdrive/controls/controlsd.py

@@ -35,6 +35,26 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
+def get_gm_hud_set_speed(set_speed_ms: float, controls_enabled: bool, starpilot_toggles, starpilot_plan) -> float:
+  spoofed_speed = set_speed_ms
+
+  set_speed_offset = float(getattr(starpilot_toggles, "set_speed_offset", 0.0) or 0.0)
+  if spoofed_speed > 0 and set_speed_offset > 0:
+    spoofed_speed += set_speed_offset * CV.KPH_TO_MS
+
+  if not controls_enabled or not getattr(starpilot_toggles, "speed_limit_controller", False):
+    return spoofed_speed
+
+  slc_source = str(getattr(starpilot_plan, "slcSpeedLimitSource", "") or "")
+  slc_speed_limit = float(getattr(starpilot_plan, "slcSpeedLimit", 0.0) or 0.0)
+  slc_speed_limit_offset = float(getattr(starpilot_plan, "slcSpeedLimitOffset", 0.0) or 0.0)
+
+  if slc_source != "None" and slc_speed_limit > 0:
+    return slc_speed_limit + slc_speed_limit_offset
+
+  return spoofed_speed
+
+
 class Controls:
   def __init__(self) -> None:
     self.params = Params()
@@ -192,7 +212,18 @@ class Controls:
     CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 
     hudControl = CC.hudControl
-    hudControl.setSpeed = float(CS.vCruiseCluster * CV.KPH_TO_MS)
+    hud_set_speed = float(CS.vCruiseCluster * CV.KPH_TO_MS)
+    gm_dash_spoof_offsets_enabled = (
+      self.CP.brand == "gm" and
+      self.CP.openpilotLongitudinalControl and
+      self.CP.enableGasInterceptorDEPRECATED and
+      getattr(self.starpilot_toggles, "gm_pedal_longitudinal", True) and
+      not getattr(self.starpilot_toggles, "disable_openpilot_long", False) and
+      getattr(self.starpilot_toggles, "gm_dash_spoof_offsets", False)
+    )
+    if gm_dash_spoof_offsets_enabled:
+      hud_set_speed = get_gm_hud_set_speed(hud_set_speed, CC.enabled, self.starpilot_toggles, self.sm['starpilotPlan'])
+    hudControl.setSpeed = hud_set_speed
     hudControl.speedVisible = CC.enabled
     hudControl.lanesVisible = CC.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead

selfdrive/ui/layouts/settings/starpilot/vehicle.py

@@ -248,6 +248,14 @@ class StarPilotGMVehicleLayout(StarPilotPanel):
         "color": "#64748B",
         "key": "GMPedalLongitudinal",
       },
+      {
+        "title": tr_noop("Offsets on Dash Spoof"),
+        "type": "toggle",
+        "get_state": lambda: self._params.get_bool("GMDashSpoofOffsets"),
+        "set_state": lambda s: self._params.put_bool("GMDashSpoofOffsets", s),
+        "color": "#64748B",
+        "key": "GMDashSpoofOffsets",
+      },
       {
         "title": tr_noop("Smooth Pedal on Hills"),
         "type": "toggle",
@@ -288,6 +296,8 @@ class StarPilotGMVehicleLayout(StarPilotPanel):
 
       if key == "GMPedalLongitudinal":
         visible = cs.hasPedal or cs.canUsePedal
+      elif key == "GMDashSpoofOffsets":
+        visible = cs.hasPedal or cs.canUsePedal
       elif key == "VoltSNG":
         visible = cs.isVolt and not cs.hasSNG
 

starpilot/common/safe_mode.py

@@ -170,6 +170,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "SubaruSNG",
   "VoltSNG",
   "GMPedalLongitudinal",
+  "GMDashSpoofOffsets",
   "LongPitch",
   "TacoTuneHacks",
 )

starpilot/common/starpilot_variables.py

@@ -1074,6 +1074,10 @@ class StarPilotVariables:
       "GMPedalLongitudinal",
       condition=toggle.car_make == "gm" and toggle.has_pedal,
     )
+    toggle.gm_dash_spoof_offsets = self.get_value(
+      "GMDashSpoofOffsets",
+      condition=toggle.car_make == "gm" and toggle.has_pedal,
+    )
     toggle.long_pitch = self.get_value(
       "LongPitch",
       condition=toggle.openpilot_longitudinal and toggle.car_make == "gm",

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -2016,6 +2016,13 @@
         "data_type": "bool",
         "ui_type": "toggle"
       },
+      {
+        "key": "GMDashSpoofOffsets",
+        "label": "Apply Offsets To Dash Spoof",
+        "description": "On GM pedal-long cars, add the active global set-speed offset or SLC offset to the spoofed dash set speed.",
+        "data_type": "bool",
+        "ui_type": "toggle"
+      },
       {
         "key": "LongPitch",
         "label": "Smooth Pedal Response on Hills",

starpilot/ui/qt/offroad/vehicle_settings.cc

@@ -175,6 +175,7 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
     {"GMToggles", tr("General Motors Settings"), tr("<b>StarPilot features for General Motors vehicles.</b>"), ""},
     {"GMPedalLongitudinal", tr("Use Pedal For Longitudinal"), tr("<b>Use the pedal interceptor for full longitudinal control</b> on supported GM vehicles."), ""},
+    {"GMDashSpoofOffsets", tr("Apply Offsets To Dash Spoof"), tr("<b>On GM pedal-long cars, add the active global set-speed offset or SLC offset</b> to the spoofed dash set speed."), ""},
     {"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
     {"RemoteStartBootsComma", tr("Remote Start Boots comma"), tr("<b>Use the remote-start GM panda firmware at boot.</b><br><br>Required for GM remote-start startup signal behavior."), ""},
     {"RemapCancelToDistance", tr("Remap Cancel To Distance"), tr("<b>On pedal-interceptor Bolts, remap the steering-wheel CANCEL button to distance/personality input.</b>"), ""},
@@ -434,6 +435,10 @@ void StarPilotVehiclesPanel::updateToggles() {
         setVisible &= parent->hasPedal || (Hardware::PC() && parent->canUsePedal);
       }
 
+      else if (key == "GMDashSpoofOffsets") {
+        setVisible &= parent->hasPedal || (Hardware::PC() && parent->canUsePedal);
+      }
+
       else if (key == "RemapCancelToDistance") {
         setVisible &= parent->isBolt && (parent->hasPedal || (Hardware::PC() && parent->canUsePedal));
       }

starpilot/ui/qt/offroad/vehicle_settings.h

@@ -23,9 +23,9 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> gmKeys = {"GMPedalLongitudinal", "LongPitch", "RemoteStartBootsComma", "RemapCancelToDistance", "VoltSNG"};
+  QSet<QString> gmKeys = {"GMPedalLongitudinal", "GMDashSpoofOffsets", "LongPitch", "RemoteStartBootsComma", "RemapCancelToDistance", "VoltSNG"};
   QSet<QString> hkgKeys = {"TacoTuneHacks"};
-  QSet<QString> longitudinalKeys = {"FrogsGoMoosTweak", "LongPitch", "RemapCancelToDistance", "SNGHack", "VoltSNG"};
+  QSet<QString> longitudinalKeys = {"FrogsGoMoosTweak", "GMDashSpoofOffsets", "LongPitch", "RemapCancelToDistance", "SNGHack", "VoltSNG"};
   QSet<QString> subaruKeys = {"SubaruSNG"};
   QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
   QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SDSUSupport", "SNGSupport"};