dragonpilot 2023-03-30T08:35:14 for EON/C2

version: dragonpilot v0.9.2 beta for EON/C2
date: 2023-03-30T08:35:14
dp-dev(priv2) master commit: 42cfd61d1e0f0a69237e69d75c5b5f69e417a8c9

CHANGELOGS_c2.md

@@ -2,6 +2,8 @@ dragonpilot [Latest] - EON/C2 Release
 ========================
 * Synced with openpilot master 2023.03.26 commits.
 * DP Highlight
+  * NEW: Manual Lane Change.
+  * NEW: Road Edge detection when Lane Change.
   * NEW: Rainbow mode. (fancy lol)
   * NEW: Local Trip counter.
   * NEW: Alternative Lateral Controller

cereal/car.capnp

@@ -120,6 +120,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     speedLimitValueChange @117;
     leadMovingAlertSilent @118;
     leadMovingAlert @119;
+    manualSteeringRequiredBlinkersOn @120;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;

cereal/dp.capnp

@@ -54,4 +54,5 @@ struct DragonConf {
   dpE2EConditionalAdaptAp @46 :Bool;
   dpE2EConditionalVoacc @47 :Bool;
   dpLongLeadMovingAlert @48 :Int8;
+  dpLateralLcManual @49 :Bool;
 }

common/dp_conf.py

@@ -201,6 +201,7 @@ confs = [
   {'name': 'local_trip_count_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
   {'name': 'local_trip_meter_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
   {'name': 'local_trip_min_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
+  {'name': 'dp_lateral_lc_manual', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
 ]
 
 def get_definition(name):

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "2023.03.29"
+#define COMMA_VERSION "2023.03.30"

selfdrive/controls/controlsd.py

@@ -698,7 +698,18 @@ class Controls:
 
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame
-
+      # dp - manual lane change
+      if self.sm['dragonConf'].dpLateralLcManual:
+        speed = CS.vEgo * CV.MS_TO_MPH
+        if self.sm['dragonConf'].dpLateralMode == 1 and speed >= self.sm['dragonConf'].dpLcMinMph:
+          pass
+        # we use "or" here in case dpLcAutoMinMph is smaller than dpLcMinMph
+        elif self.sm['dragonConf'].dpLateralMode == 2 and (speed >= self.sm['dragonConf'].dpLcMinMph or speed >= self.sm['dragonConf'].dpLcAutoMinMph):
+          pass
+        else:
+          if CC.latActive:
+            self.events.add(EventName.manualSteeringRequiredBlinkersOn)
+          CC.latActive = False
     # State specific actions
 
     if not CC.latActive:

selfdrive/controls/lib/events.py

@@ -980,4 +980,13 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
       Priority.MID, VisualAlert.none,
       AudibleAlert.disengage, .2),
   },
+
+  # dp - use for manual lane change
+  EventName.manualSteeringRequiredBlinkersOn: {
+    ET.PERMANENT: Alert(
+      _("STEERING REQUIRED: Blinkers ON"),
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, alert_rate=0.25),
+  },
 }

selfdrive/ui/translations/main_zh-CHT.ts

@@ -567,7 +567,7 @@ Reboot required.</source>
     </message>
     <message>
         <source>Enable this if you wish to use following dist. mode in DE2E.</source>
-        <translation></translation>
+        <translation>如果您想 DE2E 配合跟車距離控制，請啟用此選項。</translation>
     </message>
     <message>
         <source>DE2E Adapt Accel Mode</source>
@@ -575,7 +575,7 @@ Reboot required.</source>
     </message>
     <message>
         <source>Enable this if you wish to use accel mode in DE2E.</source>
-        <translation></translation>
+        <translation>如果您想 DE2E 配合加速模式控制，請啟用此選項。</translation>
     </message>
     <message>
         <source>Enable this if your vehicles is in VOACC (e.g. Honda Bosch / VAG).</source>