* Hyundai CAN: re-enable auto-enable radar tracks
* check if radar tracks config bit is already enabled
* only show success message if already enabled
* test if it would actually skip
* 5 bytes only
* tested skipping, revert
* lint
* move to opendbc right after fping
* more
* lint
* bump
* Reapply "Hyundai: custom longitudinal tuning" (#892)
This reverts commit 68c593db5f.
* fix panel behavior
* dynamic description
* try to merge and use the same scrollview
* fix for all to update
* dynamic update and fix description
* minimize changes for all brands
* init
* minimize changes for all brands
* more
* even less diff
* more
* even less diff
* more less
* wow srsly
* more less
* wow srsly
* Maybe I was asleep but somehow it worked.
* Maybe I was asleep but somehow it worked.
* 70/30 split
* 60/35 split
* 67:33 split
* use Sqrt for tiny values to increase factor. Oh, also add a test file.
* use Sqrt for tiny values to increase factor. Oh, also add a test file.
* use Sqrt for tiny values to increase factor. Oh, also add a test file.
* Raise these to restart tests
* Raise these to restart tests
* Update jerk calculation mimicking j_ego math.
* README.md
* Update timestep
* Fix test
* Readability
* Lower time
* Add higher limits for CANFD
* Send these as a floating object. update comments to add TODO msg.
* Conditional flags
* yes its a little weird but heres why:
` "aReqValue": long_state.accel_value if enabled else a_val`
its only to not have merge conflicts with syncs from this file, because if not enabled a_val is already at 0 anyways.
* Make it easier to read
* Chronological order
* Trigger rebuild
* This is an internal test on my end. Disregard, for now
* fw version for my car...
* remove fw version as that was a test
* bump submodules
* refactor that while passing internal tests
* bump safety mutation test
* all should match 50 Hz
* bump safety mutation test
* match stock behavior for accel
* do our own clipping
* apply upper/lower dynamically
* bump test
* bump test
* Higher lower limit
* move desired accel force zero in tuning controller
* bump
* bump
* abs it here
* fix logic
* make sure it resets to 0, enforced in safety
* Test a few things
* Higher jerk for VOACC
* Elantra specific
* raise `off` to stock
* bump opendbc test
* allow jerk calculations at all times
* bump
* bump
* match aReqVale
* we dont need such high accel jerk when above 20m/s. This is cruise control, not a racecar.
* 0.45 default long actuator delay
* align type hint
* add lower jerk multiplier for HYUNDAI_IONIQ
* Change min jerk
* should be float
* Change min jerk
* Change min jerk upper
* Change max jerk upper
* Change max jerk upper
* Change max jerk upper
* step + threshold + first order filter to smooth
* constants
* nah
* multiplier to 1.5
* step updates for parabolic accel/braking
* step updates for parabolic accel/braking
* even less
* test multiplier
* Merge remote-tracking branch 'sunnypilot/opendbc/master-new' into HKG-long-tune
* back to default delay for now
* update test
* update config
* update test
* update config.py
* update test
* Remove stoppingDecelRate **No need for this anymore**
* multiplier to 1.0
* Variable lower dependency
* Variable lower dependency
* Variable lower jerk minimum
* Variable lower jerk minimum
planned_accel -> desired_acel
* Revert some scaling
* .01 here
* .01 here
* try even smoother stopping
* missed a `tuning` here that instead calls itself to inf.
* what is math
* Red Diff
* Red Diff
* bring some back
* bring some back
* stronger when needed
* something simple
* simplify more
* simplify more
* dont use future
* whoops
* why
* reset
* Refactor longitudinal controller for better jerk handling
Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.
* Refactor longitudinal controller for better jerk handling
Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.
* Refactor longitudinal controller for better jerk handling
Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.
* Adjust lower_jerk interpolation for improved accuracy
* Lowered the acceleration error threshold from -0.01 to -0.001
* Adjust jerk interpolation thresholds for Hyundai tuning.
Updated the interpolation range for smaller acceleration errors.
* Move it up
* -.03 not -.05
* radarUnavailable = higher limit patch
* Commit the real change
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* THIS. THIS WILL STOP FOR LEADS
* Higher for VOACC
* Higher for VOACC
* Rename `make_jerk` to `calculate_jerk` in test cases.
* Adjust jerk tuning for Hyundai longitudinal control
Updated the interpolation table for lower jerk values to improve deceleration handling. This adjustment refines control behavior during higher deceleration requests.
* Updated the interpolation breakpoint from -0.03 to -0.025
* Adjust longitudinal control jerk tuning for smoother response
Updated interpolation values in the jerk tuning logic to improve acceleration smoothing in Hyundai longitudinal control. These changes aim to provide a more consistent and predictable driving experience, particularly during deceleration scenarios.
* Handle radar unavailability in longitudinal tuning check
* Introduce `toggleDisableMsg` to streamline determining toggle states and descriptions.
* `sunnypilot`
* `Refactor longitudinal control acceleration and jerk handling`
Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies.
* `Refactor longitudinal control acceleration and jerk handling`
Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies.
* Simplify test to be straight to the point.
* Adjust upper_speed_factor and integrate ramp_update logic
* Adjust upper_speed_factor and integrate ramp_update logic
* Adjust upper_speed_factor and integrate ramp_update logic
* Refine acceleration and jerk tuning logic.
* greater than 0
* bump
* bring back ramp update for jerk upper
* Update opendbc_repo
* Revert "Update opendbc_repo"
This reverts commit b790387c9080b3a553694fbae850e9aa8bb6e125.
* bump
* bump
* bump
* using count seems to work better
* Refine jerk tuning logic and expand test coverage
* bump vals
* fix logic
* Adjust jerk tuning parameters for Hyundai longitudinal control
* retry lfs check
* bump submodule
* Fix acceleration blending and enhance test coverage
* Update lower_jerk breakpoints
* bump
* Adjust lower jerk parameters and include accel_cmd condition
* Adjust vars
* "Adjust Hyundai longitudinal jerk limits and tuning logic"
* Adjust jerk limits and tuning logic for better control
* Update Hyundai longitudinal tuning and add dynamic jerk logic
Refactored longitudinal configuration to include "lookahead" parameters and revised "jerk_limits" for improved tuning flexibility. Implemented dynamic jerk adaptation logic (Gen1) for smoother braking and acceleration transitions.
* Adjust Hyundai longitudinal control parameters for tuning
* bump to original branch
* QSize Policy to stretch toggle to screen size
* bump
* completely blocked xD
* Sunnypilot -> openpilot
* Whitespace
* Clean up toggle name
* Still allow ramp while in standstill for EV
* Adjust Kia Niro EV tuning parameters for smoother control
* self.cp.flags
* bump submodule
* bump
* Remove ramp for lower desired jerk
* update README.md
* update README.md
* Adjust lookahead_jerk_lower_v values in Hyundai longitudinal config.
* update tuning
* Update tune one last time to vals from device which are much smoother.
* Accel error
* bump
* fix
* rename flag and slight cleanup
* start ui stuff
* long_state -> tuning
* Prep for clean up
* small changes
* less in main
* no longer
* format
* bump
* init panel
* expose signal for other panels to interact with
* split into its own
* unused
* move around
* actually modify CP_SP
* fix offroad transition
* rename
* back
* don't update unless we're looking at it
* move around
* use min length
* do this
* whoops
* move
* bump
* bump
* this is fine
* bump
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: royjr <royjr96@gmail.com>
* now alpha long
* fix
* rename param
* thought i did this
* debug
* debug
* more
* more
* moar
* Revert "moar"
This reverts commit e347106246583982e1be206485ad4d8eb944f817.
* Revert "more"
This reverts commit 0746e6d2e400ce1715614c62af84a9680c4d65c1.
* Revert "more"
This reverts commit 0db5a8792c01bb2d687f9152e6ba37fb76d4a453.
* Revert "debug"
This reverts commit 72f235b13727980e4331ff487998ddc7c7f7fb63.
* Revert "debug"
This reverts commit 7871b69f8c1bdffed386c2baac99542fcc50f7eb.
* Max Time Offroad
* Refactor & Fix param
* Error Handling
* rename SP variable
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.cc
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.cc
Co-authored-by: DevTekVE <devtekve@gmail.com>
* UI layout changes for better alignment
selector is not big enough -> make it bigger ;)
OptionControlSP now includes a QMap argument to allow actual values to be set in param directly
* Rebase & resolve reviews
* change default to be closer to OP default
* me dumb
* MaxTimeOffroad: Add support for 30h limit and improve label formatting
* power_monitoring: Refactor MaxTimeOffroad parameter handling for clarity
* test: Add unit tests for MaxTimeOffroad parameter handling
* power_monitoring: Update MaxTimeOffroad handling to use seconds and improve shutdown logic
* power_monitoring: Improve exception handling and remove redundant shutdown check for MaxTimeOffroad
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Online lateral lag learning (#34974)
This reverts commit b4cc9e68d1.
* pad to the best size for fft
* Fix static analysis
* Add typing
* Fix typing
* MAX_LAG
* Calculate cross correlation regardless if the points are valid
* Back to lagd
* Add lagd to process_config
* Lagd in test onroad
* Move lag estimator for lagd
* Remove duplicate entry from test_onroad
* Update process replay
* pre-fill the data
* Update cpu usage
* 25sec window
* Change the meaning of lateralDelayEstimate
* No newline
* Fix typing
* Prefill
* Update ref commit
* Add a unit test
* Fix static issues
* Time limit
* Or timeout
* Use mocker
* Update estimate every time
* empty test
* DT const
* enable RIVIAN again
* Update ref commit
* Update that again
* Improve the tests
* Fix static
* Add masking test
* Increase timeout
* Add liveDelay to selfdrived
* Add liveDelay to selfdrived in process_replay
* Fix block_avg restore after num_blocks
* regen most
* Update bolt
* Update ref commit
* Change the key name
* Add assert
* True weighted average
* LiveParametersV2 key
* Param key
* Fix tests
* Remove old params if error
* Update exception message
* Update the test
* Add test for corrupted byte format in v1
* Rename params_reader => params
* Add struct and services
* Proof of concept
* Use vego
* Process replay support
* Fix issues
* Max not min
* Remove print
* Make lag positive
* Points and updates
* Sliding cross corr
* Stuff
* Remove redundant param
* Move to lagd
* Update alert
* Something that works
* Report isEstimated
* Corr field
* Use skimage masked corr
* Fixes
* Move to lat_accel_loc
* Use the delay it in the model
* Mark as executable
* Add 0.2 to initial
* add install line
* Back to 5m window
* Move the import up
* corr window 120
* Show is estimated
* Sort messages
* New impl
* Fix
* Params
* Set initial_lag elsewhere
* Add param
* Rename Param
* Fix type isues
* More blocks
* Masked fft NCC implementation
* Remove package installation
* Use 20hz data and interp the correlation peak
* Move ncc code to separate function
* steering_saturated support
* Constants
* Add recovery buffer
* Fix static
* min_valid_block_count nad liveDelay
* lateralDelayEstimate
* Fix comm issues. Do estimations at 4hz
* Fix
* Display the estimate
* Increase the block size
* Cache every minute
* DEBUG flag
* Add progress to the alert
* Fix crash
* points only in debug
* Fix BlockAverage restoration
* Comment
* Move estimators into estimator directory
* Remove lagd
* Feed only relevant messages
* Rewrite as a set literal
* np.diag with P_initial
* Fix static
* Struct renames
* Update ref commit
* Make it nicer
* Some renames
* init alc controller
* only for sunny
* rebase fix
* ui
* add ui preview
* Update common/params_keys.h
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update selfdrive/ui/sunnypilot/SConscript
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* review sugg
* code review
* renaming
* move around
* style
* fix types and params exceptions handling
* take out magic numbers
* more
* rename
* shorter
* make sure reset happens at the end of every DH loop
* split into multiple updates
* just 3 seconds
* use default states
* oops
* more readable
* oops
* some space and lines
* run in DH loop directly
* adjust ui preview
* nudgeless should process immediately
* check option instead
* more explicit
* even more explicit
* tests
* brake pedal release should not allow auto lane change (caught by test)
* unnecessary
* no continuous auto lane change
* Revert "unnecessary"
This reverts commit 93d135b54a812e94d23951ca8ea52ff944cfd29a.
* more tests
* less
* less less
* update again
* more cleanup
* better
* AutoLaneChangeState -> AutoLaneChangeMode
* update
* lint
* unused
* test all states
* license
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Add AES encryption and utility methods
This commit introduces a new AESCipher class that can be used for AES encryption with support for both AES-128 and AES-256. It also adds a set of utility functions, including methods for RSA to AES key derivation, file decryption and compression, and encryption and decompression. These changes provide fundamental cryptographic functionalities for data security within the system.
* Revised backup management system with new structures
This update introduces important revisions to the backup management system. A new struct named 'BackupManagerSP' has been integrated into the 'custom.capnp' file, replacing 'CustomReserved6'. This new struct includes several variables that help keep track of backup and restore status, progress and related messages.
Additional code modifications were made in 'base.py' and 'api.py' to include a 'json' parameter in the 'api_get' method. Lastly, 'manager.py' has been updated with functions to manage device configuration backups to and from sunnylink.
The changes promote better handling and management of data backup and restoration processes. The update is specifically designed to ensure that the backup information is well integrated into the system, with properly tracked status and progress.
* Refactor `allKeys` to filter by parameter key type
Updated the `allKeys` method to support filtering by `ParamKeyType`, allowing more specific key retrieval. Added a default value for backward compatibility and updated related bindings and keys to reflect this change.
* Improve Backup and Restore mechanisms
The commit refactors and improves several aspects of the backup and restore mechanisms in the `BackupManagerSP` class.
These improvements include removing redundant status tracking variables and replacing them with unified ones, updating the messaging system to handle all changes correctly, and including an enumeration `OperationType` to keep track of the type of operation currently being processed.
This commit also applies stricter conditions for restore operations, such that it only restores parameters that are currently marked as backupable, and skips those that are not. This is a preventive measure against potential issues when restoring parameters that are no longer relevant or could conflict with current versions.
Also, the encryption and decryption methods were updated to use AES-256 for more security. These changes have increased the robustness and reliability of the backup and restoration processes.
* copyright
* Add backup_manager process to offroad sunnypilot tasks
The backup_manager process is introduced to handle backups during offroad mode when SunnyLink is ready. This ensures proper backup management functionality integrated into the system.
* Simplify backup endpoint construction in restore method
Replaced conditional expression with a more concise and readable `or` operation for constructing the backup endpoint. This makes the code cleaner and easier to maintain while preserving functionality.
* Added support for backing up and restoring sunnypilot settings
An update to the sunnypilot functionality now provides two new features that allow users to backup and restore their sunnypilot settings. The changes include the addition of UI controls for initiating backup and restore operations, and the creation of a system-wide state management function for tracking these operations. This enhancement significantly improves the user experience by providing a safety net for user settings in case of software failures, bugs, or unintended changes.
* Refactor type hints to use PEP 604 syntax for clarity
Replaced `Optional` and `Dict` type hints with `|` and `dict` syntax for improved readability and compliance with Python 3.10+. Updated related imports and adjusted list comprehension for cleaner code.
* Update import path for hardware module in utils.py
Replaced the import path for the `Paths` module to align with the new directory structure under `openpilot`. This ensures compatibility with recent project reorganization and avoids import errors.
* Improve RSA key handling and fix backup status comparison
Added explicit RSA key type checks to handle invalid key formats. Enhanced type safety in `manager.py` by ensuring the backup status comparison returns a boolean. These changes improve robustness and error handling in backups.
* format
* more
* Improve backup and restore flow with progress tracking and fixes
Added proper progress tracking and cleanup logic during restore operations. Enhanced restore experience by resetting progress after completion and introducing confirmation dialogs for errors and completion. Updated API compatibility with a version query parameter for backups.
* Enable backup button only when restore process is complete
Previously, the backup button could be enabled during a restore operation, which might cause unintended behavior. This update introduces a check to ensure the backup button remains disabled while a restore process is active. This improves user experience and prevents potential conflicts.
* Fix restore button state handling during restore process
Ensure the restore button is disabled consistently when a restore is in progress. This prevents user interaction issues and aligns the button state with the restore operation status.
* "Refactor restore logic and improve button state handling"
Replaced `is_restoring` with `restore_request_pending` for clarity and better state management. Adjusted button behavior to immediately disable upon user action, ensuring improved UX and preventing repeat inputs. Refined restore completion flow for better consistency and reliability.
* Refine restore process logic for SunnyLink settings.
Introduced `restore_request_started` to improve handling of restore states and ensure accurate UI updates during the process. Adjusted case handling to enhance clarity and maintain proper behavior when restoring settings, especially during ongoing or completed requests.
* revert
* move around
* fix enabled states for different statuses
* add prompt to notify backup is complete
* same states as restore
* disable buttons if sunnylink is off
* can use the same texts
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
infiniteCable2