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Revert "Hyundai: custom longitudinal tuning" (#892)

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* Revert "Hyundai: custom longitudinal tuning (#658)"

This reverts commit 72f09ec9f5.

* bump

* Revert "bump"

This reverts commit a437f3538db4720d797e3af7df8363898d410a7e.

* bump
This commit is contained in:
Jason Wen
2025-05-09 14:53:56 -04:00
committed by GitHub
parent 179da5d007
commit 68c593db5f
8 changed files with 3 additions and 174 deletions
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common/params_keys.h
-1
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@@ -164,7 +164,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"BackupManager_RestoreVersion", PERSISTENT},
// sunnypilot car specific params
{"HyundaiLongitudinalTuning", PERSISTENT},
{"HyundaiRadarTracks", PERSISTENT},
{"HyundaiRadarTracksConfirmed", PERSISTENT},
{"HyundaiRadarTracksPersistent", PERSISTENT},
selfdrive/ui/sunnypilot/SConscript
-1
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@@ -50,7 +50,6 @@ network_src = [
]
vehicle_panel_qt_src = [
"sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
"sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
]
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
-84
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@@ -1,84 +0,0 @@
/**
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
*
* 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.
*/
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
HyundaiSettings::HyundaiSettings(QWidget *parent) : QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
ListWidget *list = new ListWidget(this, false);
std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
longitudinalTuningToggle = new ButtonParamControlSP(
"HyundaiLongitudinalTuning",
tr("Custom Longitudinal Tuning"),
tr("Select a tuning mode.\n"
"Off: no custom tuning applied.\n"
"Dynamic: on-the-spot adjustments using dynamic calculations.\n"
"Predictive: adjusts based on anticipated ACC variation."),
"",
tuning_texts,
500
);
longitudinalTuningToggle->showDescription();
longitudinalTuningToggle->setProperty("originalDesc", longitudinalTuningToggle->getDescription());
list->addItem(longitudinalTuningToggle);
QObject::connect(uiState(), &UIState::offroadTransition, this, &HyundaiSettings::updateSettings);
main_layout->addWidget(new ScrollViewSP(list, this));
}
QString HyundaiSettings::toggleDisableMsg() const {
if (!has_longitudinal_control) {
return tr("This feature can only be used with openpilot longitudinal control enabled.");
}
if (!offroad) {
return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
}
return QString();
}
void HyundaiSettings::showEvent(QShowEvent *event) {
updateSettings(offroad);
}
void HyundaiSettings::updateSettings(bool _offroad) {
if (!isVisible()) {
return;
}
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
has_longitudinal_control = hasLongitudinalControl(CP);
QString longitudinal_tuning_disabled_msg = toggleDisableMsg();
if (!longitudinal_tuning_disabled_msg.isEmpty()) {
longitudinalTuningToggle->setEnabled(false);
longitudinalTuningToggle->setDescription(longitudinal_tuning_disabled_msg);
} else {
longitudinalTuningToggle->setEnabled(true);
longitudinalTuningToggle->setDescription(longitudinalTuningToggle->property("originalDesc").toString());
}
longitudinalTuningToggle->showDescription();
} else {
has_longitudinal_control = false;
longitudinalTuningToggle->setEnabled(false);
}
offroad = _offroad;
}
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
-32
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@@ -1,32 +0,0 @@
/**
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
*
* 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.
*/
#pragma once
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/sunnypilot/ui.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
class HyundaiSettings : public QWidget {
Q_OBJECT
public:
explicit HyundaiSettings(QWidget *parent = nullptr);
void showEvent(QShowEvent *event) override;
public slots:
void updateSettings(bool _offroad);
private:
Params params;
bool offroad = false;
bool has_longitudinal_control = false;
ButtonParamControlSP *longitudinalTuningToggle = nullptr;
QString toggleDisableMsg() const;
};
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
-25
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@@ -7,7 +7,6 @@
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
@@ -19,16 +18,11 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
vlayout->setContentsMargins(50, 20, 50, 20);
platformSelector = new PlatformSelector();
QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
list->addItem(platformSelector);
ScrollViewSP *scroller = new ScrollViewSP(list, this);
vlayout->addWidget(scroller);
hyundaiSettings = new HyundaiSettings(this);
vlayout->addWidget(hyundaiSettings);
hyundaiSettings->setVisible(false);
QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
main_layout->addWidget(vehicleScreen);
@@ -42,24 +36,5 @@ void VehiclePanel::showEvent(QShowEvent *event) {
void VehiclePanel::updatePanel(bool _offroad) {
platformSelector->refresh(_offroad);
updateBrandSettings();
offroad = _offroad;
}
void VehiclePanel::updateBrandSettings() {
if (!isVisible()) {
return;
}
resetBrandSettings();
QString brand = platformSelector->getPlatformBundle("brand").toString();
if (brand == "hyundai") {
hyundaiSettings->setVisible(true);
}
}
void VehiclePanel::resetBrandSettings() {
hyundaiSettings->setVisible(false);
}
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
+2 -12
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@@ -9,7 +9,6 @@
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
class VehiclePanel : public QFrame {
@@ -23,17 +22,8 @@ public slots:
void updatePanel(bool _offroad);
private:
void resetBrandSettings();
QStackedLayout* main_layout = nullptr;
QWidget* vehicleScreen = nullptr;
PlatformSelector* platformSelector = nullptr;
// brand panels
HyundaiSettings* hyundaiSettings = nullptr;
bool offroad = false;
private slots:
void updateBrandSettings();
PlatformSelector *platformSelector = nullptr;
bool offroad;
};
sunnypilot/selfdrive/car/interfaces.py
+1 -18
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@@ -11,7 +11,6 @@ from opendbc.car.car_helpers import can_fingerprint
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
@@ -26,21 +25,6 @@ def log_fingerprint(CP: structs.CarParams) -> None:
else:
sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
params: Params = None) -> None:
if params is None:
params = Params()
# Hyundai Custom Longitudinal Tuning
if CP.brand == 'hyundai':
hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
params: Params = None, enabled: bool = False) -> None:
@@ -77,11 +61,10 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
CP.radarUnavailable = False
def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
def setup_interfaces(CI: CarInterfaceBase, params: Params = None):
CP = CI.CP
CP_SP = CI.CP_SP
_initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
_initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
_initialize_radar_tracks(CP, CP_SP, params)
system/manager/manager.py
-1
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@@ -45,7 +45,6 @@ def manager_init() -> None:
("AutoLaneChangeTimer", "0"),
("AutoLaneChangeBsmDelay", "0"),
("DynamicExperimentalControl", "0"),
("HyundaiLongitudinalTuning", "0"),
("Mads", "1"),
("MadsMainCruiseAllowed", "1"),
("MadsPauseLateralOnBrake", "0"),