Device: Customizable Max Time Offroad (#796)

* Max Time Offroad * Refactor & Fix param * Error Handling * rename SP variable * Update selfdrive/ui/sunnypilot/qt/widgets/controls.h Co-authored-by: DevTekVE <devtekve@gmail.com> * Update selfdrive/ui/sunnypilot/qt/widgets/controls.h Co-authored-by: DevTekVE <devtekve@gmail.com> * Update selfdrive/ui/sunnypilot/qt/widgets/controls.h Co-authored-by: DevTekVE <devtekve@gmail.com> * Update selfdrive/ui/sunnypilot/qt/widgets/controls.h Co-authored-by: DevTekVE <devtekve@gmail.com> * Update selfdrive/ui/sunnypilot/qt/widgets/controls.cc Co-authored-by: DevTekVE <devtekve@gmail.com> * Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.h Co-authored-by: DevTekVE <devtekve@gmail.com> * Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.cc Co-authored-by: DevTekVE <devtekve@gmail.com> * UI layout changes for better alignment selector is not big enough -> make it bigger ;) OptionControlSP now includes a QMap argument to allow actual values to be set in param directly * Rebase & resolve reviews * change default to be closer to OP default * me dumb * MaxTimeOffroad: Add support for 30h limit and improve label formatting * power_monitoring: Refactor MaxTimeOffroad parameter handling for clarity * test: Add unit tests for MaxTimeOffroad parameter handling * power_monitoring: Update MaxTimeOffroad handling to use seconds and improve shutdown logic * power_monitoring: Improve exception handling and remove redundant shutdown check for MaxTimeOffroad --------- Co-authored-by: DevTekVE <devtekve@gmail.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
2026-09-12 03:03:51 +08:00 · 2025-04-12 10:33:17 -04:00
parent a598d385f2
commit f1d703e6e4
9 changed files with 142 additions and 3 deletions
@@ -127,6 +127,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"CarParamsSPPersistent", PERSISTENT},
    {"CarPlatformBundle", PERSISTENT},
    {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"MaxTimeOffroad", PERSISTENT | BACKUP},
    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
    {"OffroadMode", CLEAR_ON_MANAGER_START},
    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
@@ -21,6 +21,7 @@ qt_src = [
  "sunnypilot/qt/offroad/offroad_home.cc",
  "sunnypilot/qt/offroad/settings/device_panel.cc",
  "sunnypilot/qt/offroad/settings/lateral_panel.cc",
+  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
  "sunnypilot/qt/offroad/settings/settings.cc",
  "sunnypilot/qt/offroad/settings/software_panel.cc",
  "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
@@ -75,6 +75,11 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {

  connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);

+  // Max Time Offroad
+  maxTimeOffroad = new MaxTimeOffroad();
+  connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
+  addItem(maxTimeOffroad);
+
  addItem(device_grid_layout);

  // offroad mode and power buttons
@@ -7,6 +7,7 @@

 #pragma once

+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

@@ -23,6 +24,7 @@ public:
 private:
  std::map<QString, PushButtonSP*> buttons;
  PushButtonSP *offroadBtn;
+  MaxTimeOffroad *maxTimeOffroad;

  const QString alwaysOffroadStyle = R"(
    PushButtonSP {
@@ -0,0 +1,53 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
+
+// Map of Max Offroad Time Options (Minutes)
+const QMap<QString, QString> MaxTimeOffroad::offroad_time_options = {
+  {"0", "0"}, // Always On
+  {"1", "5"},
+  {"2", "10"},
+  {"3", "15"},
+  {"4", "30"},
+  {"5", "60"},
+  {"6", "120"},
+  {"7", "180"},
+  {"8", "300"},
+  {"9", "600"},
+  {"10", "1440"},
+  {"11", "1800"}
+};
+
+MaxTimeOffroad::MaxTimeOffroad() : OptionControlSP(
+  "MaxTimeOffroad",
+  tr("Max Time Offroad"),
+  tr("Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default)"),
+  "../assets/offroad/icon_blank.png",
+  {0, 11}, 1, true, &offroad_time_options) {
+
+  refresh();
+}
+
+void MaxTimeOffroad::refresh() {
+  const int maxOffroadInMinutes = QString::fromStdString(params.get("MaxTimeOffroad")).toInt();
+  const bool useHours = maxOffroadInMinutes >= 60;
+  
+  QString label;
+  if (maxOffroadInMinutes == 0) {
+    label = tr("Always On");
+  } else {
+    const int value = useHours ? maxOffroadInMinutes / 60 : maxOffroadInMinutes;
+    label = QString("%1%2").arg(value).arg(useHours ? tr("h") : tr("m"));
+  }
+  
+  if (maxOffroadInMinutes == 1800) {
+    label += tr(" (default)");
+  }
+  
+  setLabel(label);
+}
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class MaxTimeOffroad : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  static const QMap<QString, QString> offroad_time_options;
+
+  MaxTimeOffroad();
+  void refresh();
+
+private:
+  Params params;
+};
@@ -106,7 +106,23 @@ class PowerMonitoring:
  def get_car_battery_capacity(self) -> int:
    return int(self.car_battery_capacity_uWh)

-  # See if we need to shutdown
+  # Max Time Offroad
+  def max_time_offroad_exceeded(self, offroad_time):
+    """
+    Check if the max time offroad has been exceeded. If the value is 0, it means no limit.
+    :param offroad_time: Time spent offroad in seconds
+    :return: True if the max time offroad has been exceeded, False otherwise
+    """
+    try:
+      param = self.params.get("MaxTimeOffroad", encoding="utf8")
+      sp_max_time_val_s = int(param) * 60 if param is not None and int(param) >= 0 else MAX_TIME_OFFROAD_S
+    except Exception:
+      sp_max_time_val_s = MAX_TIME_OFFROAD_S
+
+    return sp_max_time_val_s > 0 and offroad_time >= sp_max_time_val_s
+
+
+# See if we need to shutdown
  def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
    if offroad_timestamp is None:
      return False
@@ -116,7 +132,7 @@ class PowerMonitoring:
    offroad_time = (now - offroad_timestamp)
    low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and
                            offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
-    should_shutdown |= offroad_time > MAX_TIME_OFFROAD_S
+    should_shutdown |= self.max_time_offroad_exceeded(offroad_time)
    should_shutdown |= low_voltage_shutdown
    should_shutdown |= (self.car_battery_capacity_uWh <= 0)
    should_shutdown &= not ignition
@@ -2,7 +2,7 @@ import pytest

 from openpilot.common.params import Params
 from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
-                                                CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
+  CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S

 # Create fake time
 ssb = 0.
@@ -197,3 +197,38 @@ class TestPowerMonitoring:
                                       offroad_timestamp,
                                       started_seen), \
                    f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+
+  @pytest.mark.parametrize(
+    "max_time_offroad, offroad_time_min, expected_result",
+    [
+      # No max time set – fallback to default (30 hours)
+      (None, 0, False),
+      (None, MAX_TIME_OFFROAD_S + 1, True),  # exceeds 30h (1800+ mins)
+
+      # Valid max time values (in minutes)
+      ("60", 59, False),  # under limit
+      ("60", 120, True),  # over limit
+      ("10", 8, False),  # under limit
+      ("10", 11, True),  # over limit
+
+      # Edge case: max time is zero → no limit enforced
+      ("0", 0, False),
+      ("0", 400, False),
+
+      # Invalid max time formats or negative values → fallback to 30 hours
+      ("invalid", 100, False),  # should fallback to 30h
+      ("-1", MAX_TIME_OFFROAD_S + 1, True),  # should fallback to 30h, and exceed it
+    ]
+  )
+  def test_max_time_offroad_exceeded(self, max_time_offroad, offroad_time_min, expected_result):
+    # Set the parameter if provided
+    if max_time_offroad is not None:
+      self.params.put("MaxTimeOffroad", max_time_offroad)
+
+    # Convert offroad time from minutes to seconds
+    offroad_time_s = offroad_time_min * 60
+
+    pm = PowerMonitoring()
+    result = pm.max_time_offroad_exceeded(offroad_time_s)
+
+    assert result == expected_result
@@ -50,6 +50,7 @@ def manager_init() -> None:
    ("MadsMainCruiseAllowed", "1"),
    ("MadsPauseLateralOnBrake", "0"),
    ("MadsUnifiedEngagementMode", "1"),
+    ("MaxTimeOffroad", "1800"),
    ("ModelManager_LastSyncTime", "0"),
    ("ModelManager_ModelsCache", ""),
    ("NeuralNetworkLateralControl", "0"),