Merge branch 'master' of https://github.com/infiniteCable2/openpilot into simple_long

.github/workflows/selfdrive_tests.yaml

@@ -115,7 +115,9 @@ jobs:
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - name: Homebrew cache
       uses: ./.github/workflows/auto-cache
+      if: false # disabling the cache for now because it is breaking macos builds...
       with:
+        save: false # No need save here if we manually save it later conditionally
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
@@ -136,6 +138,7 @@ jobs:
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache
       with:
+        save: false # No need save here if we manually save it later conditionally
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |

common/params_keys.h

@@ -205,7 +205,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SunnylinkCache_Users", {PERSISTENT, STRING}},
     {"SunnylinkDongleId", {PERSISTENT, STRING}},
     {"SunnylinkdPid", {PERSISTENT, INT}},
-    {"SunnylinkEnabled", {PERSISTENT, BOOL}},
+    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
 
     // Backup Manager params
     {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},

selfdrive/ui/sunnypilot/qt/widgets/controls.h

@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <cmath>
 #include <map>
 #include <optional>
 #include <string>
@@ -500,7 +501,7 @@ private:
 
   int getParamValueScaled() {
     const auto param_value = QString::fromStdString(params.get(key));
-    return static_cast<int>(param_value.toFloat() * 100);
+    return std::nearbyint(param_value.toFloat() * 100.0f);
   }
 
   void setParamValueScaled(const int new_value) {

sunnypilot/mads/mads.py

@@ -61,6 +61,7 @@ class ModularAssistiveDrivingSystem:
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
+    # ignore `pedalPressed` events caused by gas presses
     if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.selfdrive.CS_prev.gasPressed and self.disengage_on_accelerator):
       return True
 

sunnypilot/selfdrive/controls/lib/param_store.py

@@ -22,7 +22,7 @@ class ParamStore:
     self.keys = universal_params + brand_params
     self._params = {}
 
-    self.frame = 0
+    self.frame = -1
 
   def update(self, params: Params) -> None:
     self.frame += 1

sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py

@@ -247,11 +247,11 @@ class SpeedLimitAssist:
 
         # PENDING
         elif self.state == SpeedLimitAssistState.pending:
-          if self._has_speed_limit:
-            if self.v_offset < LIMIT_SPEED_OFFSET_TH:
-              self.state = SpeedLimitAssistState.adapting
-            else:
-              self.state = SpeedLimitAssistState.active
+          if self.target_set_speed_confirmed:
+            self._update_confirmed_state()
+          elif self.speed_limit_changed:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
 
         # PRE_ACTIVE
         elif self.state == SpeedLimitAssistState.preActive:
@@ -275,9 +275,11 @@ class SpeedLimitAssist:
         elif self.long_engaged_timer <= 0:
           if self.target_set_speed_confirmed:
             self._update_confirmed_state()
-          else:
+          elif self._has_speed_limit:
             self.state = SpeedLimitAssistState.preActive
             self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+          else:
+            self.state = SpeedLimitAssistState.pending
 
     enabled = self.state in ENABLED_STATES
     active = self.state in ACTIVE_STATES

sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py

@@ -96,6 +96,12 @@ class TestSpeedLimitAssist:
     assert self.sla.state == SpeedLimitAssistState.preActive
     assert self.sla.is_enabled and not self.sla.is_active
 
+  def test_transition_disabled_to_pending_no_speed_limit_not_max_initial_set_speed(self):
+    for _ in range(int(3. / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['highway'], 0, SPEED_LIMITS['city'], 0, 0, False, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.pending
+    assert self.sla.is_enabled and not self.sla.is_active
+
   def test_preactive_to_active_with_max_speed_confirmation(self):
     self.sla.state = SpeedLimitAssistState.preActive
     self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
@@ -120,12 +126,20 @@ class TestSpeedLimitAssist:
 
   def test_pending_to_active_when_speed_limit_available(self):
     self.sla.state = SpeedLimitAssistState.pending
-    self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed,
+                    SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
     assert self.sla.state == SpeedLimitAssistState.active
 
   def test_pending_to_adapting_when_below_speed_limit(self):
     self.sla.state = SpeedLimitAssistState.pending
-    self.sla.update(True, False, SPEED_LIMITS['city'] + 5, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    self.sla.update(True, False, SPEED_LIMITS['highway'] + 5, 0, self.pcm_long_max_set_speed,
+                    SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
     assert self.sla.state == SpeedLimitAssistState.adapting
     assert self.sla.is_enabled and self.sla.is_active
 

uv.lock

@@ -945,7 +945,7 @@ dependencies = [
     { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 wheels = [
-    { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" },
+    { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:d0afaf3b005e35e14b929d5491d2d5b64562d0c1cd5093ba969fb63908670dd4" },
 ]
 
 [package.metadata]