prereq for matching speeds shown on cars dash (#25222)

* prereq for matching speeds shown on cars dash

* also handle fallback in the ui for replay

* update translations

* update ref

selfdrive/car/interfaces.py

@@ -162,6 +162,12 @@ class CarInterfaceBase(ABC):
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
 
+    if ret.vEgoCluster == 0.0:
+      ret.vEgoCluster = ret.vEgo
+
+    if ret.cruiseState.speedCluster == 0:
+      ret.cruiseState.speedCluster = ret.cruiseState.speed
+
     # copy back for next iteration
     reader = ret.as_reader()
     if self.CS is not None:

selfdrive/controls/controlsd.py

@@ -163,6 +163,7 @@ class Controls:
     self.can_rcv_error = False
     self.soft_disable_timer = 0
     self.v_cruise_kph = 255
+    self.v_cruise_cluster_kph = 255
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
@@ -454,11 +455,14 @@ class Controls:
     if not self.CP.pcmCruise:
       self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
                                           self.button_timers, self.enabled, self.is_metric)
+      self.v_cruise_cluster_kph = self.v_cruise_kph
     else:
       if CS.cruiseState.available:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
       else:
         self.v_cruise_kph = 0
+        self.v_cruise_cluster_kph = 0
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -538,6 +542,7 @@ class Controls:
           self.current_alert_types.append(ET.ENABLE)
           if not self.CP.pcmCruise:
             self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
+            self.v_cruise_cluster_kph = self.v_cruise_kph
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -752,6 +757,7 @@ class Controls:
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_kph)
+    controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-7c1168af0311d2fef67b82812cd863a0e97c030e
+c428493b2a46cb996a7565ea4395d7ad6cd79786

selfdrive/ui/qt/onroad.cc

@@ -184,13 +184,17 @@ void NvgWindow::updateState(const UIState &s) {
 
   const auto cs = sm["controlsState"].getControlsState();
 
-  float set_speed = cs_alive ? cs.getVCruise() : SET_SPEED_NA;
+  // Handle older routes where vCruiseCluster is not set
+  float v_cruise =  cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
+  float set_speed = cs_alive ? v_cruise : SET_SPEED_NA;
   bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
   if (cruise_set && !s.scene.is_metric) {
     set_speed *= KM_TO_MILE;
   }
 
-  float cur_speed = cs_alive ? std::max<float>(0.0, sm["carState"].getCarState().getVEgo()) : 0.0;
+  // Handle older routes where vEgoCluster is not set
+  float v_ego = sm["carState"].getCarState().getVEgoCluster() == 0.0 ? sm["carState"].getCarState().getVEgo() : sm["carState"].getCarState().getVEgoCluster();
+  float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   cur_speed  *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
   auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();

selfdrive/ui/translations/main_ko.ts

@@ -488,30 +488,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="275"/>
-        <location filename="../qt/onroad.cc" line="278"/>
+        <location filename="../qt/onroad.cc" line="279"/>
+        <location filename="../qt/onroad.cc" line="282"/>
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="326"/>
+        <location filename="../qt/onroad.cc" line="329"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="328"/>
-        <location filename="../qt/onroad.cc" line="331"/>
+        <location filename="../qt/onroad.cc" line="332"/>
+        <location filename="../qt/onroad.cc" line="335"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -486,30 +486,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="275"/>
-        <location filename="../qt/onroad.cc" line="278"/>
+        <location filename="../qt/onroad.cc" line="279"/>
+        <location filename="../qt/onroad.cc" line="282"/>
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="326"/>
+        <location filename="../qt/onroad.cc" line="329"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="328"/>
-        <location filename="../qt/onroad.cc" line="331"/>
+        <location filename="../qt/onroad.cc" line="332"/>
+        <location filename="../qt/onroad.cc" line="335"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -488,30 +488,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="275"/>
-        <location filename="../qt/onroad.cc" line="278"/>
+        <location filename="../qt/onroad.cc" line="279"/>
+        <location filename="../qt/onroad.cc" line="282"/>
         <source>MAX</source>
         <translation>最高</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="326"/>
+        <location filename="../qt/onroad.cc" line="329"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="328"/>
-        <location filename="../qt/onroad.cc" line="331"/>
+        <location filename="../qt/onroad.cc" line="332"/>
+        <location filename="../qt/onroad.cc" line="335"/>
         <source>LIMIT</source>
         <translation>速限</translation>
     </message>