Merge branch 'master' of https://github.com/sunnypilot/sunnypilot

common/params_keys.h

@@ -234,7 +234,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateName", {PERSISTENT, STRING, "All"}},
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {PERSISTENT, STRING}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"RoadNameToggle", {PERSISTENT, STRING}},
 
     // Speed Limit
     {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc

@@ -43,7 +43,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       false,
     },
     {
-      "RoadName",
+      "RoadNameToggle",
       tr("Display Road Name"),
       tr("Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name."),
       "",

selfdrive/ui/sunnypilot/qt/onroad/hud.cc

@@ -335,7 +335,8 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
   bool speedLimitValid = speedLimit > 0;
   int speedLimitRounded = std::nearbyint(speedLimit);
-  bool overspeed = speedLimitRounded < std::nearbyint(speed) && speedLimitRounded > 0;
+  int speedLimitFinalRounded = std::nearbyint(speedLimit + speedLimitOffset);
+  bool overspeed = speedLimitFinalRounded < std::nearbyint(speed) && speedLimitRounded > 0;
   bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
   QString speedLimitStr = speedLimitValid ? QString::number(speedLimitRounded) : "---";
 
@@ -527,7 +528,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
   if (!roadName || roadNameStr.isEmpty()) return;
 
   // Measure text to size container
-  p.setFont(InterFont(40, QFont::Normal));
+  p.setFont(InterFont(46, QFont::DemiBold));
   QFontMetrics fm(p.font());
 
   int text_width = fm.horizontalAdvance(roadNameStr);
@@ -540,7 +541,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
   rect_width = std::max(min_width, std::min(rect_width, max_width));
 
   // Center at top of screen
-  QRect road_rect(surface_rect.width() / 2 - rect_width / 2, -6, rect_width, 60);
+  QRect road_rect(surface_rect.width() / 2 - rect_width / 2, -4, rect_width, 60);
 
   p.setPen(Qt::NoPen);
   p.setBrush(QColor(0, 0, 0, 120));

selfdrive/ui/sunnypilot/ui.cc

@@ -54,7 +54,7 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
   s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
-  s->scene.road_name = params.getBool("RoadName");
+  s->scene.road_name = params.getBool("RoadNameToggle");
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {

sunnypilot/mapd/live_map_data/base_map_data.py

@@ -9,8 +9,7 @@ from abc import abstractmethod, ABC
 from cereal import messaging
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param
+from openpilot.sunnypilot.navd.helpers import coordinate_from_param
 
 
 class BaseMapData(ABC):
@@ -23,8 +22,8 @@ class BaseMapData(ABC):
                                   ignore_valid=gps_packets, poll='livePose')
     self.pm = messaging.PubMaster(['liveMapDataSP'])
 
+    self.last_bearing = None
     self.last_position = coordinate_from_param("LastGPSPosition", self.params)
-    self.last_altitude = None
 
   @abstractmethod
   def update_location(self) -> None:
@@ -42,20 +41,6 @@ class BaseMapData(ABC):
   def get_current_road_name(self) -> str:
     pass
 
-  def get_current_location(self) -> None:
-    gps = self.sm[self.gps_location_service]
-
-    # ignore the message if the fix is invalid
-    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_MDL < 2.0
-    if not gps_ok and self.sm['livePose'].inputsOK:
-      return
-
-    # livePose has these data, but aren't on cereal
-    self.last_position = Coordinate(gps.latitude, gps.longitude)
-    self.last_altitude = gps.altitude
-
-    return
-
   def publish(self) -> None:
     speed_limit = self.get_current_speed_limit()
     next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
@@ -74,7 +59,6 @@ class BaseMapData(ABC):
     self.pm.send('liveMapDataSP', mapd_sp_send)
 
   def tick(self) -> None:
-    self.sm.update()
-    self.get_current_location()
+    self.sm.update(0)
     self.update_location()
     self.publish()

sunnypilot/mapd/live_map_data/osm_map_data.py

@@ -5,9 +5,11 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 import json
+import math
 import platform
 
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
 from openpilot.sunnypilot.navd.helpers import Coordinate
 
@@ -15,17 +17,26 @@ from openpilot.sunnypilot.navd.helpers import Coordinate
 class OsmMapData(BaseMapData):
   def __init__(self):
     super().__init__()
-    self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
 
   def update_location(self) -> None:
-    if self.last_position is None or self.last_altitude is None:
+    gps = self.sm[self.gps_location_service]
+    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_MDL < 2.0
+
+    if gps_ok:
+      self.last_bearing = gps.bearingDeg * 180/math.pi
+      self.last_position = Coordinate(gps.latitude, gps.longitude)
+
+    if not gps_ok and self.sm['livePose'].inputsOK:
+      return
+
+    if self.last_position is None:
       return
 
     params = {
       "latitude": self.last_position.latitude,
       "longitude": self.last_position.longitude,
-      "altitude": self.last_altitude,
+      "bearing": self.last_bearing,
     }
 
     self.mem_params.put("LastGPSPosition", json.dumps(params))