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This commit is contained in:
firestar5683
2026-03-28 23:03:51 -05:00
parent 2f1bb550e9
commit c2572f50a4
6 changed files with 107 additions and 7 deletions
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selfdrive/ui/layouts/settings/starpilot/vehicle.py
+1
View File
@@ -489,6 +489,7 @@ class StarPilotVehicleInfoLayout(StarPilotPanel):
None,
[
tr("Pedal") if starpilot_state.car_state.canUsePedal else "",
tr("SASCM") if starpilot_state.car_state.hasSASCM else "",
tr("SDSU") if starpilot_state.car_state.canUseSDSU else "",
tr("ZSS") if starpilot_state.car_state.hasZSS else "",
],
selfdrive/ui/lib/starpilot_state.py
+4
View File
@@ -6,6 +6,7 @@ from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE, PC
from openpilot.selfdrive.ui.ui_state import ui_state
from cereal import car, log, custom, messaging
from opendbc.car.gm.values import GMFlags
@dataclass
class StarPilotCarState:
@@ -25,6 +26,7 @@ class StarPilotCarState:
hasBSM: bool = False
hasRadar: bool = True
hasPedal: bool = False
hasSASCM: bool = False
hasSNG: bool = False
hasNNFFLog: bool = True
hasAutoTune: bool = True
@@ -81,6 +83,7 @@ class StarPilotState:
fallback_model = "CHEVROLET_BOLT_ACC_2022_2023"
self.car_state.hasPedal = starpilot_toggles.get("has_pedal", True)
self.car_state.hasSASCM = starpilot_toggles.get("has_sascm", False)
self.car_state.hasSDSU = starpilot_toggles.get("has_sdsu", False)
self.car_state.hasZSS = starpilot_toggles.get("has_zss", False)
self.car_state.isBolt = fallback_model.startswith("CHEVROLET_BOLT")
@@ -139,6 +142,7 @@ class StarPilotState:
self.car_state.hasOpenpilotLongitudinal = bool(self._safe_get(CP, "openpilotLongitudinalControl", False))
self.car_state.hasPCMCruise = bool(self._safe_get(CP, "pcmCruise", False))
self.car_state.hasPedal = bool(self._safe_get(CP, "enableGasInterceptorDEPRECATED", False))
self.car_state.hasSASCM = car_make == "gm" and bool(self._safe_get(CP, "flags", 0) & GMFlags.SASCM.value)
self.car_state.hasRadar = not bool(self._safe_get(CP, "radarUnavailable", False))
self.car_state.hasSDSU = starpilot_toggles.get("has_sdsu", False)
self.car_state.hasSNG = bool(self._safe_get(CP, "autoResumeSng", False))
starpilot/common/starpilot_variables.py
+1
View File
@@ -451,6 +451,7 @@ class StarPilotVariables:
friction = CP.lateralTuning.torque.friction
has_bsm = CP.enableBsm
toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)
toggle.has_sascm = toggle.car_make == "gm" and bool(CP.flags & GMFlags.SASCM.value)
has_nnff = nnff_supported(toggle.car_model)
toggle.has_pedal = CP.enableGasInterceptorDEPRECATED
has_radar = not CP.radarUnavailable
starpilot/system/the_pond/assets/components/tools/troubleshoot.css
+15 -1
View File
@@ -83,6 +83,10 @@
grid-template-columns: 2fr 1fr 1fr;
}
.troubleshootHeaderRowLearned {
grid-template-columns: 2fr 1fr 1fr 1.3fr;
}
.troubleshootHeaderRowSnapshot {
grid-template-columns: 2fr 2fr;
}
@@ -95,12 +99,17 @@
grid-template-columns: 2fr 1fr 1fr;
}
.troubleshootItemRowLearned {
grid-template-columns: 2fr 1fr 1fr 1.3fr;
}
.troubleshootItemLabel {
font-weight: 600;
}
.troubleshootItemValue,
.troubleshootItemDefault {
.troubleshootItemDefault,
.troubleshootItemLearned {
font-family: "Open Sans", sans-serif;
word-break: break-word;
}
@@ -112,6 +121,11 @@
font-size: 0.9rem;
}
.troubleshootHeaderRowLearned,
.troubleshootItemRowLearned {
grid-template-columns: 1.3fr 0.95fr 0.95fr 1.2fr;
}
.troubleshootSnapshotRow {
grid-template-columns: 1fr;
gap: 4px;
starpilot/system/the_pond/assets/components/tools/troubleshoot.js
+15 -3
View File
@@ -23,6 +23,12 @@ function formatValue(value) {
return text || "(empty)"
}
function formatLearnedValue(value) {
if (value === null || value === undefined) return ""
const text = String(value).trim()
return text ? formatValue(value) : ""
}
function buildReportText() {
const lines = []
lines.push("StarPilot Troubleshoot Report")
@@ -38,7 +44,10 @@ function buildReportText() {
lines.push("")
lines.push(section.title)
for (const item of section.items || []) {
lines.push(`- ${item.label}: ${formatValue(item.value)} (default: ${formatValue(item.defaultValue)})`)
const learnedSuffix = formatLearnedValue(item.learnedValue)
? `, learned: ${formatLearnedValue(item.learnedValue)}`
: ""
lines.push(`- ${item.label}: ${formatValue(item.value)} (default: ${formatValue(item.defaultValue)}${learnedSuffix})`)
}
}
@@ -132,11 +141,13 @@ function initialize() {
function itemRows(section) {
const items = Array.isArray(section?.items) ? section.items : []
const rowClassName = section?.hasLearnedColumn ? "troubleshootItemRow troubleshootItemRowLearned" : "troubleshootItemRow"
return items.map((item) => html`
<div class="troubleshootItemRow">
<div class="${rowClassName}">
<div class="troubleshootItemLabel">${item.label}</div>
<div class="troubleshootItemValue">${formatValue(item.value)}</div>
<div class="troubleshootItemDefault">${formatValue(item.defaultValue)}</div>
${section?.hasLearnedColumn ? html`<div class="troubleshootItemLearned">${formatLearnedValue(item.learnedValue)}</div>` : ""}
</div>
`)
}
@@ -192,10 +203,11 @@ export function Troubleshoot() {
</button>
` : ""}
</div>
<div class="troubleshootHeaderRow">
<div class="${section?.hasLearnedColumn ? "troubleshootHeaderRow troubleshootHeaderRowLearned" : "troubleshootHeaderRow"}">
<span>Setting</span>
<span>Current</span>
<span>Default</span>
${section?.hasLearnedColumn ? html`<span>Learned</span>` : ""}
</div>
${itemRows(section)}
</div>
starpilot/system/the_pond/the_pond.py
+71 -3
View File
@@ -26,8 +26,9 @@ import time
import traceback
from urllib.parse import quote
from cereal import car, messaging
from cereal import car, log, messaging
from opendbc.can.parser import CANParser
from opendbc.car.gm.values import GMFlags
from opendbc.car.toyota.carcontroller import LOCK_CMD, UNLOCK_CMD
from openpilot.common.params import ParamKeyType, Params
from openpilot.common.realtime import DT_HW
@@ -1956,6 +1957,63 @@ def _resolve_troubleshoot_default_value(key, value_type, default_values):
return _coerce_param_value(default_raw_value, safe_type)
def _normalize_live_delay_status(status):
status_text = str(status or "").strip().lower()
if status_text in {"estimated", "unestimated", "invalid"}:
return status_text
try:
if status == log.LiveDelayData.Status.estimated:
return "estimated"
if status == log.LiveDelayData.Status.unestimated:
return "unestimated"
if status == log.LiveDelayData.Status.invalid:
return "invalid"
except Exception:
pass
return status_text
def _get_steer_delay_learned_text():
live_delay_bytes = _safe_params_get_live_raw("LiveDelay")
if not live_delay_bytes:
return "Unavailable"
current_cp_bytes = _safe_params_get_live_raw("CarParamsPersistent")
previous_cp_bytes = _safe_params_get_live_raw("CarParamsPrevRoute")
if current_cp_bytes and previous_cp_bytes:
try:
with car.CarParams.from_bytes(current_cp_bytes) as current_cp, car.CarParams.from_bytes(previous_cp_bytes) as previous_cp:
current_fingerprint = str(getattr(current_cp, "carFingerprint", "") or "")
previous_fingerprint = str(getattr(previous_cp, "carFingerprint", "") or "")
if current_fingerprint and previous_fingerprint and current_fingerprint != previous_fingerprint:
return "Unavailable"
except Exception:
pass
try:
live_delay = messaging.log_from_bytes(live_delay_bytes, log.Event).liveDelay
except Exception:
return "Unavailable"
estimate = _safe_float(getattr(live_delay, "lateralDelayEstimate", 0.0), 0.0)
cal_perc = int(max(0, min(100, _safe_float(getattr(live_delay, "calPerc", 0), 0))))
status = _normalize_live_delay_status(getattr(live_delay, "status", ""))
if status == "estimated":
return f"Complete ({estimate:.2f}s)"
if status == "invalid":
return f"Invalid ({estimate:.2f}s)"
if status == "unestimated":
return f"Learning {cal_perc}% ({estimate:.2f}s)"
return f"{estimate:.2f}s"
def _get_troubleshoot_learned_values():
return {
"SteerDelay": _get_steer_delay_learned_text(),
}
def _get_safety_snapshot_text():
cp_bytes = params.get("CarParamsPersistent")
if not cp_bytes:
@@ -2026,6 +2084,7 @@ def _get_hardware_snapshot_items():
has_bsm = None
has_openpilot_longitudinal = None
has_pedal = False
has_sascm = bool(starpilot_toggles.get("has_sascm", False))
has_radar = None
has_sdsu = bool(starpilot_toggles.get("has_sdsu", False))
has_sng = None
@@ -2044,6 +2103,7 @@ def _get_hardware_snapshot_items():
has_bsm = bool(getattr(cp, "enableBsm", False))
has_openpilot_longitudinal = bool(getattr(cp, "openpilotLongitudinalControl", False))
has_pedal = bool(getattr(cp, "enableGasInterceptorDEPRECATED", False))
has_sascm = car_make == "gm" and bool(getattr(cp, "flags", 0) & GMFlags.SASCM.value)
has_radar = not bool(getattr(cp, "radarUnavailable", False))
has_sdsu = bool(starpilot_toggles.get("has_sdsu", has_sdsu))
has_sng = bool(getattr(cp, "autoResumeSng", False))
@@ -2054,6 +2114,7 @@ def _get_hardware_snapshot_items():
fallback_make = str(starpilot_toggles.get("car_make", "") or "gm")
fallback_model = str(starpilot_toggles.get("car_model", "") or "CHEVROLET_BOLT_ACC_2022_2023")
has_pedal = bool(starpilot_toggles.get("has_pedal", True))
has_sascm = bool(starpilot_toggles.get("has_sascm", has_sascm))
has_sdsu = bool(starpilot_toggles.get("has_sdsu", has_sdsu))
has_zss = bool(starpilot_toggles.get("has_zss", has_zss))
is_bolt = fallback_model.startswith("CHEVROLET_BOLT")
@@ -2064,6 +2125,7 @@ def _get_hardware_snapshot_items():
elif PC:
fallback_model = str(starpilot_toggles.get("car_model", "") or "CHEVROLET_BOLT_ACC_2022_2023")
has_pedal = bool(starpilot_toggles.get("has_pedal", True))
has_sascm = bool(starpilot_toggles.get("has_sascm", has_sascm))
has_sdsu = bool(starpilot_toggles.get("has_sdsu", has_sdsu))
has_zss = bool(starpilot_toggles.get("has_zss", has_zss))
is_bolt = fallback_model.startswith("CHEVROLET_BOLT")
@@ -2085,6 +2147,8 @@ def _get_hardware_snapshot_items():
detected = []
if has_pedal:
detected.append("comma Pedal")
if has_sascm:
detected.append("SASCM")
if has_sdsu:
detected.append("SDSU")
if has_zss:
@@ -2093,6 +2157,7 @@ def _get_hardware_snapshot_items():
return [
{"id": "hardware_detected", "label": "Hardware Detected", "value": ", ".join(detected) if detected else "None", "resettable": False},
{"id": "pedal_detected", "label": "Pedal Detected", "value": _snapshot_bool_text(has_pedal), "resettable": False},
{"id": "sascm_detected", "label": "SASCM Detected", "value": _snapshot_bool_text(has_sascm), "resettable": False},
{"id": "sdsu_detected", "label": "SDSU Detected", "value": _snapshot_bool_text(has_sdsu), "resettable": False},
{"id": "zss_detected", "label": "ZSS Detected", "value": _snapshot_bool_text(has_zss), "resettable": False},
{"id": "blind_spot_support", "label": "Blind Spot Support", "value": _snapshot_bool_text(has_bsm), "resettable": False},
@@ -2103,7 +2168,7 @@ def _get_hardware_snapshot_items():
{"id": "sng_support", "label": "Stop-and-Go Support", "value": _snapshot_bool_text(has_sng), "resettable": False},
]
def _build_troubleshoot_section_payload(section_definition, value_types, default_values, layout_metadata):
def _build_troubleshoot_section_payload(section_definition, value_types, default_values, layout_metadata, learned_values):
section_keys = [str(key).strip() for key in section_definition.get("keys", []) if str(key).strip()]
items = []
@@ -2131,18 +2196,21 @@ def _build_troubleshoot_section_payload(section_definition, value_types, default
"label": label,
"value": current_value,
"defaultValue": default_value,
"learnedValue": learned_values.get(key),
})
return {
"id": section_definition["id"],
"title": section_definition["title"],
"resettable": True,
"hasLearnedColumn": any(item.get("learnedValue") not in (None, "") for item in items),
"items": items,
}
def _build_troubleshoot_payload():
_, value_types = _get_param_type_info()
default_values = _get_default_param_values()
learned_values = _get_troubleshoot_learned_values()
layout_metadata = _get_layout_param_metadata()
longitudinal_personality_raw = _safe_params_get("LongitudinalPersonality", encoding="utf-8", default="") or ""
@@ -2175,7 +2243,7 @@ def _build_troubleshoot_payload():
]
sections = [
_build_troubleshoot_section_payload(section_definition, value_types, default_values, layout_metadata)
_build_troubleshoot_section_payload(section_definition, value_types, default_values, layout_metadata, learned_values)
for section_definition in _TROUBLESHOOT_SECTION_DEFINITIONS
]