mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-08-02 13:29:28 +08:00
various fixes after upstream sync
This commit is contained in:
infiniteCable2
+5
-10
@@ -60,16 +60,11 @@ class PIDController:
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class MultiplicativeUnwindPID:
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def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100, min_cmd=1e-10, ki_red_time=1.0):
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if isinstance(k_p, Number):
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k_p = [[0], [k_p]]
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if isinstance(k_i, Number):
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k_i = [[0], [k_i]]
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if isinstance(k_d, Number):
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k_d = [[0], [k_d]]
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self._k_p = k_p
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self._k_i = k_i
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self._k_d = k_d
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def __init__(self, k_p: Gain, k_i: Gain, k_f=0., k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308,
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rate=100, min_cmd=1e-10, ki_red_time=1.0):
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self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
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self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
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self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
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self.k_f = float(k_f)
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self.pos_limit = pos_limit
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self.neg_limit = neg_limit
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@@ -34,7 +34,7 @@ class PT2Filter:
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=> Zeitbereich: y[k] = -a1*y[k-1] - a2*y[k-2] + b0*u[k] + b1*u[k-1] + b2*u[k-2].
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"""
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Ts = dt
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wd = w0
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alpha = 2.0 / Ts
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@@ -66,14 +66,14 @@ class PT2Filter:
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return (a1d, a2d, b0d, b1d, b2d)
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def sync(self, target: float):
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steps = compute_saturation_steps(self.w0, self.zeta, self.dt)
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for i in range(1, steps + 1):
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update(target)
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steps = self.compute_saturation_steps(self.w0, self.zeta, self.dt)
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for _ in range(steps):
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self.update(target)
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def compute_saturation_steps(self, w0: float, zeta: float, dt: float) -> int:
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"""
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Berechnet eine Abschätzung der Schritte, bis der Filter (95% des Endwerts) erreicht ist.
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Wir nutzen hier die Abschätzung:
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T_s = 4 / (zeta * w0)
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und setzen N = T_s / dt.
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@@ -103,10 +103,10 @@ class PT2Filter:
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+ self.b1 * self.u1
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+ self.b2 * self.u2
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)
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self.y2 = self.y1
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self.y1 = y
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self.u2 = self.u1
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self.u1 = u
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return y
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@@ -19,13 +19,11 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
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from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
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from openpilot.selfdrive.controls.lib.longcontrol import LongControl
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from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
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from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
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from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_T_FOLLOW
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from openpilot.common.pt2 import PT2Filter
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from openpilot.common.realtime import DT_CTRL
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from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
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@@ -119,7 +117,7 @@ class Controls(ControlsExt):
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self.force_rhd_for_bsm = self.params.get_bool("ForceRHDForBSM")
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self.enable_long_comfort_mode = self.params.get_bool("EnableLongComfortMode")
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self.disable_car_steer_alerts = self.params.get_bool("DisableCarSteerAlerts")
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def state_control(self):
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CS = self.sm['carState']
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@@ -1,5 +1,4 @@
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import math
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import numpy as np
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from openpilot.cereal import log
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from openpilot.common.pid import MultiplicativeUnwindPID
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@@ -25,7 +24,7 @@ class LatControlCurvature(LatControl):
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else:
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self.pid = None
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self.kf = 1.
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def set_pid_enabled(self, enabled: bool) -> None:
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self.enable_pid = enabled
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@@ -19,7 +19,7 @@
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# def reset(self):
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# super().reset()
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# self.pid.reset()
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#
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#
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# def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
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# pid_log = log.ControlsState.LateralCurvatureState.new_message()
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# if not active:
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@@ -35,10 +35,10 @@
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# actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
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#
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# desired_curvature_corr = desired_curvature - roll_compensation
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#
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#
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# pid_log.error = float(desired_curvature - actual_curvature)
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# freeze_integrator = steer_limited_by_safety or CS.vEgo < 5 or CS.steeringPressed
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#
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#
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# pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
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# freeze_integrator=freeze_integrator, override=CS.steeringPressed)
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#
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@@ -32,7 +32,7 @@ def get_max_accel(v_ego):
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def get_coast_accel(pitch):
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return np.sin(pitch) * -5.65 - 0.3 # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
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def get_lead_distance(radarState):
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if radarState.leadOne.present and (not radarState.leadTwo.present or radarState.leadOne.dRel < radarState.leadTwo.dRel):
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@@ -40,7 +40,7 @@ def get_lead_distance(radarState):
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if radarState.leadTwo.present:
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return radarState.leadTwo.dRel
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return 0
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def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
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"""
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@@ -232,7 +232,7 @@ class TestCurvatureDController:
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def counting(*args, **kwargs):
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call_count["n"] += 1
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return original(*args, **kwargs)
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CurvatureDLookup.interp_curve_value = counting
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CurvatureDLookup.interp_curve_value = counting # ty: ignore[invalid-assignment]
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try:
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# First call: cache miss, calls interp_curve_value once
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first = controller.get_correction(32e-6, v_ego)
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@@ -550,7 +550,7 @@ class CurvatureEstimator(CurvatureDLookup):
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self._restore_cached_params()
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self.update_use_params(force=True)
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cloudlog.info(f"curvatured init brand={self.CP.brand} fingerprint={self.CP.carFingerprint} "
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cloudlog.info(f"curvatured init brand={self.CP.brand} fingerprint={self.CP.carFingerprint} " +
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f"steerControlType={self.CP.steerControlType} history={HISTORY:.2f}s")
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@staticmethod
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@@ -596,8 +596,8 @@ class CurvatureEstimator(CurvatureDLookup):
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self.use_params = self.enable_curvatured and self.CP.brand in ALLOWED_CARS and \
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self.CP.steerControlType == car.CarParams.SteerControlType.curvature
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if self.prev_use_params != self.use_params:
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cloudlog.info(f"curvatured use_params={self.use_params} toggle={self.enable_curvatured} "
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f"brand={self.CP.brand} allowed={self.CP.brand in ALLOWED_CARS} "
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cloudlog.info(f"curvatured use_params={self.use_params} toggle={self.enable_curvatured} " +
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f"brand={self.CP.brand} allowed={self.CP.brand in ALLOWED_CARS} " +
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f"steerControlType={self.CP.steerControlType}")
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self.prev_use_params = self.use_params
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if not self.use_params:
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@@ -960,10 +960,10 @@ class CurvatureEstimator(CurvatureDLookup):
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self.last_status_log_t = t
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checks = sm.all_checks(tracked_services) if valid is None else valid
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cloudlog.info(f"curvatured status use_params={self.use_params} checks={checks} "
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f"lag={self.lag:.3f} total_points={int(round(float(self.counts.sum())))} "
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f"bucket={self.current_bucket} bucket_points={self.current_bucket_points} "
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f"corr={self.current_correction:.8f} cal={self.calibration_percent(self.counts)} "
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cloudlog.info(f"curvatured status use_params={self.use_params} checks={checks} " +
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f"lag={self.lag:.3f} total_points={int(round(float(self.counts.sum())))} " +
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f"bucket={self.current_bucket} bucket_points={self.current_bucket_points} " +
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f"corr={self.current_correction:.8f} cal={self.calibration_percent(self.counts)} " +
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f"invalid={invalid} not_alive={not_alive}")
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@@ -276,4 +276,4 @@ def main():
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if __name__ == "__main__":
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main()
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main()
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@@ -1,5 +1,6 @@
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import numpy as np
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from openpilot.cereal import custom
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from opendbc.car.structs import car
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from opendbc.car.volkswagen.values import CAR
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@@ -233,7 +234,7 @@ class TestCurvatureEstimator:
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speed_idx = len(CurvatureDLookup.SPEED_ANCHORS) - 1
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v_ego = float(CurvatureDLookup.SPEED_ANCHORS[speed_idx])
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required = CurvatureDLookup.required_support_bucket_count(speed_idx)
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selected_indices = list(range(0, required - 1)) + [required]
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selected_indices = list(range(required - 1)) + [required]
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for bucket_idx in selected_indices:
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desired_curvature = float(CurvatureDLookup.CURVATURE_BUCKET_CENTERS[bucket_idx])
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@@ -262,7 +263,6 @@ class TestCurvatureEstimator:
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def test_outer_learned_buckets_stay_invalid_for_apply(self):
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speed_idx = len(CurvatureDLookup.SPEED_ANCHORS) - 1
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v_ego = float(CurvatureDLookup.SPEED_ANCHORS[speed_idx])
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outer_idx = len(CurvatureDLookup.CURVATURE_BUCKET_CENTERS) - 1
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counts = np.zeros(CurvatureDLookup.bucket_shape(), dtype=np.float32)
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bias = np.zeros(CurvatureDLookup.bucket_shape(), dtype=np.float32)
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@@ -289,4 +289,4 @@ if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Process the --demo argument.')
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parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
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args = parser.parse_args()
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main(demo=args.demo)
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main(demo=args.demo)
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@@ -1,4 +1,3 @@
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from openpilot.cereal import log
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from openpilot.common.params import Params, UnknownKeyName
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.list_view import toggle_item
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@@ -16,7 +15,8 @@ DESCRIPTIONS = {
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"Enables curvature PID post-processing additionally to QFK curvature offset"
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),
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"EnableCurvatureD": tr_noop(
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"Learns speed- and curvature-dependent steering corrections around center for dynamic steering behavior. Experimental and only used on curvature-based steering paths."
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"Learns speed- and curvature-dependent steering corrections around center for dynamic steering behavior. " +
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"Experimental and only used on curvature-based steering paths."
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),
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"ShowDynamicSteeringLearnerGraph": tr_noop(
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"Display the current dynamic steering learner fit, marker, and status information in the onroad UI."
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@@ -100,15 +100,15 @@ class SoftwareLayout(Widget):
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self._version_item.action_item.set_text(current_desc)
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self._version_item.set_description(current_release_notes)
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# Update download button visibility and state
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self._download_btn.set_visible(ui_state.is_offroad())
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self._force_download_btn.set_visible(ui_state.is_offroad())
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updater_state = ui_state.params.get("UpdaterState") or "idle"
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failed_count = ui_state.params.get("UpdateFailedCount") or 0
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fetch_available = ui_state.params.get_bool("UpdaterFetchAvailable")
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update_available = ui_state.params.get_bool("UpdateAvailable")
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# Update download button visibility and state
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self._download_btn.set_visible(ui_state.is_offroad())
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self._force_download_btn.set_visible(ui_state.is_offroad() and not update_available)
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if updater_state != "idle":
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# Updater responded
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self._waiting_for_updater = False
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@@ -189,7 +189,7 @@ class SoftwareLayout(Widget):
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self._force_download_btn.action_item.set_enabled(False)
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self._waiting_for_updater = True
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self._waiting_start_ts = time.monotonic()
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os.system("pkill -SIGUSR2 -f system.updated.updated")
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subprocess.run("pkill -SIGUSR2 -f openpilot.system.updated.updated", shell=True)
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def _on_select_branch(self):
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# Get available branches and order
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@@ -1,9 +1,6 @@
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from openpilot.cereal import log
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from openpilot.system.ui.widgets.scroller import NavScroller
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from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
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from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
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from openpilot.selfdrive.ui.ui_state import ui_state
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@@ -25,7 +22,7 @@ class ICTogglesLayoutMici(NavScroller):
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enable_accel_bar = BigParamControl("Enable Accel Bar", "ShowAccelBar")
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enable_curvatured = BigParamControl("Enable Dynamic Steering Learner", "EnableCurvatureD")
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show_curvatured_graph = BigParamControl("Show Dynamic Steering Learner Graph", "ShowDynamicSteeringLearnerGraph")
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self._scroller.add_widgets([
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enable_curvature_correction,
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enable_long_comfort_mode,
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@@ -24,11 +24,11 @@ class SettingsLayout(NavScroller):
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toggles_panel = TogglesLayoutMici()
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toggles_btn = SettingsBigButton("toggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
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toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))
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ictoggles_panel = ICTogglesLayoutMici()
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ictoggles_btn = SettingsBigButton("ictoggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
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ictoggles_btn.set_click_callback(lambda: gui_app.push_widget(ictoggles_panel))
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network_panel = NetworkLayoutMici()
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network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
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network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel))
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@@ -124,7 +124,6 @@ class DynamicSteeringLearnerGraphMici(Widget):
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lcp = sm["liveCurvatureParameters"]
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lcp_frame = sm.recv_frame["liveCurvatureParameters"]
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car_state = sm["carState"]
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controls_state = sm["controlsState"]
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fit_corrections = np.zeros(CurvatureDLookup.bucket_shape(), dtype=np.float32)
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fit_valid = np.zeros(CurvatureDLookup.bucket_shape(), dtype=bool)
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@@ -194,7 +193,8 @@ class DynamicSteeringLearnerGraphMici(Widget):
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0.0, 1.0,
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))
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marker_x = plot_rect.x + marker_alpha * plot_rect.width
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marker_correction = float(np.interp(abs(desired_curvature), np.abs(self._plot_x), self._cached_fit_curve))
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center_idx = len(self._plot_x) // 2
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marker_correction = float(np.interp(abs(desired_curvature), self._plot_x[center_idx:], corrections[center_idx:]))
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marker_y = self._map_y(plot_rect, marker_correction, min_y, max_y)
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rl.draw_circle(int(marker_x), int(marker_y), 5, self._marker_glow_color)
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rl.draw_circle(int(marker_x), int(marker_y), 3, self._marker_color)
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@@ -1,7 +1,8 @@
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import pyray as rl
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import time
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||||
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||||
from dataclasses import dataclass
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||||
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||||
import pyray as rl
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||||
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from openpilot.common.params import Params
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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@@ -16,19 +17,21 @@ class BatteryPanelConfig:
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||||
line_height: int = 48 # Basis-Zeilenhöhe
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||||
label_width: int = 320
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||||
text_margin: int = 25 # Abstand Label → Wert
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||||
|
||||
|
||||
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CONFIG = BatteryPanelConfig()
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||||
|
||||
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||||
class BatteryDetails(Widget):
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def __init__(self) -> None:
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super().__init__()
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||||
self._params = Params()
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||||
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||||
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self._capacity: float = 0.0
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||||
self._charge: float = 0.0
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||||
self._soc: float = 0.0
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self._temperature: float = 0.0
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||||
self._heaterActive: bool = False
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||||
self._heater_active: bool = False
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||||
self._voltage: float = 0.0
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||||
self._current: float = 0.0
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||||
self._power: float = 0.0
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@@ -37,21 +40,23 @@ class BatteryDetails(Widget):
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||||
self._panel_bg: rl.Color = rl.Color(0, 0, 0, 128)
|
||||
self._label_color: rl.Color = rl.Color(220, 220, 220, 255)
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||||
self._value_color: rl.Color = rl.Color(255, 255, 255, 255)
|
||||
|
||||
|
||||
self._display_enabled: bool = False
|
||||
self._data_valid: bool = False
|
||||
self._param_update_time: float = 0.0
|
||||
|
||||
|
||||
self._update_params()
|
||||
|
||||
def _update_state(self) -> None:
|
||||
if time.monotonic() - self._param_update_time > 2.0:
|
||||
self._update_params()
|
||||
|
||||
|
||||
if not self._display_enabled:
|
||||
return
|
||||
|
||||
|
||||
sm = ui_state.sm
|
||||
if sm.recv_frame["carState"] < ui_state.started_frame:
|
||||
if (sm.recv_frame["carStateIC"] < ui_state.started_frame or
|
||||
not sm.valid["carStateIC"] or not sm.alive["carStateIC"]):
|
||||
self._reset_values()
|
||||
return
|
||||
|
||||
@@ -66,11 +71,12 @@ class BatteryDetails(Widget):
|
||||
self._voltage = float(battery_data.voltage)
|
||||
self._current = float(battery_data.current)
|
||||
self._power = float(battery_data.power)
|
||||
|
||||
self._data_valid = True
|
||||
|
||||
def _update_params(self) -> None:
|
||||
self._param_update_time = time.monotonic()
|
||||
self._display_enabled = self._params.get_bool("BatteryDetails")
|
||||
|
||||
|
||||
def _reset_values(self) -> None:
|
||||
self._capacity = 0.0
|
||||
self._charge = 0.0
|
||||
@@ -80,9 +86,10 @@ class BatteryDetails(Widget):
|
||||
self._voltage = 0.0
|
||||
self._current = 0.0
|
||||
self._power = 0.0
|
||||
self._data_valid = False
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
if not self._display_enabled:
|
||||
if not self._display_enabled or not self._data_valid:
|
||||
return
|
||||
|
||||
scale = CONFIG.scale_factor
|
||||
@@ -103,7 +110,6 @@ class BatteryDetails(Widget):
|
||||
label_width = CONFIG.label_width
|
||||
text_margin = CONFIG.text_margin
|
||||
column_spacing = panel_width // 2 - 40
|
||||
value_width = column_spacing - label_width - text_margin
|
||||
|
||||
labels = [
|
||||
"Capacity:", "Charge:", "SoC:", "Temperature:",
|
||||
@@ -121,9 +127,7 @@ class BatteryDetails(Widget):
|
||||
f"{self._power:.2f} kW",
|
||||
]
|
||||
|
||||
rl.draw_text_ex
|
||||
|
||||
for i, (label, value) in enumerate(zip(labels, values)):
|
||||
for i, (label, value) in enumerate(zip(labels, values, strict=True)):
|
||||
column = i // 4
|
||||
row = i % 4
|
||||
|
||||
|
||||
@@ -133,7 +133,6 @@ class DynamicSteeringLearnerGraph(Widget):
|
||||
rl.draw_rectangle_rounded(graph_rect, 0.08, 8, self._panel_bg)
|
||||
|
||||
lcp_frame = sm.recv_frame["liveCurvatureParameters"]
|
||||
controls_state = sm["controlsState"]
|
||||
car_state = sm["carState"]
|
||||
|
||||
fit_corrections = np.zeros(CurvatureDLookup.bucket_shape(), dtype=np.float32)
|
||||
@@ -276,17 +275,17 @@ class DynamicSteeringLearnerGraph(Widget):
|
||||
rl.draw_text_ex(self._font_bold, title, rl.Vector2(text_x, title_y), title_size, 0, self._text_color)
|
||||
|
||||
status_text = (
|
||||
f"live={payload_valid} transport={transport_valid} cal={int(getattr(lcp, 'calPerc', 0))}% "
|
||||
f"live={payload_valid} transport={transport_valid} cal={int(getattr(lcp, 'calPerc', 0))}% " +
|
||||
f"points={int(getattr(lcp, 'totalBucketPoints', 0))}"
|
||||
)
|
||||
rl.draw_text_ex(self._font_medium, status_text, rl.Vector2(text_x, status_y), status_size, 0, self._muted_text_color)
|
||||
|
||||
speed_mix = (
|
||||
f"v={v_ego * 3.6:.0f} km/h mix={CurvatureDLookup.SPEED_ANCHORS[low_idx] * 3.6:.0f}/"
|
||||
f"v={v_ego * 3.6:.0f} km/h mix={CurvatureDLookup.SPEED_ANCHORS[low_idx] * 3.6:.0f}/" +
|
||||
f"{CurvatureDLookup.SPEED_ANCHORS[high_idx] * 3.6:.0f} alpha={alpha:.2f}"
|
||||
)
|
||||
marker_info = (
|
||||
f"k={desired_curvature:.2e} corr={display_correction:.2e} "
|
||||
f"k={desired_curvature:.2e} corr={display_correction:.2e} " +
|
||||
f"bucket=({int(getattr(lcp, 'bucketSpeed', -1))}, {int(getattr(lcp, 'bucketCurvature', -1))})"
|
||||
)
|
||||
rl.draw_text_ex(self._font_medium, speed_mix, rl.Vector2(text_x, footer_y1), footer_size, 0, self._muted_text_color)
|
||||
|
||||
@@ -120,7 +120,9 @@ class SteeringLayout(Widget):
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
torque_allowed = ui_state.CP is not None and ui_state.CP.steerControlType not in (car.CarParams.SteerControlType.angle, car.CarParams.SteerControlType.curvature)
|
||||
torque_allowed = (ui_state.CP is not None and
|
||||
ui_state.CP.steerControlType not in (car.CarParams.SteerControlType.angle,
|
||||
car.CarParams.SteerControlType.curvature))
|
||||
if ui_state.CP is not None:
|
||||
mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc
|
||||
self._mads_toggle.set_description(f"<b>{mads_main_desc}</b><br><br>{self._mads_base_desc}")
|
||||
|
||||
@@ -381,6 +381,14 @@ def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
|
||||
def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
|
||||
"""Build the replay script for the tizi layout."""
|
||||
|
||||
def select_settings_panel(panel_name: str) -> None:
|
||||
"""Select a settings panel without relying on stock or sunnypilot sidebar coordinates."""
|
||||
from openpilot.selfdrive.ui.layouts.main import MainState
|
||||
|
||||
settings_layout = main_layout._layouts[MainState.SETTINGS]
|
||||
panel_type = next(panel_type for panel_type in settings_layout._panels if panel_type.name == panel_name)
|
||||
settings_layout.set_current_panel(panel_type)
|
||||
|
||||
def make_home_refresh_setup(fn: Callable) -> Callable:
|
||||
"""Return setup function that calls the given function to modify state and forces an immediate refresh on the home layout."""
|
||||
from openpilot.selfdrive.ui.layouts.main import MainState
|
||||
@@ -457,7 +465,7 @@ def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
|
||||
script.click(2000, 970) # OK
|
||||
|
||||
# === Settings - Network ===
|
||||
script.click(278, 450)
|
||||
script.setup(lambda: select_settings_panel("NETWORK"))
|
||||
# TODO: mock networks
|
||||
script.click(1880, 100) # advanced network settings
|
||||
|
||||
@@ -473,12 +481,12 @@ def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
|
||||
script.click(630, 80) # back from advanced network
|
||||
|
||||
# === Settings - Toggles ===
|
||||
script.click(278, 600)
|
||||
script.setup(lambda: select_settings_panel("TOGGLES"))
|
||||
script.click(1200, 280) # expand experimental mode description
|
||||
|
||||
# === Settings - Software ===
|
||||
script.setup(lambda: setup_update_available(False), wait_after=0) # start with no update available
|
||||
script.click(278, 720) # software
|
||||
script.setup(lambda: select_settings_panel("SOFTWARE"))
|
||||
for _ in range(2):
|
||||
script.click(720, 120) # toggle current release notes
|
||||
script.setup(setup_update_available) # set update available
|
||||
@@ -491,11 +499,11 @@ def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
|
||||
script.click(650, 750) # cancel uninstall
|
||||
|
||||
# === Settings - Firehose ===
|
||||
script.click(278, 845)
|
||||
script.setup(lambda: select_settings_panel("FIREHOSE"))
|
||||
|
||||
# === Settings - Developer (set CarParamsPersistent first) ===
|
||||
script.setup(setup_developer_params, wait_after=0)
|
||||
script.click(278, 950)
|
||||
script.setup(lambda: select_settings_panel("DEVELOPER"))
|
||||
script.click(1930, 470) # SSH keys (keyboard)
|
||||
script.click(1930, 115) # click cancel on keyboard
|
||||
script.click(2000, 960) # toggle alpha long
|
||||
|
||||
@@ -99,7 +99,7 @@ class UIState(UIStateSP):
|
||||
self.is_body: bool | None = None
|
||||
self.CP: car.CarParams | None = None
|
||||
self.light_sensor: float = -1.0
|
||||
|
||||
|
||||
self.dark_mode: bool = False
|
||||
self.onroad_screen_timeout: bool = False
|
||||
self.enable_accel_bar: bool = False
|
||||
@@ -190,11 +190,11 @@ class UIState(UIStateSP):
|
||||
self.status = UIStatus.OVERRIDE
|
||||
else:
|
||||
self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED
|
||||
|
||||
|
||||
# detect status change
|
||||
self.has_status_change = True if self.status != self._status_prev else False
|
||||
self._status_prev = self.status
|
||||
|
||||
|
||||
# check for alert
|
||||
self.has_alert = True if ss.alertSize != 0 else False
|
||||
|
||||
|
||||
Reference in New Issue
Block a user