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interfaces: clean up unsupported params during initialization (#1385)

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* interfaces: clean up unsupported params during initialization

* fix

* logging and no DEC when no long

* ui

* ui
This commit is contained in:
Jason Wen
2025-10-15 09:46:53 -04:00
committed by GitHub
parent e0ccc175e4
commit 6d51d64285
3 changed files with 40 additions and 3 deletions
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selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+5 -1
View File
@@ -122,6 +122,10 @@ void SpeedLimitSettings::refresh() {
has_longitudinal_control = hasLongitudinalControl(CP);
intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
}
} else {
has_longitudinal_control = false;
intelligent_cruise_button_management_available = false;
@@ -148,7 +152,7 @@ void SpeedLimitSettings::refresh() {
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
} else {
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
{SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
{SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
}
speed_limit_mode_settings->showDescription();
selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+11 -2
View File
@@ -104,6 +104,17 @@ void LongitudinalPanel::refresh(bool _offroad) {
has_longitudinal_control = hasLongitudinalControl(CP);
is_pcm_cruise = CP.getPcmCruise();
intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
if (!intelligent_cruise_button_management_available || has_longitudinal_control) {
params.remove("IntelligentCruiseButtonManagement");
}
if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
params.remove("CustomAccIncrementsEnabled");
params.remove("DynamicExperimentalControl");
params.remove("SmartCruiseControlVision");
params.remove("SmartCruiseControlMap");
}
} else {
has_longitudinal_control = false;
is_pcm_cruise = false;
@@ -127,11 +138,9 @@ void LongitudinalPanel::refresh(bool _offroad) {
customAccIncrement->setDescription(accEnabledDescription);
}
} else {
params.remove("CustomAccIncrementsEnabled");
customAccIncrement->toggleFlipped(false);
customAccIncrement->setDescription(accNoLongDescription);
customAccIncrement->showDescription();
params.remove("IntelligentCruiseButtonManagement");
intelligentCruiseButtonManagement->toggleFlipped(false);
}
}
sunnypilot/selfdrive/car/interfaces.py
+24
View File
@@ -11,6 +11,7 @@ from opendbc.car.interfaces import CarInterfaceBase
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
import openpilot.system.sentry as sentry
@@ -66,6 +67,28 @@ def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarPara
CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
if params is None:
params = Params()
if CP.steerControlType == structs.CarParams.SteerControlType.angle:
cloudlog.warning("SteerControlType is angle, cleaning up params")
params.remove("NeuralNetworkLateralControl")
params.remove("EnforceTorqueControl")
if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
params.remove("IntelligentCruiseButtonManagement")
if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
cloudlog.warning("openpilot Longitudinal Control and ICBM not available, cleaning up params")
params.remove("DynamicExperimentalControl")
params.remove("CustomAccIncrementsEnabled")
params.remove("SmartCruiseControlVision")
params.remove("SmartCruiseControlMap")
params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
CP = CI.CP
CP_SP = CI.CP_SP
@@ -74,6 +97,7 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
_initialize_intelligent_cruise_button_management(CP, CP_SP, params)
_initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
_cleanup_unsupported_params(CP, CP_SP)
def initialize_params(params) -> list[dict[str, Any]]: