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Compiled on Mar.20,2025

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Comma Device
2025-03-20 12:42:43 +08:00
parent 115d496878
commit a975c1ba17
16 changed files with 178 additions and 49 deletions
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RELEASES.md
+1
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@@ -1,5 +1,6 @@
Version 0.9.6 (2024-02-27)
========================
* 发送前车跟车距离 (2025-03-20)
* 跟车起步距离控制 (2025-03-05)
* 优化自动跟车功能 (2025-02-24)
* 外挂自动跟车起步 (2024-12-07)
common/params_pyx.so
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selfdrive/car/car_helpers.py
+1 -1
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@@ -232,7 +232,7 @@ def crash_log(candidate):
"AdjacentPath", "AdjacentPathMetrics", "BlindSpotPath", "FPSCounter", "LeadInfo", "UseSI", "PedalsOnUI", "RoadNameUI", "UseVienna", "DriverCamera",
"ModelUI", "DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength", "QOLVisuals", "DriveStats",
"FullMap", "HideSpeed", "HideSpeedUI", "ShowSLCOffset", "SpeedLimitChangedAlert", "WheelSpeed", "RandomEvents", "ScreenBrightness", "WheelIcon",
"DashSpeedRatio1", "DashSpeedRatio2", "DashSpeedRatio3", "SetSpeedRatio1", "SetSpeedRatio2", "SetSpeedRatio3",
"DashSpeedRatio1", "DashSpeedRatio2", "DashSpeedRatio3",
"RotatingWheel", "NumericalTemp", "Fahrenheit", "ShowCPU", "ShowGPU", "ShowIP", "ShowMemoryUsage", "ShowStorageLeft", "ShowStorageUsed", "Sidebar"
], [
"FrogPilotDrives", "FrogPilotKilometers", "FrogPilotMinutes"
selfdrive/car/gm/carstate.py
+7
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@@ -283,6 +283,13 @@ class CarState(CarStateBase):
self.distance_previously_pressed = distance_pressed
# Override FrogPilot Personality Profile Bug for Enclave
if has_camera:
pp = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCGapLevel"] - 1
if self.personality_profile != pp:
self.personality_profile = pp
self.fpf.distance_button_function(self.personality_profile)
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
if self.CP.carFingerprint in SDGM_CAR:
selfdrive/car/gm/gmcan.py
+28 -9
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@@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import make_can_msg
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
from openpilot.selfdrive.lqrtx.speed import SpeedMap
def create_buttons(packer, bus, idx, button):
values = {
@@ -289,30 +289,49 @@ def create_gm_acc_spam_command(packer, controller, CS, slcSet, bus, Vego, frogpi
# using ms
def create_gm_acc_spam_command_ms(packer, controller, CS, slcSet_ms, bus, Vego, frogpilot_variables, accel):
#SpeedMap
speed_map = SpeedMap()
speed_map.enable_acc_speed_maps(frogpilot_variables.use_acc_speed_maps)
is_metric = controller.is_metric
MS_CONVERT = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
slcSet = slcSet_ms * MS_CONVERT
#slcSet = slcSet_ms * MS_CONVERT
slcSet = speed_map.get_acc_speed_display(slcSet_ms * MS_CONVERT) if frogpilot_variables.use_acc_speed_maps else slcSet_ms * MS_CONVERT
cruiseBtn = CruiseButtons.INIT
byfive = 0
speedSetPoint = int(round(CS.out.cruiseState.speed * MS_CONVERT))
#speedSetPoint = int(round(CS.out.cruiseState.speed * MS_CONVERT))
speedSetPoint = speed_map.get_acc_speed_display(CS.out.cruiseState.speed * MS_CONVERT) if frogpilot_variables.use_acc_speed_maps else int(round(CS.out.cruiseState.speed * MS_CONVERT))
FRAMES_ON = 6
FRAMES_OFF = 30 - FRAMES_ON
if not frogpilot_variables.experimentalMode:
if slcSet + 5 < Vego * MS_CONVERT:
slcSet = slcSet - 10
#SpeedMap
if frogpilot_variables.use_acc_speed_maps:
if not frogpilot_variables.experimentalMode:
if slcSet + 5 < speed_map.get_acc_speed_display(Vego * MS_CONVERT):
slcSet = slcSet - 10
else:
slcSet = speed_map.get_acc_speed_display((Vego * 1.01 + 4.6 * accel + 0.7 * accel ** 3 - 1 / 35 * accel ** 5) * MS_CONVERT)
v_max = 30
v_min = 25
else:
slcSet = int(round((Vego * 1.01 + 4.6 * accel + 0.7 * accel ** 3 - 1 / 35 * accel ** 5) * MS_CONVERT)) # 1.01 factor to match cluster speed better
if not frogpilot_variables.experimentalMode:
if slcSet + 5 < Vego * MS_CONVERT:
slcSet = slcSet - 10
else:
slcSet = int(round((Vego * 1.01 + 4.6 * accel + 0.7 * accel ** 3 - 1 / 35 * accel ** 5) * MS_CONVERT)) # 1.01 factor to match cluster speed better
v_max = 28
v_min = 24
if slcSet <= int(math.floor((speedSetPoint - 1)/5.0)*5.0) and speedSetPoint > (28 if is_metric else 20):
if slcSet <= int(math.floor((speedSetPoint - 1)/5.0)*5.0) and speedSetPoint > (v_max if is_metric else 20):
cruiseBtn = CruiseButtons.DECEL_SET
byfive = 1
elif slcSet >= int(math.ceil((speedSetPoint + 1)/5.0)*5.0):
cruiseBtn = CruiseButtons.RES_ACCEL
byfive = 1
elif slcSet <= (speedSetPoint - 1) and speedSetPoint > (24 if is_metric else 16):
elif slcSet <= (speedSetPoint - 1) and speedSetPoint > (v_min if is_metric else 16):
cruiseBtn = CruiseButtons.DECEL_SET
byfive = 0
elif slcSet >= (speedSetPoint + 1):
selfdrive/controls/controlsd.py
+13 -2
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@@ -204,6 +204,7 @@ class Controls:
self.max_acceleration = 0
self.previous_drive_distance = 0
self.previous_lead_distance = 0
self.standstill_lead_distance = 0
self.previous_speed_limit = SpeedLimitController.desired_speed_limit
self.random_event_timer = 0
@@ -666,7 +667,16 @@ class Controls:
if self.lead_departing_alert and self.sm.frame % 50 == 0:
lead = self.sm['radarState'].leadOne
lead_distance = lead.dRel
lead_departing = lead_distance - self.previous_lead_distance > 0.5 and CS.standstill #and self.previous_lead_distance != 0
#记录停止时的第一个跟车距离，防止红绿灯头车错误提示
if CS.standstill:
if self.standstill_lead_distance == 0:
self.standstill_lead_distance = lead_distance
else:
self.standstill_lead_distance = 0
lead_departing = self.standstill_lead_distance > 0 and lead_distance > self.standstill_lead_distance
lead_departing &= lead_distance - self.previous_lead_distance > 0.5 and CS.standstill #and self.previous_lead_distance != 0
# below 15 meters
lead_departing &= self.previous_lead_distance > 0 and self.previous_lead_distance <= 15
previous_lead = self.previous_lead_distance
@@ -678,7 +688,7 @@ class Controls:
# auto_resume
if lead_departing:
self.params_memory.put_int("LeadDepartDistance", previous_lead * 10)
self.params_memory.put_int("LeadDepartDistance", previous_lead * 10) #dm分米
# wait time 3 seconds
if (int(time.time()) - self.standstill_time) >= 3:
# read param only when lead_departing = true
@@ -1274,6 +1284,7 @@ class Controls:
self.frogpilot_variables.conditional_experimental_mode = self.params.get_bool("ConditionalExperimental")
self.frogpilot_variables.CSLC = self.params.get_bool("CSLCEnabled")
self.frogpilot_variables.use_acc_speed_maps = self.params.get_bool("QOLVisuals") and self.params.get_bool("UseAccSpeedMaps")
custom_alerts = self.params.get_bool("CustomAlerts")
self.green_light_alert = custom_alerts and self.params.get_bool("GreenLightAlert")
selfdrive/controls/lib/desire_helper.py
+4 -2
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@@ -62,7 +62,7 @@ class DesireHelper:
self.update_frogpilot_params()
def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan):
v_ego = carstate.vEgo
v_ego = carstate.vEgo #ms
one_blinker = carstate.leftBlinker != carstate.rightBlinker
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
@@ -106,7 +106,7 @@ class DesireHelper:
# Conduct a nudgeless lane change if all the conditions are met
self.lane_change_wait_timer += DT_MDL
if self.nudgeless and lane_available and not self.lane_change_completed and self.lane_change_wait_timer >= self.lane_change_delay:
if self.nudgeless and v_ego >= self.nudgeless_speed * CV.KPH_TO_MS and lane_available and not self.lane_change_completed and self.lane_change_wait_timer >= self.lane_change_delay:
self.lane_change_wait_timer = 0
torque_applied = True
@@ -174,6 +174,8 @@ class DesireHelper:
is_metric = self.params.get_bool("IsMetric")
self.nudgeless = self.params.get_bool("NudgelessLaneChange")
self.nudgeless_speed = self.params.get_int("NudgelessSpeed")
self.lane_change_delay = self.params.get_int("LaneChangeTime") if self.nudgeless else 0
self.lane_detection = self.nudgeless and self.params.get_bool("LaneDetection")
self.lane_detection_width = self.params.get_int("LaneDetectionWidth") * (1 if is_metric else CV.FOOT_TO_METER) / 10 if self.lane_detection else 0
selfdrive/controls/lib/drive_helpers.py
+40 -13
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@@ -5,14 +5,15 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import clip, interp
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.lqrtx.speed import SpeedMap
# WARNING: this value was determined based on the model's training distribution,
# model predictions above this speed can be unpredictable
# V_CRUISE's are in kph
V_CRUISE_MIN = 23 #For Baby Enclave 8
V_CRUISE_MAX = 146 #For Baby Enclave 145
V_CRUISE_MIN = 23.87 #For Baby Enclave 25-23.87
V_CRUISE_MAX = 153.56 #For Baby Enclave 160-153.56
V_CRUISE_UNSET = 255
V_CRUISE_INITIAL = 23 #For Baby Enclave 40
V_CRUISE_INITIAL = 23.87 #For Baby Enclave 25-23.87
V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors
@@ -48,13 +49,17 @@ class VCruiseHelper:
# FrogPilot variables
self.params_memory = Params("/dev/shm/params")
self.speed_map = SpeedMap()
@property
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_UNSET
def update_v_cruise(self, CS, enabled, is_metric, speed_limit_changed, frogpilot_variables):
self.v_cruise_kph_last = self.v_cruise_kph
#SpeedMap
self.speed_map.enable_acc_speed_maps(frogpilot_variables.use_acc_speed_maps)
self.v_cruise_kph_last = self.speed_map.get_acc_speed_actual(self.speed_map.get_acc_speed_display(self.v_cruise_kph))
if CS.cruiseState.available:
if not self.CP.pcmCruise or frogpilot_variables.CSLC:
@@ -69,6 +74,11 @@ class VCruiseHelper:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
if self.v_cruise_kph > 0 and self.v_cruise_kph != V_CRUISE_UNSET:
self.params_memory.put_float("LqrtxVCruiseKPH", self.v_cruise_kph)
else:
self.params_memory.put_float("LqrtxVCruiseKPH", 0)
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, speed_limit_changed, frogpilot_variables):
# handle button presses. TODO: this should be in state_control, but a decelCruise press
# would have the effect of both enabling and changing speed is checked after the state transition
@@ -122,6 +132,8 @@ class VCruiseHelper:
if not self.button_change_states[button_type]["enabled"]:
return
last_standstill_speed = self.v_cruise_kph
v_cruise_delta_interval = frogpilot_variables.custom_cruise_increase_long if long_press else frogpilot_variables.custom_cruise_increase
# v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
@@ -131,9 +143,12 @@ class VCruiseHelper:
# self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
# else:
# self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
# Apply offset
#self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
#先获取整数倍的kph，再转换成实际kph
self.v_cruise_kph = self.speed_map.get_acc_speed_actual(self.speed_map.get_acc_speed_display(self.v_cruise_kph) + v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type])
# Apply offset 不要用set_speed_offset
v_cruise_offset = (frogpilot_variables.set_speed_offset * CRUISE_INTERVAL_SIGN[button_type]) if long_press else 0
if v_cruise_offset < 0:
v_cruise_offset = frogpilot_variables.set_speed_offset - v_cruise_delta
@@ -141,9 +156,14 @@ class VCruiseHelper:
# If set is pressed while overriding, clip cruise speed to minimum of vEgo
if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
#self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
self.v_cruise_kph = self.speed_map.get_acc_speed_actual(self.speed_map.get_acc_speed_display(max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)))
self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
#保留2位小数
self.v_cruise_kph = clip(round(self.v_cruise_kph, 2), V_CRUISE_MIN, V_CRUISE_MAX)
#防止ACC静止时，速度被修改
if self.speed_map.get_acc_speed_display(last_standstill_speed) <= 25 and self.speed_map.get_acc_speed_display(self.v_cruise_kph) > last_standstill_speed and CS.vEgo < 0.1:
self.v_cruise_kph = last_standstill_speed
def update_button_timers(self, CS, enabled):
# increment timer for buttons still pressed
@@ -167,6 +187,8 @@ class VCruiseHelper:
else:
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
self.speed_map.enable_acc_speed_maps(frogpilot_variables.use_acc_speed_maps)
# CSLC resume/set logic
if frogpilot_variables.CSLC:
if frogpilot_variables.prev_button == ButtonType.resumeCruise and self.v_cruise_kph_last < 250:
@@ -175,10 +197,13 @@ class VCruiseHelper:
# Initial set speed
if desired_speed_limit != 0 and frogpilot_variables.set_speed_limit:
# If there's a known speed limit and the corresponding FP toggle is set, push it to the car
self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
#self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
self.v_cruise_kph = self.speed_map.get_acc_speed_actual(self.speed_map.get_acc_speed_display(desired_speed_limit * CV.MS_TO_KPH))
else:
# Use fixed initial set speed from mode etc.
self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
#self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
self.v_cruise_kph = self.speed_map.get_acc_speed_actual(self.speed_map.get_acc_speed_display(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
self.v_cruise_cluster_kph = self.v_cruise_kph
return
@@ -189,11 +214,13 @@ class VCruiseHelper:
# Initial set speed
if desired_speed_limit != 0 and frogpilot_variables.set_speed_limit:
# If there's a known speed limit and the corresponding FP toggle is set, push it to the car
self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
#self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
self.v_cruise_kph = self.speed_map.get_acc_speed_actual(self.speed_map.get_acc_speed_display(desired_speed_limit * CV.MS_TO_KPH))
else:
# Use fixed initial set speed from mode etc.
self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
#self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
self.v_cruise_kph = self.speed_map.get_acc_speed_actual(self.speed_map.get_acc_speed_display(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
self.v_cruise_cluster_kph = self.v_cruise_kph
def apply_deadzone(error, deadzone):
selfdrive/controls/lib/events.py
+1 -1
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@@ -249,7 +249,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
def lead_departing_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
params_memory = Params("/dev/shm/params")
dis = params_memory.get_int("LeadDepartDistance") / 10
dis = params_memory.get_int("LeadDepartDistance") / 10 #dm分米
return Alert(
f"Lead departed {dis} meters",
"",
selfdrive/frogpilot/fleetmanager/helpers.py
+3 -3
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@@ -623,7 +623,7 @@ def get_all_toggle_values():
"ExperimentalModeActivation", "ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen", "FireTheBabysitter",
"NoLogging", "NoDashCam", "NoUploads", "MuteOverheated", "OfflineMode", "LateralTune", "ForceAutoTune", "NNFF", "SteerRatio", "UseLateralJerk", "LongitudinalTune",
"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance", "SmoothBraking", "Model", "MTSCEnabled",
"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit", "NudgelessLaneChange", "LaneChangeTime", "LaneDetection",
"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit", "NudgelessLaneChange", "LaneChangeTime", "LaneDetection", "NudgelessSpeed", "NudgelessSmooth",
"LaneDetectionWidth", "OneLaneChange", "QOLControls", "DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal",
"ReverseCruise", "ReverseCruiseUI", "SetSpeedLimit", "SetSpeedOffset", "SpeedLimitController", "Offset1", "Offset2", "Offset3", "Offset4",
"SLCConfirmation", "SLCConfirmationLower", "SLCConfirmationHigher", "SLCFallback", "SLCPriority1", "SLCPriority2", "SLCPriority3", "SLCOverride",
@@ -642,10 +642,10 @@ def get_all_toggle_values():
"ShowStorageLeft", "ShowStorageUsed", "Sidebar",
"MinSteerSpeedStandard", "MinSteerSpeedEngage",
"DashSpeedRatio1", "DashSpeedRatio2", "DashSpeedRatio3", "SetSpeedRatio1", "SetSpeedRatio2", "SetSpeedRatio3", "SpeedDecimal",
"DashSpeedRatio1", "DashSpeedRatio2", "DashSpeedRatio3", "SpeedDecimal", "UseAccSpeedMaps",
"FrogPilotDrives", "FrogPilotKilometers", "FrogPilotMinutes", "CarMake", "CarModel",
"DriverPrivacyProtectionFake", "CSLCEnabled", "CalibrationCycles",
"UseRedPanda", "CruiseAutoResume"
"UseRedPanda", "CruiseAutoResume", "AutoResumeDistance"
]
toggle_values = {}
selfdrive/lqrtx/lqrtxcore.py
+4
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@@ -83,6 +83,10 @@ class C3UDPSendHelper(threading.Thread):
"a":params_memory.get_bool("CruiseAutoResumeActivated"), #CruiseAutoResumeActivated
"b":params_memory.get_bool("ESP32HasIP"), # has ESP32 or not.
"c":params_memory.get_bool("LqrtxOnRoad"), # OnRoad status
"d":params_memory.get_float("LqrtxVCruiseKPH"), #ACC Set Speed send to ESP32
"l1":params_memory.get_float("LqrtxDistanceRelated"), #meter, Lead Car Distince Related send out
"l2":params_memory.get_float("LqrtxVelocityRelated"), #kph, Lead Car Velocity Related send out
#"k":params_memory.get("LqrtxDebugText", encoding='utf-8'), #测试用途
"a1":"", #C3 IP Address
"a2":"" #ESP32 IP Address
}
selfdrive/lqrtx/speed.py
+54
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@@ -0,0 +1,54 @@
class SpeedMap:
def __init__(self):
self.use_acc_speed_maps = False
#25 - 160 KPH
#self.acc_speed_maps = {"25":23.87,"26":24.81,"27":25.68,"28":26.62,"29":27.5,"30":28.37,"31":29.31,"32":30.18,"33":31.06,"34":31.93,"35":32.87,"36":33.75,"37":34.62,"38":35.5,"39":36.31,"40":37.18,"41":38.18,"42":39.12,"43":40.06,"44":41,"45":42,"46":42.93,"47":43.87,"48":44.81,"49":45.81,"50":46.75,"51":47.75,"52":48.68,"53":49.62,"54":50.62,"55":51.56,"56":52.56,"57":53.5,"58":54.5,"59":55.43,"60":56.43,"61":57.37,"62":58.37,"63":59.31,"64":60.31,"65":61.25,"66":62.25,"67":63.25,"68":64.18,"69":65.18,"70":66.18,"71":67.18,"72":68.12,"73":69.12,"74":70.12,"75":71.12,"76":72.06,"77":73.06,"78":74.06,"79":75.06,"80":76.06,"81":77,"82":78,"83":78.93,"84":79.87,"85":80.87,"86":81.81,"87":82.81,"88":83.75,"89":84.75,"90":85.68,"91":86.68,"92":87.62,"93":88.56,"94":89.56,"95":90.5,"96":91.5,"97":92.43,"98":93.43,"99":94.37,"100":95.37,"101":96.31,"102":97.31,"103":98.31,"104":99.25,"105":100.25,"106":101.18,"107":102.18,"108":103.12,"109":104.12,"110":105.06,"111":106.06,"112":107.06,"113":108,"114":109,"115":109.93,"116":110.93,"117":111.87,"118":112.87,"119":113.87,"120":114.81,"121":115.81,"122":116.75,"123":117.75,"124":118.68,"125":119.62,"126":120.62,"127":121.56,"128":122.56,"129":123.5,"130":124.5,"131":125.43,"132":126.43,"133":127.37,"134":128.37,"135":129.31,"136":130.31,"137":131.25,"138":132.25,"139":133.18,"140":134.18,"141":135.12,"142":136.06,"143":137.06,"144":138.06,"145":139,"146":139.93,"147":140.93,"148":141.93,"149":142.87,"150":143.81,"151":144.81,"152":145.81,"153":146.75,"154":147.75,"155":148.68,"156":149.68,"157":150.62,"158":151.62,"159":152.56,"160":153.56}
self.acc_speed_maps = {"1":0.95,"2":1.91,"3":2.86,"4":3.82,"5":4.77,"6":5.73,"7":6.68,"8":7.64,"9":8.59,"10":9.55,"11":10.5,"12":11.46,"13":12.41,"14":13.37,"15":14.32,"16":15.28,"17":16.23,"18":17.19,"19":18.14,"20":19.1,"21":20.05,"22":21.01,"23":21.96,"24":22.92,"25":23.87,"26":24.81,"27":25.68,"28":26.62,"29":27.5,"30":28.37,"31":29.31,"32":30.18,"33":31.06,"34":31.93,"35":32.87,"36":33.75,"37":34.62,"38":35.5,"39":36.31,"40":37.18,"41":38.18,"42":39.12,"43":40.06,"44":41,"45":42,"46":42.93,"47":43.87,"48":44.81,"49":45.81,"50":46.75,"51":47.75,"52":48.68,"53":49.62,"54":50.62,"55":51.56,"56":52.56,"57":53.5,"58":54.5,"59":55.43,"60":56.43,"61":57.37,"62":58.37,"63":59.31,"64":60.31,"65":61.25,"66":62.25,"67":63.25,"68":64.18,"69":65.18,"70":66.18,"71":67.18,"72":68.12,"73":69.12,"74":70.12,"75":71.12,"76":72.06,"77":73.06,"78":74.06,"79":75.06,"80":76.06,"81":77,"82":78,"83":78.93,"84":79.87,"85":80.87,"86":81.81,"87":82.81,"88":83.75,"89":84.75,"90":85.68,"91":86.68,"92":87.62,"93":88.56,"94":89.56,"95":90.5,"96":91.5,"97":92.43,"98":93.43,"99":94.37,"100":95.37,"101":96.31,"102":97.31,"103":98.31,"104":99.25,"105":100.25,"106":101.18,"107":102.18,"108":103.12,"109":104.12,"110":105.06,"111":106.06,"112":107.06,"113":108,"114":109,"115":109.93,"116":110.93,"117":111.87,"118":112.87,"119":113.87,"120":114.81,"121":115.81,"122":116.75,"123":117.75,"124":118.68,"125":119.62,"126":120.62,"127":121.56,"128":122.56,"129":123.5,"130":124.5,"131":125.43,"132":126.43,"133":127.37,"134":128.37,"135":129.31,"136":130.31,"137":131.25,"138":132.25,"139":133.18,"140":134.18,"141":135.12,"142":136.06,"143":137.06,"144":138.06,"145":139,"146":139.93,"147":140.93,"148":141.93,"149":142.87,"150":143.81,"151":144.81,"152":145.81,"153":146.75,"154":147.75,"155":148.68,"156":149.68,"157":150.62,"158":151.62,"159":152.56,"160":153.56,"161":154.53,"162":155.49,"163":156.45,"164":157.41,"165":158.37,"166":159.33,"167":160.29,"168":161.25,"169":162.21,"170":163.17,"171":164.13,"172":165.09,"173":166.05,"174":167.01,"175":167.97,"176":168.92,"177":169.88,"178":170.84,"179":171.8,"180":172.76,"181":173.72,"182":174.68,"183":175.64,"184":176.6,"185":177.56,"186":178.52,"187":179.48,"188":180.44,"189":181.4,"190":182.36,"191":183.32,"192":184.28,"193":185.24,"194":186.2,"195":187.16,"196":188.12,"197":189.08,"198":190.04,"199":191,"200":191.96,"201":192.92,"202":193.88,"203":194.84,"204":195.8,"205":196.76,"206":197.72,"207":198.68,"208":199.64,"209":200.6,"210":201.56,"211":202.52,"212":203.48,"213":204.44,"214":205.4,"215":206.36,"216":207.32,"217":208.28,"218":209.24,"219":210.2,"220":211.16,"221":212.12,"222":213.08,"223":214.04,"224":215,"225":215.96,"226":216.91,"227":217.87,"228":218.83,"229":219.79,"230":220.75,"231":221.71,"232":222.67,"233":223.63,"234":224.59,"235":225.55,"236":226.51,"237":227.47,"238":228.43,"239":229.39,"240":230.35,"241":231.31,"242":232.27,"243":233.23,"244":234.19,"245":235.15,"246":236.11,"247":237.07,"248":238.03,"249":238.99,"250":239.95}
def enable_acc_speed_maps(self, enable_map: bool) -> None:
self.use_acc_speed_maps = enable_map
return
#acc实际速度 -> 显示速度
def get_acc_speed_display(self, acc_speed: float) -> int:
r = int(acc_speed)
if not self.use_acc_speed_maps:
return r
min_key = 0
max_key = 0
min_value = 0
max_value = 0
for key, value in self.acc_speed_maps.items():
if value == acc_speed:
return int(key)
elif value < acc_speed and value > min_value:
min_key = int(key)
min_value = value
elif value > acc_speed and (value < max_value or max_value==0):
max_key = int(key)
max_value = value
mid = 0.5
if min_value > 0 and max_value > 0:
mid = (max_value - min_value) / 2
mid = 0.5 if mid > 0.5 else mid
if min_value > 0 and (acc_speed - min_value) < mid:
return int(min_key)
if max_value > 0 and (max_value - acc_speed) < mid:
return int(max_key)
return r
#acc显示速度 -> 实际速度
def get_acc_speed_actual(self, dis_speed: int) -> float:
r = dis_speed
if not self.use_acc_speed_maps:
return r
for key, value in self.acc_speed_maps.items():
if int(key) == dis_speed:
return value
return r
selfdrive/manager/manager.py
+2 -3
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@@ -200,6 +200,7 @@ def manager_init() -> None:
("NoDashCam", "0"),
("NoUploads", "0"),
("NudgelessLaneChange", "1"),
("NudgelessSpeed", "0"), # Nudgeless Lane Change Enable Speed
("NudgelessSmooth", "0"), # Smoother Nudgeless Lane Change
("NumericalTemp", "0"),
("OfflineMode", "0"),
@@ -284,9 +285,7 @@ def manager_init() -> None:
("DashSpeedRatio1", "1.065"),
("DashSpeedRatio2", "1.055"),
("DashSpeedRatio3", "1.045"),
("SetSpeedRatio1", "1.065"),
("SetSpeedRatio2", "1.055"),
("SetSpeedRatio3", "1.045"),
("UseAccSpeedMaps", "0"), #SpeedMap
("SpeedDecimal", "0"),
("CalibrationCycles", "1"),
("OnStarGPS", "0"),
selfdrive/ui/soundd.py
+20 -15
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@@ -164,28 +164,33 @@ class Soundd:
cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
while True:
sm.update(0)
try:
sm.update(0)
if sm.updated['microphone'] and self.current_alert == AudibleAlert.none and not self.alert_volume_control: # only update volume filter when not playing alert
self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
if sm.updated['microphone'] and self.current_alert == AudibleAlert.none and not self.alert_volume_control: # only update volume filter when not playing alert
self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
elif self.alert_volume_control and self.current_alert in self.volume_map:
self.current_volume = self.volume_map[self.current_alert] / 100.0
elif self.alert_volume_control and self.current_alert in self.volume_map:
self.current_volume = self.volume_map[self.current_alert] / 100.0
# Increase the volume for Random Events
elif self.current_alert in self.random_events_map:
self.current_volume = self.random_events_map[self.current_alert]
# Increase the volume for Random Events
elif self.current_alert in self.random_events_map:
self.current_volume = self.random_events_map[self.current_alert]
self.get_audible_alert(sm)
self.get_audible_alert(sm)
rk.keep_time()
rk.keep_time()
assert stream.active
assert stream.active
# Update FrogPilot parameters
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
self.update_frogpilot_params()
# Update FrogPilot parameters
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
self.update_frogpilot_params()
except Exception as e:
time.sleep(5)
continue
def update_frogpilot_params(self):
self.random_events_map = {
selfdrive/ui/translations/main_zh-CHS.qm
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selfdrive/ui/ui
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