Merge branch 'devel-en' into devel-zht

cereal/car.capnp

@@ -86,6 +86,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     internetConnectivityNeeded @61;
     manualSteeringRequired @62;
     manualSteeringRequiredBlinkersOn @63;
+    leadCarMoving @64;
   }
 }
 

common/params.py

@@ -139,6 +139,7 @@ keys = {
   "DragonCarModel": [TxType.PERSISTENT],
   "DragonCarVIN": [TxType.PERSISTENT],
   "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
+  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
 }
 
 

selfdrive/car/honda/carcontroller.py

@@ -88,7 +88,7 @@ class CarController():
     # dragonpilot
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
-    self.dragon_allow_gas = False
+    # self.dragon_allow_gas = False
     self.dragon_lat_ctrl = True
 
   def update(self, enabled, CS, frame, actuators, \
@@ -97,7 +97,7 @@ class CarController():
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
       self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
-      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      # self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
       self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
 
     # *** apply brake hysteresis ***
@@ -190,15 +190,15 @@ class CarController():
         # DragonAllowGas
         # if we detect gas pedal pressed, we do not want OP to apply gas or brake
         # gasPressed code from interface.py
-        if not CS.CP.enableGasInterceptor:
-          gasPressed = CS.pedal_gas > 0
-        else:
-          gasPressed = CS.user_gas_pressed
-        dragon_apply_brake = apply_brake
-        if self.dragon_allow_gas and gasPressed:
-          dragon_apply_brake = 0
-          apply_gas = 0
-        can_sends.append(hondacan.create_brake_command(self.packer, dragon_apply_brake, pump_on,
+        # if not CS.CP.enableGasInterceptor:
+        #   gasPressed = CS.pedal_gas > 0
+        # else:
+        #   gasPressed = CS.user_gas_pressed
+        # dragon_apply_brake = apply_brake
+        # if self.dragon_allow_gas and gasPressed:
+        #   dragon_apply_brake = 0
+        #   apply_gas = 0
+        can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
           pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
         self.apply_brake_last = apply_brake
 

selfdrive/car/toyota/carcontroller.py

@@ -120,7 +120,7 @@ class CarController():
     # dragonpilot
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
-    self.dragon_allow_gas = False
+    # self.dragon_allow_gas = False
     self.dragon_lat_ctrl = True
     self.dragon_lane_departure_warning = True
 
@@ -130,7 +130,7 @@ class CarController():
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
       self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
-      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      # self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
       self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
       self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
 
@@ -247,15 +247,15 @@ class CarController():
     # DragonAllowGas
     # if we detect gas pedal pressed, we do not want OP to apply gas or brake
     # gasPressed code from interface.py
-    if CS.CP.enableGasInterceptor:
-      # use interceptor values to disengage on pedal press
-      gasPressed = CS.pedal_gas > 15
-    else:
-      gasPressed = CS.pedal_gas > 0
+    # if CS.CP.enableGasInterceptor:
+    #   # use interceptor values to disengage on pedal press
+    #   gasPressed = CS.pedal_gas > 15
+    # else:
+    #   gasPressed = CS.pedal_gas > 0
 
-    if self.dragon_allow_gas and gasPressed:
-      apply_accel = 0
-      apply_gas = 0
+    # if self.dragon_allow_gas and gasPressed:
+    #   apply_accel = 0
+    #   apply_gas = 0
 
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):

selfdrive/controls/controlsd.py

@@ -521,6 +521,9 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
   dragon_toyota_stock_dsu = False
   dragon_lat_control = True
   dragon_display_steering_limit_alert = True
+  dragon_stopped_has_lead_count = 0
+  dragon_lead_car_moving_alert = False
+  dragon_send_lead_car_moving_alert = False
 
   while True:
     # dragonpilot, don't check for param too often as it's a kernel call
@@ -529,6 +532,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
       dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
       dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
       dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
+      dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
       ts_last_check = ts
 
     start_time = sec_since_boot()
@@ -559,14 +563,33 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
       events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if not sounds_available:
       events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
-    if internet_needed:
-      events.append(create_event('internetConnectivityNeeded', [ET.NO_ENTRY, ET.PERMANENT]))
+    # if internet_needed:
+    #   events.append(create_event('internetConnectivityNeeded', [ET.NO_ENTRY, ET.PERMANENT]))
 
     if not dragon_toyota_stock_dsu:
       # Only allow engagement with brake pressed when stopped behind another stopped car
       if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
         events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
 
+    if dragon_lead_car_moving_alert:
+      # when car has a lead and is standstill and lead is barely moving, we start counting
+      if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo < 0.1 and 0.1 > sm['plan'].vTarget >= 0:
+        dragon_stopped_has_lead_count += 1
+      else:
+        dragon_stopped_has_lead_count = 0
+
+      # when we detect lead car over a sec and the lead car is started moving, we are ready to send alerts
+      # once the condition is triggered, we want to keep the trigger
+      if dragon_stopped_has_lead_count >= 100 and sm['plan'].vTargetFuture >= 0.1:
+        dragon_send_lead_car_moving_alert = True
+
+      # we remove alert once our car is moving
+      if CS.vEgo >= 0.1:
+        dragon_send_lead_car_moving_alert = False
+
+      if dragon_send_lead_car_moving_alert:
+        events.append(create_event('leadCarMoving', [ET.WARNING]))
+
     if not read_only:
       # update control state
       state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \

selfdrive/controls/lib/alerts.py

@@ -731,4 +731,10 @@ ALERTS = [
     "",
     AlertStatus.normal, AlertSize.small,
     Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+  Alert(
+    "leadCarMoving",
+    "LEAD CAR IS MOVING",
+    "Resume Driving Manually",
+    AlertStatus.userPrompt, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
 ]

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -49,6 +49,7 @@ default_conf = {
   'DragonCarModel': '',
   'DragonCarVIN': '',
   'DragonEnableSlowOnCurve': '1',
+  'DragonEnableLeadCarMovingAlert': '0',
 }
 
 deprecated_conf = {

selfdrive/thermald.py

@@ -232,30 +232,30 @@ def thermald_thread():
     # **** starting logic ****
 
     # Check for last update time and display alerts if needed
-    now = datetime.datetime.now()
-    try:
-      last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
-    except (TypeError, ValueError):
-      last_update = now
-    dt = now - last_update
-
-    if dt.days > DAYS_NO_CONNECTIVITY_MAX:
-      if current_connectivity_alert != "expired":
-        current_connectivity_alert = "expired"
-        params.delete("Offroad_ConnectivityNeededPrompt")
-        params.put("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
-    elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
-      remaining_time = str(DAYS_NO_CONNECTIVITY_MAX - dt.days)
-      if current_connectivity_alert != "prompt" + remaining_time:
-        current_connectivity_alert = "prompt" + remaining_time
-        alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
-        alert_connectivity_prompt["text"] += remaining_time + " days."
-        params.delete("Offroad_ConnectivityNeeded")
-        params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
-    elif current_connectivity_alert is not None:
-      current_connectivity_alert = None
-      params.delete("Offroad_ConnectivityNeeded")
-      params.delete("Offroad_ConnectivityNeededPrompt")
+    # now = datetime.datetime.now()
+    # try:
+    #   last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
+    # except (TypeError, ValueError):
+    #   last_update = now
+    # dt = now - last_update
+    #
+    # if dt.days > DAYS_NO_CONNECTIVITY_MAX:
+    #   if current_connectivity_alert != "expired":
+    #     current_connectivity_alert = "expired"
+    #     params.delete("Offroad_ConnectivityNeededPrompt")
+    #     params.put("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
+    # elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
+    #   remaining_time = str(DAYS_NO_CONNECTIVITY_MAX - dt.days)
+    #   if current_connectivity_alert != "prompt" + remaining_time:
+    #     current_connectivity_alert = "prompt" + remaining_time
+    #     alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
+    #     alert_connectivity_prompt["text"] += remaining_time + " days."
+    #     params.delete("Offroad_ConnectivityNeeded")
+    #     params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
+    # elif current_connectivity_alert is not None:
+    #   current_connectivity_alert = None
+    params.delete("Offroad_ConnectivityNeeded")
+    params.delete("Offroad_ConnectivityNeededPrompt")
 
     # start constellation of processes when the car starts
     ignition = health is not None and health.health.started