diff --git a/common/params_keys.h b/common/params_keys.h index 575dcc2ad..97f23d510 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -164,6 +164,7 @@ inline static std::unordered_map keys = { {"BackupManager_RestoreVersion", PERSISTENT}, // sunnypilot car specific params + {"HyundaiLongitudinalTuning", PERSISTENT}, {"HyundaiRadarTracks", PERSISTENT}, {"HyundaiRadarTracksConfirmed", PERSISTENT}, {"HyundaiRadarTracksPersistent", PERSISTENT}, diff --git a/opendbc_repo b/opendbc_repo index 029bc6abc..95fc30472 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 029bc6abc43e497fd361bbcbb9efb92e43353c5b +Subproject commit 95fc304727483d0d7f18f7df348d941046e046f2 diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 4ff3f7047..82a257523 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -50,6 +50,7 @@ network_src = [ ] vehicle_panel_qt_src = [ + "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc", "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc", ] diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc new file mode 100644 index 000000000..08d76f592 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc @@ -0,0 +1,84 @@ +/** + * 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 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(); + + 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; +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h new file mode 100644 index 000000000..3137a0d1b --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h @@ -0,0 +1,32 @@ +/** + * 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; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc index cc3e6df18..bc9f645f3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc @@ -7,6 +7,7 @@ #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) { @@ -18,11 +19,16 @@ 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); @@ -36,5 +42,24 @@ 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); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h index f6265da7a..5548ff718 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h @@ -9,6 +9,7 @@ #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 { @@ -22,8 +23,17 @@ public slots: void updatePanel(bool _offroad); private: + void resetBrandSettings(); + QStackedLayout* main_layout = nullptr; QWidget* vehicleScreen = nullptr; - PlatformSelector *platformSelector = nullptr; - bool offroad; + PlatformSelector* platformSelector = nullptr; + + // brand panels + HyundaiSettings* hyundaiSettings = nullptr; + + bool offroad = false; + +private slots: + void updateBrandSettings(); }; diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py index 2c27e960e..f2019f5ed 100644 --- a/sunnypilot/selfdrive/car/interfaces.py +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -11,6 +11,7 @@ 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 @@ -25,6 +26,21 @@ 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: @@ -61,10 +77,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, CP.radarUnavailable = False -def setup_interfaces(CI: CarInterfaceBase, params: Params = None): +def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> 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) diff --git a/system/manager/manager.py b/system/manager/manager.py index fde85f0f7..90df415a8 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -45,6 +45,7 @@ def manager_init() -> None: ("AutoLaneChangeTimer", "0"), ("AutoLaneChangeBsmDelay", "0"), ("DynamicExperimentalControl", "0"), + ("HyundaiLongitudinalTuning", "0"), ("Mads", "1"), ("MadsMainCruiseAllowed", "1"), ("MadsPauseLateralOnBrake", "0"),