Merge branch 'testing' into feature-dynamic-follow

common/params.py

@@ -172,6 +172,7 @@ keys = {
   "DragonBootHotspot": [TxType.PERSISTENT],
   "DragonAccelProfile": [TxType.PERSISTENT],
   "DragonLastModified": [TxType.PERSISTENT],
+  "DragonEnableRegistration": [TxType.PERSISTENT],
   "DragonDynamicFollow": [TxType.PERSISTENT],
 }
 

selfdrive/dragonpilot/appd/appd.py

@@ -20,10 +20,6 @@ class App():
   TYPE_FULLSCREEN = 3
   TYPE_UTIL = 4
 
-  # offroad app
-  OFFROAD = "ai.comma.plus.offroad"
-  OFFROAD_MAIN = ".MainActivity"
-
   # manual switch stats
   MANUAL_OFF = "-1"
   MANUAL_IDLE = "0"
@@ -54,7 +50,6 @@ class App():
     # read manual run param
     self.manual_ctrl_param = manual_ctrl_param
     # if it's a service app, we do not kill if device is too hot
-    # if it's a full screen app, we need to do extra process on offroad
     self.app_type = app_type
     # app permissions
     self.permissions = permissions
@@ -113,10 +108,6 @@ class App():
 
       # only run app if it's not running
       if force or not self.is_running:
-        # if it's a full screen app, we need to stop frame and offroad to get keyboard access
-        if self.app_type == self.TYPE_FULLSCREEN:
-          self.system("am start -n %s/%s" % (self.OFFROAD, self.OFFROAD_MAIN))
-
         self.system("pm enable %s" % self.app)
 
         if self.app_type == self.TYPE_GPS_SERVICE:
@@ -138,11 +129,6 @@ class App():
 
       # only kill app if it's running
       if force or self.is_running:
-        # if it's a full screen app, we need to restart offroad
-        if self.app_type == self.TYPE_FULLSCREEN:
-          self.system("pm disable %s" % self.OFFROAD)
-          self.system("pm enable %s" % self.OFFROAD)
-
         if self.app_type == self.TYPE_GPS_SERVICE:
           self.appops_set(self.app, "android:mock_location", "deny")
 

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -70,6 +70,7 @@ default_conf = {
   'DragonBootHotspot': 0,
   'DragonAccelProfile': '0',
   'DragonLastModified': str(floor(time.time())),
+  'DragonEnableRegistration': '1',
   'DragonDynamicFollow': '0', # traffic = -1, stock = 0, roadtrip = 1
 }
 

selfdrive/manager.py

@@ -544,9 +544,11 @@ def main():
   if params.get("Passive") is None:
     raise Exception("Passive must be set to continue")
 
+  reg = False if params.get("DragonEnableRegistration", encoding='utf8') == "0" else True
+
   if ANDROID:
     update_apks()
-  manager_init()
+  manager_init(reg)
   manager_prepare(spinner)
   spinner.close()
 

selfdrive/thermald/thermald.py

@@ -204,6 +204,7 @@ def thermald_thread():
 
   ip_addr = '255.255.255.255'
   dragon_charging_ctrl = False
+  dragon_charging_ctrl_prev = False
   dragon_to_discharge = 70
   dragon_to_charge = 60
 
@@ -440,17 +441,18 @@ def thermald_thread():
         dp_last_modified = modified
       ts_last_update_vars = ts
 
-    # we update charging status once every min
-    if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.:
-      if dragon_charging_ctrl:
+    if dragon_charging_ctrl != dragon_charging_ctrl_prev:
+      set_battery_charging(True)
+
+    if dragon_charging_ctrl:
+      if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.:
         if msg.thermal.batteryPercent >= dragon_to_discharge and get_battery_charging():
           set_battery_charging(False)
-        if msg.thermal.batteryPercent <= dragon_to_charge and not get_battery_charging():
+        elif msg.thermal.batteryPercent <= dragon_to_charge and not get_battery_charging():
           set_battery_charging(True)
-      else:
-        if not get_battery_charging():
-          set_battery_charging(True)
-      ts_last_charging_ctrl = ts
+        ts_last_charging_ctrl = ts
+
+      dragon_charging_ctrl_prev = dragon_charging_ctrl
 
     # report to server once per minute
     if (count % int(60. / DT_TRML)) == 0:

selfdrive/ui/paint.cc

@@ -671,7 +671,7 @@ static void ui_draw_vision_speed(UIState *s) {
 
     nvgFontFace(s->vg, "sans-regular");
     nvgFontSize(s->vg, 36*2.5);
-    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
+    nvgFillColor(s->vg, s->scene.brakeLights? COLOR_YELLOW : nvgRGBA(255, 255, 255, 200));
 
     if (s->is_metric) {
       nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "kph", NULL);
@@ -838,11 +838,19 @@ static void ui_draw_infobar(UIState *s) {
 
   char infobar[100];
   // create time string
-  char date_time[20];
+  char date_time[17];
   time_t rawtime = time(NULL);
   struct tm timeinfo;
   localtime_r(&rawtime, &timeinfo);
-  strftime(date_time, sizeof(date_time),"%F %T", &timeinfo);
+  strftime(date_time, sizeof(date_time),"%D %T", &timeinfo);
+
+  // Create temp string
+  char temp[6];
+  snprintf(temp, sizeof(temp), "%02d°C", s->scene.paTemp);
+
+  // create battery percentage string
+  char battery[4];
+  snprintf(battery, sizeof(battery), "%02d%%", s->scene.batteryPercent);
 
   if (s->dragon_ui_dev_mini) {
     char rel_steer[9];
@@ -865,8 +873,10 @@ static void ui_draw_infobar(UIState *s) {
     snprintf(
       infobar,
       sizeof(infobar),
-      "%s /REL: %s /DES: %s /DIS: %s",
+      "%s /TMP: %s /BAT: %s /REL: %s /DES: %s /DIS: %s",
       date_time,
+      temp,
+      battery,
       rel_steer,
       des_steer,
       lead_dist
@@ -875,17 +885,19 @@ static void ui_draw_infobar(UIState *s) {
     snprintf(
       infobar,
       sizeof(infobar),
-      "%s",
-      date_time
+      "%s /TMP: %s /BAT: %s",
+      date_time,
+      temp,
+      battery
     );
   }
 
   nvgBeginPath(s->vg);
-  nvgRoundedRect(s->vg, rect_x, rect_y, rect_w, rect_h, 15);
+  nvgRect(s->vg, rect_x, rect_y, rect_w, rect_h);
   nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 180));
   nvgFill(s->vg);
 
-  nvgFontSize(s->vg, hasSidebar? 43:50);
+  nvgFontSize(s->vg, hasSidebar? 35:42);
   nvgFontFace(s->vg, "courbd");
   nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 180));
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER);

selfdrive/ui/ui.cc

@@ -548,6 +548,7 @@ void handle_message(UIState *s, Message * msg) {
     }
     s->scene.leftBlinker = datad.leftBlinker;
     s->scene.rightBlinker = datad.rightBlinker;
+    s->scene.brakeLights = datad.brakeLights;
   }
   capn_free(&ctx);
 }
@@ -983,13 +984,18 @@ int main(int argc, char* argv[]) {
     s->scene.ui_viz_rw = hasSidebar ? box_w : (box_w + sbr_w - (bdr_s * 2));
     s->scene.ui_viz_ro = hasSidebar ? -(sbr_w - 6 * bdr_s) : 0;
 
-    // poll for touch events
-    int touch_x = -1, touch_y = -1;
-    int touched = touch_poll(&touch, &touch_x, &touch_y, 0);
-    if (touched == 1) {
-      set_awake(s, true);
-      handle_sidebar_touch(s, touch_x, touch_y);
-      handle_vision_touch(s, touch_x, touch_y);
+    if (s->vision_connected && s->dragon_waze_mode) {
+      // always collapsed sidebar when vision is connect and in waze mode
+      s->scene.uilayout_sidebarcollapsed = true;
+    } else {
+      // poll for touch events
+      int touch_x = -1, touch_y = -1;
+      int touched = touch_poll(&touch, &touch_x, &touch_y, 0);
+      if (touched == 1) {
+        set_awake(s, true);
+        handle_sidebar_touch(s, touch_x, touch_y);
+        handle_vision_touch(s, touch_x, touch_y);
+      }
     }
 
     if (!s->vision_connected) {

selfdrive/ui/ui.hpp

@@ -166,6 +166,7 @@ typedef struct UIScene {
   // for blinker, from kegman
   bool leftBlinker;
   bool rightBlinker;
+  bool brakeLights;
   int blinker_blinkingrate;
 } UIScene;