diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 41d8156ca8..85b7c61e5a 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -115,7 +115,9 @@ jobs: - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - name: Homebrew cache uses: ./.github/workflows/auto-cache + if: false # disabling the cache for now because it is breaking macos builds... with: + save: false # No need save here if we manually save it later conditionally path: ~/Library/Caches/Homebrew key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | @@ -136,6 +138,7 @@ jobs: - name: Getting scons cache uses: ./.github/workflows/auto-cache with: + save: false # No need save here if we manually save it later conditionally path: /tmp/scons_cache key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml index 122755f2c4..4aafd4a4a4 100644 --- a/.github/workflows/sunnypilot-master-dev-prep.yaml +++ b/.github/workflows/sunnypilot-master-dev-prep.yaml @@ -118,8 +118,8 @@ jobs: run: | # Use GitHub API to get PRs with specific label, ordered by creation date PR_LIST=$(gh api graphql -f query=' - query($label:String!) { - search(query: $label, type:ISSUE, first:100) { + query($search_query:String!) { + search(query: $search_query, type:ISSUE, first:100) { nodes { ... on PullRequest { number @@ -149,7 +149,7 @@ jobs: } } } - }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc") + }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${PR_LABEL},${PR_LABEL}-c3 draft:false sort:created-asc") PR_LIST=${PR_LIST//\'/} echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 854988decf..44b8bd69fa 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -148,6 +148,8 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 { speedLimit @3 :SpeedLimit; vTarget @4 :Float32; aTarget @5 :Float32; + events @6 :List(OnroadEventSP.Event); + e2eAlerts @7 :E2eAlerts; struct DynamicExperimentalControl { state @0 :DynamicExperimentalControlState; @@ -201,12 +203,26 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 { struct SpeedLimit { resolver @0 :Resolver; + assist @1 :Assist; struct Resolver { speedLimit @0 :Float32; distToSpeedLimit @1 :Float32; source @2 :Source; speedLimitOffset @3 :Float32; + speedLimitLast @4 :Float32; + speedLimitFinal @5 :Float32; + speedLimitFinalLast @6 :Float32; + speedLimitValid @7 :Bool; + speedLimitLastValid @8 :Bool; + } + + struct Assist { + state @0 :AssistState; + enabled @1 :Bool; + active @2 :Bool; + vTarget @3 :Float32; + aTarget @4 :Float32; } enum Source { @@ -214,12 +230,27 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 { car @1; map @2; } + + enum AssistState { + disabled @0; + inactive @1; # No speed limit set or not enabled by parameter. + preActive @2; + pending @3; # Awaiting new speed limit. + adapting @4; # Reducing speed to match new speed limit. + active @5; # Cruising at speed limit. + } } enum LongitudinalPlanSource { cruise @0; sccVision @1; sccMap @2; + speedLimitAssist @3; + } + + struct E2eAlerts { + greenLightAlert @0 :Bool; + leadDepartAlert @1 :Bool; } } @@ -262,6 +293,11 @@ struct OnroadEventSP @0xda96579883444c35 { pedalPressedAlertOnly @16; laneTurnLeft @17; laneTurnRight @18; + speedLimitPreActive @19; + speedLimitActive @20; + speedLimitChanged @21; + speedLimitPending @22; + e2eChime @23; } } @@ -270,6 +306,7 @@ struct CarParamsSP @0x80ae746ee2596b11 { safetyParam @1 : Int16; # flags for sunnypilot's custom safety flags pcmCruiseSpeed @3 :Bool; intelligentCruiseButtonManagementAvailable @4 :Bool; + enableGasInterceptor @5 :Bool; neuralNetworkLateralControl @2 :NeuralNetworkLateralControl; diff --git a/common/params_keys.h b/common/params_keys.h index 2148a73494..07b03880a3 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -148,20 +148,29 @@ inline static std::unordered_map keys = { {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}}, {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}}, {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}}, + {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}}, {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}}, + {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}}, {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}}, {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}}, {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}}, {"LastGPSPositionLLK", {PERSISTENT, STRING}}, + {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}}, {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}}, {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}}, {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}}, {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}}, + {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}}, + {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}}, + {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}}, + {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}}, {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}}, {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}}, {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}}, {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}}, + {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}}, {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}}, + {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}}, // MADS params {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}}, @@ -187,7 +196,8 @@ inline static std::unordered_map keys = { {"SunnylinkCache_Users", {PERSISTENT, STRING}}, {"SunnylinkDongleId", {PERSISTENT, STRING}}, {"SunnylinkdPid", {PERSISTENT, INT}}, - {"SunnylinkEnabled", {PERSISTENT, BOOL}}, + {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}}, + {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}}, // Backup Manager params {"BackupManager_CreateBackup", {PERSISTENT, BOOL}}, @@ -238,6 +248,15 @@ inline static std::unordered_map keys = { {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}}, {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}}, + // Torque lateral control custom params + {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}}, + {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}}, + {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}}, + {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}}, + {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}}, + {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}}, + {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}}, + // Tuning keys {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}}, {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}}, diff --git a/docs/CARS.md b/docs/CARS.md index dbc1dbcd74..25f84b389e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 334 Supported Cars +# 337 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -83,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Civic Hatchback 2019-21|All|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| -|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Civic Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector + Honda Clarity Proxy Board
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| @@ -99,7 +99,9 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|HR-V 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|N-Box 2018|All|openpilot available[1](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Odyssey 2021-25|All|openpilot available[1](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -163,6 +165,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|EV6 (without HDA II) 2022-24[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -259,7 +262,7 @@ A supported vehicle is one that just works when you install a comma device. All |Tesla[11](#footnotes)|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Tesla[11](#footnotes)|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Tesla[11](#footnotes)|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Tesla[11](#footnotes)|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Tesla[11](#footnotes)|Model Y (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index a73a582853..1e610ded28 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit a73a5828530f0125543313741268aff2d3e10900 +Subproject commit 1e610ded28a56df5afdd327b1f5b681c098a519d diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 2e52c00827..4c44e43281 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -71,7 +71,7 @@ class Car: def __init__(self, CI=None, RI=None) -> None: self.can_sock = messaging.sub_sock('can', timeout=20) - self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP']) + self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP']) self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP']) self.can_rcv_cum_timeout_counter = 0 @@ -124,7 +124,7 @@ class Car: self.CP.alternativeExperience = 0 # mads - set_alternative_experience(self.CP, self.params) + set_alternative_experience(self.CP, self.CP_SP, self.params) set_car_specific_params(self.CP, self.CP_SP, self.params) # Dynamic Experimental Control @@ -216,6 +216,7 @@ class Car: if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime + self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP']) self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric) if self.sm['carControl'].enabled and not self.CC_prev.enabled: # Use CarState w/ buttons from the step selfdrived enables on diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py index c82287d2b1..9973862b85 100644 --- a/selfdrive/car/cruise.py +++ b/selfdrive/car/cruise.py @@ -53,6 +53,7 @@ class VCruiseHelper(VCruiseHelperSP): if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled): # if stock cruise is completely disabled, then we can use our own set speed logic self._update_v_cruise_non_pcm(CS, _enabled, is_metric) + self.update_speed_limit_assist_v_cruise_non_pcm() self.v_cruise_cluster_kph = self.v_cruise_kph self.update_button_timers(CS, enabled) else: @@ -104,6 +105,12 @@ class VCruiseHelper(VCruiseHelperSP): if not self.button_change_states[button_type]["enabled"]: return + # Speed Limit Assist for Non PCM long cars. + # True: Disallow set speed changes when user confirmed the target set speed during preActive state + # False: Allow set speed changes as SLA is not requesting user confirmation + if self.update_speed_limit_assist_pre_active_confirmed(button_type): + return + long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta) if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py index a7abc1976c..384152c71b 100644 --- a/selfdrive/car/helpers.py +++ b/selfdrive/car/helpers.py @@ -57,7 +57,7 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)})) struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {}))) - struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])] + # struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])] struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {}))) struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {}))) struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement( diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 7c7a563003..821767ee46 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -60,7 +60,7 @@ class TestCarInterfaces: # Test controller initialization # TODO: wait until card refactor is merged to run controller a few times, # hypothesis also slows down significantly with just one more message draw - LongControl(car_params) + LongControl(car_params, car_params_sp) if car_params.steerControlType == CarParams.SteerControlType.angle: LatControlAngle(car_params, car_params_sp, car_interface) elif car_params.lateralTuning.which() == 'pid': diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3751efc87a..3601ae310e 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -58,7 +58,7 @@ class Controls(ControlsExt, ModelStateBase): self.pose_calibrator = PoseCalibrator() self.calibrated_pose: Pose | None = None - self.LoC = LongControl(self.CP) + self.LoC = LongControl(self.CP, self.CP_SP) self.VM = VehicleModel(self.CP) self.LaC: LatControl if self.CP.steerControlType == car.CarParams.SteerControlType.angle: diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index ca9c3fde66..917fb233f4 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -48,6 +48,10 @@ class LatControlTorque(LatControl): self.lateral_accel_from_torque(-self.steer_max, self.torque_params)) def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited): + # Override torque params from extension + if self.extension.update_override_torque_params(self.torque_params): + self.update_limits() + pid_log = log.ControlsState.LateralTorqueState.new_message() if not active: output_torque = 0.0 diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 6d4f922461..b8b00e2fb9 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -10,8 +10,11 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] LongCtrlState = car.CarControl.Actuators.LongControlState -def long_control_state_trans(CP, active, long_control_state, v_ego, +def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego, should_stop, brake_pressed, cruise_standstill): + # Gas Interceptor + cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor + stopping_condition = should_stop starting_condition = (not should_stop and not cruise_standstill and @@ -45,8 +48,9 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, return long_control_state class LongControl: - def __init__(self, CP): + def __init__(self, CP, CP_SP): self.CP = CP + self.CP_SP = CP_SP self.long_control_state = LongCtrlState.off self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), @@ -61,7 +65,7 @@ class LongControl: self.pid.neg_limit = accel_limits[0] self.pid.pos_limit = accel_limits[1] - self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo, + self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo, should_stop, CS.brakePressed, CS.cruiseState.standstill) if self.long_control_state == LongCtrlState.off: diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 139cdc06e7..53eca38356 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -146,7 +146,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP): clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast]) accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp) - # Get new v_cruise and a_desired from Smart Cruise Control + # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise) if force_slow_decel: diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 8994fb7c08..4565a9c047 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -24,10 +24,11 @@ def main(): pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP']) sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState', 'liveMapDataSP', 'carStateSP', gps_location_service], - poll='modelV2') + poll='carState') while True: sm.update() + longitudinal_planner.sla.update_car_state(sm['carState']) if sm.updated['modelV2']: longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py index ab50810d89..cf0ab24e0b 100644 --- a/selfdrive/controls/tests/test_longcontrol.py +++ b/selfdrive/controls/tests/test_longcontrol.py @@ -1,4 +1,4 @@ -from cereal import car +from cereal import car, custom from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans @@ -8,49 +8,52 @@ class TestLongControlStateTransition: def test_stay_stopped(self): CP = car.CarParams.new_message() + CP_SP = custom.CarParamsSP.new_message() active = True current_state = LongCtrlState.stopping - next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1, should_stop=True, brake_pressed=False, cruise_standstill=False) assert next_state == LongCtrlState.stopping - next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1, should_stop=False, brake_pressed=True, cruise_standstill=False) assert next_state == LongCtrlState.stopping - next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1, should_stop=False, brake_pressed=False, cruise_standstill=True) assert next_state == LongCtrlState.stopping - next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0, should_stop=False, brake_pressed=False, cruise_standstill=False) assert next_state == LongCtrlState.pid active = False - next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0, should_stop=False, brake_pressed=False, cruise_standstill=False) assert next_state == LongCtrlState.off def test_engage(): CP = car.CarParams.new_message() + CP_SP = custom.CarParamsSP.new_message() active = True current_state = LongCtrlState.off - next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1, should_stop=True, brake_pressed=False, cruise_standstill=False) assert next_state == LongCtrlState.stopping - next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1, should_stop=False, brake_pressed=True, cruise_standstill=False) assert next_state == LongCtrlState.stopping - next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1, should_stop=False, brake_pressed=False, cruise_standstill=True) assert next_state == LongCtrlState.stopping - next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1, should_stop=False, brake_pressed=False, cruise_standstill=False) assert next_state == LongCtrlState.pid def test_starting(): CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5) + CP_SP = custom.CarParamsSP.new_message() active = True current_state = LongCtrlState.starting - next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1, should_stop=False, brake_pressed=False, cruise_standstill=False) assert next_state == LongCtrlState.starting - next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, + next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0, should_stop=False, brake_pressed=False, cruise_standstill=False) assert next_state == LongCtrlState.pid diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index e0409957f5..57d53fdee3 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -11,6 +11,7 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose from openpilot.sunnypilot.livedelay.helpers import get_lat_delay +from openpilot.sunnypilot.selfdrive.locationd.torqued_ext import TorqueEstimatorExt HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 @@ -50,9 +51,10 @@ class TorqueBuckets(PointBuckets): break -class TorqueEstimator(ParameterEstimator): +class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt): def __init__(self, CP, decimated=False, track_all_points=False): - super().__init__() + ParameterEstimator.__init__(self) + TorqueEstimatorExt.__init__(self, CP) self.CP = CP self.hist_len = int(HISTORY / DT_MDL) self.lag = 0.0 @@ -82,6 +84,8 @@ class TorqueEstimator(ParameterEstimator): self.calibrator = PoseCalibrator() + TorqueEstimatorExt.initialize_custom_params(self, decimated) + self.reset() initial_params = { @@ -260,6 +264,8 @@ def main(demo=False): t = sm.logMonoTime[which] * 1e-9 estimator.handle_log(t, which, sm[which]) + TorqueEstimatorExt.update_use_params(estimator) + # 4Hz driven by livePose if sm.frame % 5 == 0: pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks())) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 170e184629..4bc75021f7 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -159,7 +159,7 @@ class SelfdriveD(CruiseHelper): self.mads = ModularAssistiveDrivingSystem(self) self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP) - self.car_events_sp = CarSpecificEventsSP(self.CP, self.params) + self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP) CruiseHelper.__init__(self, self.CP) @@ -205,6 +205,7 @@ class SelfdriveD(CruiseHelper): if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) + self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events) # Add car events, ignore if CAN isn't valid if CS.canValid: diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc index 2e8f3612eb..d6829c6b08 100644 --- a/selfdrive/ui/qt/onroad/alerts.cc +++ b/selfdrive/ui/qt/onroad/alerts.cc @@ -4,9 +4,6 @@ #include #include "selfdrive/ui/qt/util.h" -#ifdef SUNNYPILOT -#include "selfdrive/ui/sunnypilot/ui.h" -#endif void OnroadAlerts::updateState(const UIState &s) { Alert a = getAlert(*(s.sm), s.scene.started_frame); @@ -76,12 +73,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { } QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2); -#ifdef SUNNYPILOT - const int dev_ui_info = uiStateSP()->scene.dev_ui_info; - const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0; - r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2); -#endif - QPainter p(this); // draw background + gradient diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc index 4cfa3d0e3c..540643bed5 100644 --- a/selfdrive/ui/qt/onroad/hud.cc +++ b/selfdrive/ui/qt/onroad/hud.cc @@ -47,11 +47,12 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) { bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg); - +#ifndef SUNNYPILOT if (is_cruise_available) { drawSetSpeed(p, surface_rect); } drawCurrentSpeed(p, surface_rect); +#endif p.restore(); } diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h index 9b51bb62e4..ad0603c095 100644 --- a/selfdrive/ui/qt/onroad/onroad_home.h +++ b/selfdrive/ui/qt/onroad/onroad_home.h @@ -4,8 +4,10 @@ #ifdef SUNNYPILOT #include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h" +#include "selfdrive/ui/sunnypilot/qt/onroad/alerts.h" #define UIState UIStateSP #define AnnotatedCameraWidget AnnotatedCameraWidgetSP +#define OnroadAlerts OnroadAlertsSP #else #include "selfdrive/ui/qt/onroad/annotated_camera.h" #endif diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 74edb766d3..ca4a03b880 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -24,6 +24,7 @@ qt_src = [ "sunnypilot/qt/offroad/offroad_home.cc", "sunnypilot/qt/offroad/settings/developer_panel.cc", "sunnypilot/qt/offroad/settings/device_panel.cc", + "sunnypilot/qt/offroad/settings/display_panel.cc", "sunnypilot/qt/offroad/settings/lateral_panel.cc", "sunnypilot/qt/offroad/settings/longitudinal_panel.cc", "sunnypilot/qt/offroad/settings/max_time_offroad.cc", @@ -37,6 +38,7 @@ qt_src = [ "sunnypilot/qt/offroad/settings/trips_panel.cc", "sunnypilot/qt/offroad/settings/vehicle_panel.cc", "sunnypilot/qt/offroad/settings/visuals_panel.cc", + "sunnypilot/qt/onroad/alerts.cc", "sunnypilot/qt/onroad/annotated_camera.cc", "sunnypilot/qt/onroad/buttons.cc", "sunnypilot/qt/onroad/developer_ui/developer_ui.cc", @@ -51,6 +53,8 @@ lateral_panel_qt_src = [ "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc", "sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc", "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc", + "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc", + "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc", ] longitudinal_panel_qt_src = [ @@ -91,9 +95,13 @@ brand_settings_qt_src = [ "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc", ] +display_panel_qt_src = [ + "sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc", +] sp_widgets_src = widgets_src + network_src -sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src +sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + \ + longitudinal_panel_qt_src + osm_panel_qt_src + display_panel_qt_src sp_qt_util = qt_util Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util") diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc index ffd3ce1d8b..e9bd13485a 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc @@ -25,8 +25,8 @@ const QMap Brightness::brightness_options = { Brightness::Brightness() : OptionControlSP( "Brightness", - tr("Brightness"), - tr("Overrides the brightness of the device."), + tr("Global Brightness"), + tr("Overrides the brightness of the device. This applies to both onroad and offroad screens. "), "../assets/offroad/icon_blank.png", {0, 11}, 1, true, &brightness_options) { diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc index 7e3d18bd81..43e6067451 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc @@ -23,6 +23,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { {"regulatoryBtn", tr("Regulatory"), ""}, {"translateBtn", tr("Language"), ""}, {"resetParams", tr("Reset Settings"), ""}, + {"onroadUploadsBtn", tr("Onroad Uploads"), "OnroadUploads"} }; int row = 0, col = 0; @@ -75,12 +76,14 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings); + connect(buttons["onroadUploadsBtn"], &PushButtonSP::clicked, buttons["onroadUploadsBtn"], &PushButtonSP::updateButton); + // Max Time Offroad maxTimeOffroad = new MaxTimeOffroad(); connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh); addItem(maxTimeOffroad); - toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true); + toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true); addItem(toggleDeviceBootMode); connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) { @@ -88,22 +91,6 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { updateState(); }); - interactivityTimeout = new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"), - tr("Apply a custom timeout for settings UI." - "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."), - "", {0, 120}, 10, true, nullptr, false); - - connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() { - updateState(); - }); - - addItem(interactivityTimeout); - - // Brightness - brightness = new Brightness(); - connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh); - addItem(brightness); - addItem(device_grid_layout); // offroad mode and power buttons @@ -129,9 +116,8 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { offroadBtn->setFixedWidth(power_layout->sizeHint().width()); QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode); - QVBoxLayout *power_group_layout = new QVBoxLayout(); + power_group_layout = new QVBoxLayout(); power_group_layout->setSpacing(25); - power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter); power_group_layout->addLayout(power_layout); addItem(power_group_layout); @@ -141,9 +127,10 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { poweroffBtn, offroadBtn, buttons["quietModeBtn"], + buttons["onroadUploadsBtn"], }; - QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { + QObject::connect(uiState(), &UIState::offroadTransition, [=](bool _offroad) { for (auto btn : findChildren()) { bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end(); @@ -151,6 +138,8 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { btn->setEnabled(offroad); } } + offroad = _offroad; + updateState(); }); } @@ -201,7 +190,7 @@ void DevicePanelSP::updateState() { } bool offroad_mode_param = params.getBool("OffroadMode"); - offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad")); + offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Enable Always Offroad")); offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle); DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT; @@ -210,10 +199,9 @@ void DevicePanelSP::updateState() { } toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus)); - QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout")); - if (timeoutValue == "0" || timeoutValue.isEmpty()) { - interactivityTimeout->setLabel("Default"); + if (offroad and not offroad_mode_param) { + power_group_layout->insertWidget(0, offroadBtn, 0, Qt::AlignHCenter); } else { - interactivityTimeout->setLabel(timeoutValue + "s"); + AddWidgetAt(0, offroadBtn); } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h index 899a942dae..ce4acfc7cf 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h @@ -8,7 +8,6 @@ #pragma once #include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h" -#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" @@ -32,8 +31,8 @@ private: PushButtonSP *offroadBtn; MaxTimeOffroad *maxTimeOffroad; ButtonParamControlSP *toggleDeviceBootMode; - Brightness *brightness; - OptionControlSP *interactivityTimeout; + QVBoxLayout *power_group_layout; + bool offroad; const QString alwaysOffroadStyle = R"( PushButtonSP { diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc new file mode 100644 index 0000000000..f28d9e45e8 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc @@ -0,0 +1,54 @@ +/** + * 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/display/onroad_screen_brightness.h" + +OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString ¶m, const QString &title, + const QString &description, const QString &icon, + QWidget *parent) + : ExpandableToggleRow(param, title, description, icon, parent) { + auto *mainFrame = new QFrame(this); + auto *mainFrameLayout = new QVBoxLayout(); + mainFrame->setLayout(mainFrameLayout); + mainFrameLayout->setSpacing(30); + mainFrameLayout->setContentsMargins(0, 0, 0, 0); + + onroadScreenOffTimer = new OptionControlSP( + "OnroadScreenOffTimer", + "Onroad Brightness Delay", + "", + "", + {0, 11}, 1, true, &onroadScreenOffTimerOptions); + + onroadScreenBrightness = new OptionControlSP( + "OnroadScreenOffBrightness", + "Onroad Brightness", + "", + "", + {0, 100}, 10, true); + + connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh); + connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh); + mainFrameLayout->addWidget(onroadScreenBrightness); + mainFrameLayout->addWidget(onroadScreenOffTimer); + + addItem(mainFrame); + + refresh(); +} + +void OnroadScreenBrightnessControl::refresh() { + // Driving Screen Off Timer + int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str()); + std::string labelTimer = (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m"); + onroadScreenOffTimer->setLabel(QString::fromStdString(labelTimer)); + + // Driving Screen Off Brightness + std::string valBrightness = params.get("OnroadScreenOffBrightness"); + std::string labelBrightness = (valBrightness == "0" ? " Screen Off" : valBrightness + "%"); + onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness)); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h new file mode 100644 index 0000000000..02335d1ce6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h @@ -0,0 +1,42 @@ +/** + * 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/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h" + +static const QMap onroadScreenOffTimerOptions = { + {"0", "15"}, + {"1", "30"}, + {"2", "60"}, + {"3", "120"}, + {"4", "180"}, + {"5", "240"}, + {"6", "300"}, + {"7", "360"}, + {"8", "420"}, + {"9", "480"}, + {"10", "540"}, + {"11", "600"} +}; + +class OnroadScreenBrightnessControl : public ExpandableToggleRow { + Q_OBJECT + +public: + OnroadScreenBrightnessControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + QWidget *parent = nullptr); + void refresh(); + +private: + Params params; + OptionControlSP *onroadScreenOffTimer; + OptionControlSP *onroadScreenBrightness; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc new file mode 100644 index 0000000000..465047f178 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc @@ -0,0 +1,65 @@ +/** + * 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/display_panel.h" + +DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) { + main_layout = new QStackedLayout(this); + ListWidgetSP *list = new ListWidgetSP(this, false); + + sunnypilotScreen = new QWidget(this); + QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen); + vlayout->setContentsMargins(50, 20, 50, 20); + + // Onroad Screen Off/Brightness + onroadScreenBrightnessControl = new OnroadScreenBrightnessControl( + "OnroadScreenOffControl", + tr("Onroad Screen: Reduced Brightness"), + tr("Turn off device screen or reduce brightness after driving starts. " + "It automatically brightens again when screen is touched or a visible alert is displayed."), + "", + this); + list->addItem(onroadScreenBrightnessControl); + list->addItem(horizontal_line()); + + // Global Brightness + brightness = new Brightness(); + connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh); + list->addItem(brightness); + list->addItem(horizontal_line()); + + // Interactivity Timeout + interactivityTimeout = new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"), + tr("Apply a custom timeout for settings UI." + "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."), + "", {0, 120}, 10, true, nullptr, false); + + connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() { + refresh(); + }); + list->addItem(interactivityTimeout); + + sunnypilotScroller = new ScrollViewSP(list, this); + vlayout->addWidget(sunnypilotScroller); + main_layout->addWidget(sunnypilotScreen); +} + +void DisplayPanel::showEvent(QShowEvent *event) { + QWidget::showEvent(event); + refresh(); +} + +void DisplayPanel::refresh() { + onroadScreenBrightnessControl->refresh(); + + QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout")); + if (timeoutValue == "0" || timeoutValue.isEmpty()) { + interactivityTimeout->setLabel("Default"); + } else { + interactivityTimeout->setLabel(timeoutValue + "s"); + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h new file mode 100644 index 0000000000..69b440c9d3 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h @@ -0,0 +1,31 @@ +/** + * 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/sunnypilot/qt/offroad/settings/brightness.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +class DisplayPanel : public QWidget { + Q_OBJECT + +public: + explicit DisplayPanel(QWidget *parent = nullptr); + void showEvent(QShowEvent *event) override; + void refresh(); + +private: + QStackedLayout* main_layout = nullptr; + QWidget* sunnypilotScreen = nullptr; + ScrollViewSP *sunnypilotScroller = nullptr; + Params params; + OnroadScreenBrightnessControl *onroadScreenBrightnessControl = nullptr; + Brightness *brightness; + OptionControlSP *interactivityTimeout; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc index 72e7a5c8cb..749bc9e3f3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc @@ -52,12 +52,16 @@ void MadsSettings::updateToggles(bool _offroad) { ); auto cp_bytes = params.get("CarParamsPersistent"); - if (!cp_bytes.empty()) { + auto cp_sp_bytes = params.get("CarParamsSPPersistent"); + if (!cp_bytes.empty() && !cp_sp_bytes.empty()) { AlignedBuffer aligned_buf; + AlignedBuffer aligned_buf_sp; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size())); cereal::CarParams::Reader CP = cmsg.getRoot(); + cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot(); - if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) { + if (madsLimitedSettings(CP, CP_SP)) { params.remove("MadsMainCruiseAllowed"); params.putBool("MadsUnifiedEngagementMode", true); params.put("MadsSteeringMode", std::to_string(static_cast(MadsSteeringMode::DISENGAGE))); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h index af624865c7..9cf62a0ffe 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h @@ -12,7 +12,16 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" -const std::vector mads_limited_settings_brands = {"rivian", "tesla"}; +inline bool madsLimitedSettings(const cereal::CarParams::Reader &CP, const cereal::CarParamsSP::Reader &CP_SP) { + if (CP.getBrand() == "rivian") { + return true; + } + if (CP.getBrand() == "tesla") { + return !(CP_SP.getFlags() & 1); // 1 == TeslaFlagsSP.HAS_VEHICLE_BUS + } + + return false; +} enum class MadsSteeringMode { REMAIN_ACTIVE = 0, diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc index 0b66b83660..02ab810c57 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc @@ -10,14 +10,15 @@ NeuralNetworkLateralControl::NeuralNetworkLateralControl() : ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"), "", "") { setConfirmation(true, false); - updateToggle(); + updateToggle(offroad); } -void NeuralNetworkLateralControl::updateToggle() { +void NeuralNetworkLateralControl::updateToggle(bool _offroad) { QString statusInitText = "" + STATUS_CHECK_COMPATIBILITY + ""; QString notLoadedText = "" + STATUS_NOT_LOADED + ""; QString loadedText = "" + STATUS_LOADED + ""; + bool allowed = true; auto cp_bytes = params.get("CarParamsPersistent"); auto cp_sp_bytes = params.get("CarParamsSPPersistent"); if (!cp_bytes.empty() && !cp_sp_bytes.empty()) { @@ -31,7 +32,7 @@ void NeuralNetworkLateralControl::updateToggle() { if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) { params.remove("NeuralNetworkLateralControl"); setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE)); - setEnabled(false); + allowed = false; } else { QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName()); QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ? @@ -56,4 +57,11 @@ void NeuralNetworkLateralControl::updateToggle() { if (getDescription() != getBaseDescription()) { showDescription(); } + + bool enforce_torque_toggle = params.getBool("EnforceTorqueControl"); + setEnabled(_offroad && allowed && !enforce_torque_toggle); + + refresh(); + + offroad = _offroad; } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h index df80fbf097..9e872b11e9 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h @@ -20,10 +20,11 @@ public: NeuralNetworkLateralControl(); public slots: - void updateToggle(); + void updateToggle(bool _offroad); private: Params params; + bool offroad; // Status messages const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform."); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc new file mode 100644 index 0000000000..894fbc2ec4 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc @@ -0,0 +1,58 @@ +/** + * 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/lateral/torque_lateral_control_custom_params.h" + +TorqueLateralControlCustomParams::TorqueLateralControlCustomParams(const QString ¶m, const QString &title, const QString &description, const QString &icon, QWidget *parent) + : ExpandableToggleRow(param, title, description, icon, parent) { + + QFrame *frame = new QFrame(this); + QGridLayout *frame_layout = new QGridLayout(); + frame->setLayout(frame_layout); + frame_layout->setSpacing(0); + + torqueLateralControlParamsOverride = new ParamControl( + "TorqueParamsOverrideEnabled", + tr("Manual Real-Time Tuning"), + tr("Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values."), + "../assets/offroad/icon_blank.png", + this + ); + connect(torqueLateralControlParamsOverride, &ParamControl::toggleFlipped, this, &TorqueLateralControlCustomParams::refresh); + + torqueParamsOverrideLatAccelFactor = new OptionControlSP("TorqueParamsOverrideLatAccelFactor", tr("Lateral Acceleration Factor"), "", "", {1, 500}, 1, false, nullptr, true, false); + connect(torqueParamsOverrideLatAccelFactor, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh); + torqueParamsOverrideLatAccelFactor->setFixedWidth(280); + + torqueParamsOverrideFriction = new OptionControlSP("TorqueParamsOverrideFriction", tr("Friction"), "", "", {1, 100}, 1, false, nullptr, true, false); + connect(torqueParamsOverrideFriction, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh); + torqueParamsOverrideFriction->setFixedWidth(280); + + frame_layout->addWidget(torqueLateralControlParamsOverride, 0, 0, 1, 2); + QSpacerItem *spacer = new QSpacerItem(20, 40); + frame_layout->addItem(spacer, 1, 0, 1, 2); + frame_layout->addWidget(torqueParamsOverrideLatAccelFactor, 2, 0, Qt::AlignCenter); + frame_layout->addWidget(torqueParamsOverrideFriction, 2, 1, Qt::AlignCenter); + + addItem(frame); + + refresh(); +} + +void TorqueLateralControlCustomParams::refresh() { + bool torque_override_param = params.getBool("TorqueParamsOverrideEnabled"); + float laf_param = QString::fromStdString(params.get("TorqueParamsOverrideLatAccelFactor")).toFloat(); + const QString laf_unit = "m/s²"; + + float friction_param = QString::fromStdString(params.get("TorqueParamsOverrideFriction")).toFloat(); + + torqueParamsOverrideLatAccelFactor->setTitle(tr("Lateral Acceleration Factor") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")"); + torqueParamsOverrideFriction->setTitle(tr("Friction") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")"); + + torqueParamsOverrideLatAccelFactor->setLabel(QString::number(laf_param, 'f', 2) + " " + laf_unit); + torqueParamsOverrideFriction->setLabel(QString::number(friction_param, 'f', 2)); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h new file mode 100644 index 0000000000..8442bd0d48 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h @@ -0,0 +1,27 @@ +/** + * 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/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h" + +class TorqueLateralControlCustomParams : public ExpandableToggleRow { + Q_OBJECT + +public: + TorqueLateralControlCustomParams(const QString ¶m, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr); + void refresh(); + +private: + Params params; + ParamControl *torqueLateralControlParamsOverride; + OptionControlSP *torqueParamsOverrideFriction; + OptionControlSP *torqueParamsOverrideLatAccelFactor; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc new file mode 100644 index 0000000000..914ce7a939 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc @@ -0,0 +1,81 @@ +/** + * 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/lateral/torque_lateral_control_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +TorqueLateralControlSettings::TorqueLateralControlSettings(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(50, 20, 50, 20); + main_layout->setSpacing(20); + + // Back button + PanelBackButton *back = new PanelBackButton(); + connect(back, &QPushButton::clicked, [=]() { emit backPress(); }); + main_layout->addWidget(back, 0, Qt::AlignLeft); + + ListWidget *list = new ListWidget(this, false); + // param, title, desc, icon + std::vector> toggle_defs{ + { + "LiveTorqueParamsToggle", + tr("Self-Tune"), + tr("Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default."), + "../assets/offroad/icon_blank.png", + }, + { + "LiveTorqueParamsRelaxedToggle", + tr("Less Restrict Settings for Self-Tune (Beta)"), + tr("Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."), + "../assets/offroad/icon_blank.png", + } + }; + + for (auto &[param, title, desc, icon] : toggle_defs) { + auto toggle = new ParamControlSP(param, title, desc, icon, this); + list->addItem(toggle); + toggles[param.toStdString()] = toggle; + } + + torqueLateralControlCustomParams = new TorqueLateralControlCustomParams( + "CustomTorqueParams", + tr("Enable Custom Tuning"), + tr("Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within \"opendbc/car/torque_data\". " + "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."), + "../assets/offroad/icon_blank.png", + this); + list->addItem(torqueLateralControlCustomParams); + + QObject::connect(uiState(), &UIState::offroadTransition, this, &TorqueLateralControlSettings::updateToggles); + QObject::connect(toggles["LiveTorqueParamsToggle"], &ParamControlSP::toggleFlipped, [=](bool state) { + if (!state) { + params.remove("LiveTorqueParamsRelaxedToggle"); + toggles["LiveTorqueParamsRelaxedToggle"]->refresh(); + } + + updateToggles(offroad); + }); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void TorqueLateralControlSettings::showEvent(QShowEvent *event) { + updateToggles(offroad); +} + +void TorqueLateralControlSettings::updateToggles(bool _offroad) { + bool live_toggle = toggles["LiveTorqueParamsToggle"]->isToggled(); + + toggles["LiveTorqueParamsToggle"]->setEnabled(_offroad); + toggles["LiveTorqueParamsRelaxedToggle"]->setEnabled(_offroad && live_toggle); + + torqueLateralControlCustomParams->setEnabled(_offroad); + torqueLateralControlCustomParams->refresh(); + + offroad = _offroad; +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h new file mode 100644 index 0000000000..6254073dfe --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h @@ -0,0 +1,36 @@ +/** + * 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/lateral/torque_lateral_control_custom_params.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class TorqueLateralControlSettings : public QWidget { + Q_OBJECT + +public: + explicit TorqueLateralControlSettings(QWidget *parent = nullptr); + + void showEvent(QShowEvent *event) override; + + signals: + void backPress(); + +public slots: + void updateToggles(bool _offroad); + +private: + Params params; + bool offroad; + std::map toggles; + + TorqueLateralControlCustomParams *torqueLateralControlCustomParams; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc index 8a110a2aa3..4a64788ff2 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc @@ -75,6 +75,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { list->addItem(horizontal_line()); + // Customized Torque Lateral Control + torqueLateralControlToggle = new ParamControl( + "EnforceTorqueControl", + tr("Enforce Torque Lateral Control"), + tr("Enable this to enforce sunnypilot to steer with Torque lateral control."), + ""); + list->addItem(torqueLateralControlToggle); + + torqueLateralControlSettingsButton = new PushButtonSP(tr("Customize Params")); + torqueLateralControlSettingsButton->setObjectName("torque_btn"); + connect(torqueLateralControlSettingsButton, &QPushButton::clicked, [=]() { + sunnypilotScroller->setLastScrollPosition(); + main_layout->setCurrentWidget(torqueLateralControlWidget); + }); + QObject::connect(torqueLateralControlToggle, &ToggleControl::toggleFlipped, [=](bool state) { + torqueLateralControlSettingsButton->setEnabled(state); + nnlcToggle->updateToggle(offroad); + updateToggles(offroad); + }); + + torqueLateralControlWidget = new TorqueLateralControlSettings(this); + connect(torqueLateralControlWidget, &TorqueLateralControlSettings::backPress, [=]() { + sunnypilotScroller->restoreScrollPosition(); + main_layout->setCurrentWidget(sunnypilotScreen); + }); + list->addItem(torqueLateralControlSettingsButton); + + list->addItem(vertical_space(0)); + list->addItem(horizontal_line()); + // Neural Network Lateral Control nnlcToggle = new NeuralNetworkLateralControl(); list->addItem(nnlcToggle); @@ -86,7 +116,8 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { nnlcToggle->hideDescription(); } - nnlcToggle->updateToggle(); + nnlcToggle->updateToggle(offroad); + updateToggles(offroad); }); #pragma region hkg angle tuning @@ -119,9 +150,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { list->addItem(angleTuningSettingsButton); #pragma endregion - toggleOffroadOnly = { - madsToggle, nnlcToggle, - }; QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles); sunnypilotScroller = new ScrollViewSP(list, this); @@ -131,6 +159,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { main_layout->addWidget(madsWidget); main_layout->addWidget(angleTuningWidget); main_layout->addWidget(laneChangeWidget); + main_layout->addWidget(torqueLateralControlWidget); setStyleSheet(R"( #back_btn { @@ -151,7 +180,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { } void LateralPanel::showEvent(QShowEvent *event) { - nnlcToggle->updateToggle(); + nnlcToggle->updateToggle(offroad); updateToggles(offroad); } @@ -160,28 +189,41 @@ void LateralPanel::hideEvent(QHideEvent *event) { } void LateralPanel::updateToggles(bool _offroad) { - for (auto *toggle : toggleOffroadOnly) { - toggle->setEnabled(_offroad); - } - + bool torque_allowed = true; auto cp_bytes = params.get("CarParamsPersistent"); - if (!cp_bytes.empty()) { + auto cp_sp_bytes = params.get("CarParamsSPPersistent"); + if (!cp_bytes.empty() && !cp_sp_bytes.empty()) { AlignedBuffer aligned_buf; + AlignedBuffer aligned_buf_sp; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size())); cereal::CarParams::Reader CP = cmsg.getRoot(); + cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot(); - if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) { + if (madsLimitedSettings(CP, CP_SP)) { madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC)); } else { madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC)); } + + if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) { + params.remove("EnforceTorqueControl"); + torque_allowed = false; + } } else { madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC)); + + params.remove("EnforceTorqueControl"); + torque_allowed = false; } + madsToggle->setEnabled(_offroad); madsSettingsButton->setEnabled(madsToggle->isToggled()); // angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled()); + torqueLateralControlToggle->setEnabled(_offroad && torque_allowed && !nnlcToggle->isToggled()); + torqueLateralControlSettingsButton->setEnabled(torqueLateralControlToggle->isToggled()); + blinkerPauseLateralSettings->refresh(); offroad = _offroad; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h index 36cfd4f664..1cbb5a959f 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h @@ -16,6 +16,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" @@ -36,7 +37,6 @@ private: QStackedLayout* main_layout = nullptr; QWidget* sunnypilotScreen = nullptr; ScrollViewSP *sunnypilotScroller = nullptr; - std::vector toggleOffroadOnly; bool offroad; ParamControl *madsToggle; @@ -49,6 +49,9 @@ private: LaneChangeSettings *laneChangeWidget = nullptr; NeuralNetworkLateralControl *nnlcToggle = nullptr; BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr; + ParamControl *torqueLateralControlToggle; + PushButtonSP *torqueLateralControlSettingsButton; + TorqueLateralControlSettings *torqueLateralControlWidget = nullptr; const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC)."); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h index 22cdd8c631..295072d1ef 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h @@ -38,10 +38,12 @@ enum class SpeedLimitMode { OFF, INFORMATION, WARNING, + ASSIST, }; inline const QString SpeedLimitModeTexts[]{ QObject::tr("Off"), QObject::tr("Information"), QObject::tr("Warning"), + QObject::tr("Assist"), }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc index eed0306ca0..ff5d6221ce 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc @@ -28,6 +28,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) SpeedLimitModeTexts[static_cast(SpeedLimitMode::OFF)], SpeedLimitModeTexts[static_cast(SpeedLimitMode::INFORMATION)], SpeedLimitModeTexts[static_cast(SpeedLimitMode::WARNING)], + SpeedLimitModeTexts[static_cast(SpeedLimitMode::ASSIST)], }; speed_limit_mode_settings = new ButtonParamControlSP( "SpeedLimitMode", @@ -35,7 +36,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) "", "", speed_limit_mode_texts, - 385); + 380); list->addItem(speed_limit_mode_settings); list->addItem(horizontal_line()); @@ -107,6 +108,25 @@ void SpeedLimitSettings::refresh() { SpeedLimitOffsetType offset_type_param = static_cast(std::atoi(params.get("SpeedLimitOffsetType").c_str())); QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset")); + bool has_longitudinal_control; + bool intelligent_cruise_button_management_available; + auto cp_bytes = params.get("CarParamsPersistent"); + auto cp_sp_bytes = params.get("CarParamsSPPersistent"); + if (!cp_bytes.empty() && !cp_sp_bytes.empty()) { + AlignedBuffer aligned_buf; + AlignedBuffer aligned_buf_sp; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot(); + + has_longitudinal_control = hasLongitudinalControl(CP); + intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable(); + } else { + has_longitudinal_control = false; + intelligent_cruise_button_management_available = false; + } + speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param)); speed_limit_offset->setDescription(offsetDescription(offset_type_param)); @@ -124,6 +144,13 @@ void SpeedLimitSettings::refresh() { speed_limit_offset->showDescription(); } + if (has_longitudinal_control || intelligent_cruise_button_management_available) { + speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues())); + } else { + speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues( + {SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING})); + } + speed_limit_mode_settings->showDescription(); speed_limit_offset->showDescription(); } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h index 61c86f9208..f76f9bea2a 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h @@ -58,8 +58,11 @@ private: QString off_str = tr("⦿ Off: Disables the Speed Limit functions."); QString info_str = tr("⦿ Information: Displays the current road's speed limit."); QString warning_str = tr("⦿ Warning: Provides a warning when exceeding the current road's speed limit."); + QString assist_str = tr("⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons."); - if (mode == SpeedLimitMode::WARNING) { + if (mode == SpeedLimitMode::ASSIST) { + assist_str = "" + assist_str + ""; + } else if (mode == SpeedLimitMode::WARNING) { warning_str = "" + warning_str + ""; } else if (mode == SpeedLimitMode::INFORMATION) { info_str = "" + info_str + ""; @@ -67,9 +70,27 @@ private: off_str = "" + off_str + ""; } - return QString("%1
%2
%3") + return QString("%1
%2
%3
%4") .arg(off_str) .arg(info_str) - .arg(warning_str); + .arg(warning_str) + .arg(assist_str); + } + + static std::vector getSpeedLimitModeValues() { + std::vector values; + for (int i = static_cast(SpeedLimitMode::OFF); + i <= static_cast(SpeedLimitMode::ASSIST); ++i) { + values.push_back(static_cast(i)); + } + return values; + } + + static std::vector convertSpeedLimitModeValues(const std::vector &modes) { + std::vector values; + for (const auto& mode : modes) { + values.push_back(static_cast(mode)); + } + return values; } }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc index 8987f38514..3e3977ff64 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc @@ -87,7 +87,6 @@ void LongitudinalPanel::showEvent(QShowEvent *event) { } void LongitudinalPanel::refresh(bool _offroad) { - auto icbm_available = false; auto cp_bytes = params.get("CarParamsPersistent"); auto cp_sp_bytes = params.get("CarParamsSPPersistent"); if (!cp_bytes.empty() && !cp_sp_bytes.empty()) { @@ -100,12 +99,11 @@ void LongitudinalPanel::refresh(bool _offroad) { has_longitudinal_control = hasLongitudinalControl(CP); is_pcm_cruise = CP.getPcmCruise(); - icbm_available = CP_SP.getIntelligentCruiseButtonManagementAvailable(); - has_intelligent_cruise_button_management = hasIntelligentCruiseButtonManagement(CP_SP); + intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable(); } else { has_longitudinal_control = false; is_pcm_cruise = false; - has_intelligent_cruise_button_management = false; + intelligent_cruise_button_management_available = false; } QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease."); @@ -117,7 +115,7 @@ void LongitudinalPanel::refresh(bool _offroad) { customAccIncrement->setDescription(onroadOnlyDescription); customAccIncrement->showDescription(); } else { - if (has_longitudinal_control || icbm_available) { + if (has_longitudinal_control || intelligent_cruise_button_management_available) { if (is_pcm_cruise) { customAccIncrement->setDescription(accPcmCruiseDisabledDescription); customAccIncrement->showDescription(); @@ -134,7 +132,7 @@ void LongitudinalPanel::refresh(bool _offroad) { } } - bool icbm_allowed = has_intelligent_cruise_button_management && !has_longitudinal_control; + bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control; intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad); // enable toggle when long is available and is not PCM cruise diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h index 2fd15e955c..0b7f39c645 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h @@ -7,7 +7,6 @@ #pragma once -#include "selfdrive/ui/sunnypilot/qt/util.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" @@ -25,7 +24,7 @@ private: Params params; bool has_longitudinal_control = false; bool is_pcm_cruise = false; - bool has_intelligent_cruise_button_management = false;; + bool intelligent_cruise_button_management_available = false;; bool offroad = false; QStackedLayout *main_layout = nullptr; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc index 332fd71a18..e946d7870f 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc @@ -12,6 +12,7 @@ #include #include "common/swaglog.h" +#include "selfdrive/ui/sunnypilot/qt/util.h" #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) { @@ -91,24 +92,30 @@ ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) { locationTitles.push_back(std::get<0>(loc)); } - const QString selection = MultiOptionDialog::getSelection(tr("Country"), locationTitles, currentTitle, this); - if (!selection.isEmpty()) { - params.put("OsmLocal", "1"); - params.put("OsmLocationTitle", selection.toStdString()); - for (auto &loc: locations) { - if (std::get<0>(loc) == selection) { - params.put("OsmLocationName", std::get<1>(loc).toStdString()); - break; + InputDialog d(tr("Search Country"), this, tr("Enter search keywords, or leave blank to list all countries."), false); + d.setMinLength(0); + const int ret = d.exec(); + if (ret) { + const QString selection = search(d.text(), locationTitles, tr("Select Country")); + if (!selection.isEmpty()) { + params.put("OsmLocal", "1"); + params.put("OsmLocationTitle", selection.toStdString()); + for (auto &loc: locations) { + if (std::get<0>(loc) == selection) { + params.put("OsmLocationName", std::get<1>(loc).toStdString()); + break; + } } - } - if (params.get("OsmLocationName") == "US") { - usStatesBtn->click(); - return; - } else if (selection != "== None ==") { - if (showConfirmationDialog(parent)) { - osm_download_in_progress = true; - params.putBool("OsmDbUpdatesCheck", true); - updateLabels(); + if (params.get("OsmLocationName") == "US") { + usStatesBtn->click(); + return; + } + if (selection != "== None ==") { + if (showConfirmationDialog(parent)) { + osm_download_in_progress = true; + params.putBool("OsmDbUpdatesCheck", true); + updateLabels(); + } } } } @@ -135,20 +142,25 @@ ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) { locationTitles.push_back(std::get<0>(loc)); } - const QString selection = MultiOptionDialog::getSelection(tr("State"), locationTitles, currentTitle, this); - if (!selection.isEmpty()) { - params.put("OsmStateTitle", selection.toStdString()); - for (auto &loc: locations) { - if (std::get<0>(loc) == selection) { - params.put("OsmStateName", std::get<1>(loc).toStdString()); - break; + InputDialog d(tr("Search State"), this, tr("Enter search keywords, or leave blank to list all states."), false); + d.setMinLength(0); + const int ret = d.exec(); + if (ret) { + const QString selection = search(d.text(), locationTitles, tr("Select State")); + if (!selection.isEmpty()) { + params.put("OsmStateTitle", selection.toStdString()); + for (auto &loc: locations) { + if (std::get<0>(loc) == selection) { + params.put("OsmStateName", std::get<1>(loc).toStdString()); + break; + } + } + usStatesBtn->setValue(selection); + if (showConfirmationDialog(parent)) { + osm_download_in_progress = true; + params.putBool("OsmDbUpdatesCheck", true); + updateLabels(); } - } - usStatesBtn->setValue(selection); - if (showConfirmationDialog(parent)) { - osm_download_in_progress = true; - params.putBool("OsmDbUpdatesCheck", true); - updateLabels(); } } updateLabels(); @@ -281,3 +293,15 @@ void OsmPanel::updateMapSize() { mapSizeFuture = QtConcurrent::run(getDirSize, MAP_PATH); } } + +QString OsmPanel::search(const QString &query, const QStringList &list, const QString &prompt_text) { + QStringList lst_results = searchFromList(query, list); + QString selection; + + if (lst_results.isEmpty()) { + ConfirmationDialog::alert(tr("No results found for keywords: %1").arg(query), this); + return selection; + } + selection = MultiOptionDialog::getSelection(prompt_text, lst_results, "", this); + return selection; +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h index 171129a11c..e4067d415f 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h @@ -76,6 +76,7 @@ private: void updateDownloadProgress(); static int extractIntFromJson(const QJsonObject &json, const QString &key); QString processUpdateStatus(bool pending_update_check, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state); + QString search(const QString &query, const QStringList &list, const QString &prompt_text); ConfirmationDialog *confirmationDialog; LabelControlSP *mapdVersion; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc index 5415e75ea9..c712442df3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc @@ -13,6 +13,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h" @@ -87,6 +88,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) { PanelInfo(" " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"), PanelInfo(" " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"), PanelInfo(" " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"), + PanelInfo(" " + tr("Display"), new DisplayPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_display.png"), PanelInfo(" " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"), PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"), PanelInfo(" " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"), diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc index 10ead53774..0324cd70f0 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc @@ -49,6 +49,47 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) { "", false, }, + { + "GreenLightAlert", + tr("Green Traffic Light Alert (Beta)"), + QString("%1
" + "

%2


") + .arg(tr("A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.")) + .arg(tr("Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly.")), + "", + false, + }, + { + "LeadDepartAlert", + tr("Lead Departure Alert (Beta)"), + QString("%1
" + "

%2


") + .arg(tr("A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.")) + .arg(tr("Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly.")), + "", + false, + }, + { + "TrueVEgoUI", + tr("Speedometer: Always Display True Speed"), + tr("Always display the true vehicle current speed from wheel speed sensors."), + "", + false, + }, + { + "HideVEgoUI", + tr("Speedometer: Hide from Onroad Screen"), + tr("When enabled, the speedometer on the onroad screen is not displayed."), + "", + false, + }, + { + "ShowTurnSignals", + tr("Display Turn Signals"), + tr("When enabled, visual turn indicators are drawn on the HUD."), + "", + false, + }, }; // Add regular toggles first diff --git a/selfdrive/ui/sunnypilot/qt/onroad/alerts.cc b/selfdrive/ui/sunnypilot/qt/onroad/alerts.cc new file mode 100644 index 0000000000..695f6d2ce8 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/onroad/alerts.cc @@ -0,0 +1,102 @@ +/** + * 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/onroad/alerts.h" + +#include +#include +#include +#include + +OnroadAlerts::Alert OnroadAlertsSP::getAlert(const SubMaster &sm, uint64_t started_frame) { + OnroadAlerts::Alert alert = OnroadAlerts::getAlert(sm, started_frame); + alert.text1.replace("openpilot", "sunnypilot"); + alert.text2.replace("openpilot", "sunnypilot"); + return alert; +} + +void OnroadAlertsSP::paintEvent(QPaintEvent *event) { + if (alert.size == cereal::SelfdriveState::AlertSize::NONE) { + return; + } else if (alert.size == cereal::SelfdriveState::AlertSize::FULL) { + OnroadAlerts::paintEvent(event); + return; + } + static std::map alert_heights = { + {cereal::SelfdriveState::AlertSize::SMALL, 271}, + {cereal::SelfdriveState::AlertSize::MID, 420} + }; + int h = alert_heights[alert.size]; + + QPainter p(this); + QFont topFont; + QFont bottomFont; + QRect topTextBoundingRect; + QRect bottomTextBoundingRect; + QRect rect; + + int margin = 40; + int radius = 30; + + const int dev_ui_info = uiStateSP()->scene.dev_ui_info; + const int v_adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 40 : 0; + const int h_adjustment = dev_ui_info > 0 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 230 : 0; + + if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) { + topFont = InterFont(74, QFont::DemiBold); + QFontMetrics fmTop(topFont); + topTextBoundingRect = fmTop.boundingRect( + QRect(0 + margin, height() - h + margin - v_adjustment, width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap, + alert.text1); + h = topTextBoundingRect.height(); + rect = QRect(0 + margin, height() - h - margin * 2 - v_adjustment, width() - margin * 2 - h_adjustment, h + margin); + } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) { + topFont = InterFont(88, QFont::Bold); + bottomFont = InterFont(66); + QFontMetrics fmTop(topFont); + QFontMetrics fmBotton(bottomFont); + topTextBoundingRect = fmTop.boundingRect( + QRect(0 + margin, height() - h + margin - v_adjustment, width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap, + alert.text1); + bottomTextBoundingRect = fmBotton.boundingRect( + QRect(0 + margin, height() - h + margin - v_adjustment + topTextBoundingRect.height(), + width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap, alert.text2); + h = topTextBoundingRect.height() + bottomTextBoundingRect.height() + margin * 2; + rect = QRect(0 + margin, height() - h - margin * 2 - v_adjustment, width() - margin * 2 - h_adjustment, h + margin); + } + + + // draw background + gradient + // draw background + gradient + p.setPen(Qt::NoPen); + p.setCompositionMode(QPainter::CompositionMode_SourceOver); + p.setBrush(QBrush(alert_colors[alert.status])); + p.drawRoundedRect(rect, radius, radius); + + QLinearGradient g(0, rect.y(), 0, rect.bottom()); + g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05)); + g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35)); + + p.setCompositionMode(QPainter::CompositionMode_DestinationOver); + p.setBrush(QBrush(g)); + p.drawRoundedRect(rect, radius, radius); + p.setCompositionMode(QPainter::CompositionMode_SourceOver); + + // text + p.setPen(QColor(0xff, 0xff, 0xff)); + p.setRenderHint(QPainter::TextAntialiasing); + p.setFont(topFont); + if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) { + p.drawText(rect, Qt::AlignCenter | Qt::TextWordWrap, alert.text1); + } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) { + QRect topText = QRect(rect.x(), rect.top() + margin, rect.width(), topTextBoundingRect.height()); + p.drawText(topText, Qt::AlignHCenter | Qt::AlignTop | Qt::TextWordWrap | Qt::AlignCenter, alert.text1); + p.setFont(bottomFont); + p.drawText(QRect(rect.x(), topText.bottom() + margin, rect.width(), bottomTextBoundingRect.height()), + Qt::AlignHCenter | Qt::TextWordWrap | Qt::AlignCenter, alert.text2); + } +} diff --git a/selfdrive/ui/sunnypilot/qt/onroad/alerts.h b/selfdrive/ui/sunnypilot/qt/onroad/alerts.h new file mode 100644 index 0000000000..8b65309f46 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/onroad/alerts.h @@ -0,0 +1,22 @@ +/** + * 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/onroad/alerts.h" +#include "selfdrive/ui/sunnypilot/ui.h" + +class OnroadAlertsSP : public OnroadAlerts { + Q_OBJECT + +public: + OnroadAlertsSP(QWidget *parent = 0) : OnroadAlerts(parent) {} + +protected: + void paintEvent(QPaintEvent *) override; + Alert getAlert(const SubMaster &sm, uint64_t started_frame); +}; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc index 6da6baef3d..251140ad17 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc @@ -11,7 +11,17 @@ #include "selfdrive/ui/qt/util.h" -HudRendererSP::HudRendererSP() {} +HudRendererSP::HudRendererSP() { + plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105}); + minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105}); + + int small_max = e2e_alert_small * 2 - 40; + int large_max = e2e_alert_large * 2 - 40; + green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {small_max, small_max}); + green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max}); + lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max}); + lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max}); +} void HudRendererSP::updateState(const UIState &s) { HudRenderer::updateState(s); @@ -30,10 +40,14 @@ void HudRendererSP::updateState(const UIState &s) { float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH; speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv; + speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv; speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv; - speedLimitValid = speedLimit > 0; - speedLimitLastValid = speedLimitLast > 0; + speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid(); + speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid(); + speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv; speedLimitMode = static_cast(s.scene.speed_limit_mode); + speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState(); + speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive(); roadName = s.scene.road_name; if (sm.updated("liveMapDataSP")) { roadNameStr = QString::fromStdString(lmd.getRoadName()); @@ -48,10 +62,6 @@ void HudRendererSP::updateState(const UIState &s) { } speedLimitAheadDistancePrev = speedLimitAheadDistance; - if (speedLimitValid) { - speedLimitLast = speedLimit; - } - static int reverse_delay = 0; bool reverse_allowed = false; if (int(car_state.getGearShifter()) != 4) { @@ -97,15 +107,43 @@ void HudRendererSP::updateState(const UIState &s) { standstillTimer = s.scene.standstill_timer; isStandstill = car_state.getStandstill(); + if (not s.scene.started) standstillElapsedTime = 0.0; longOverride = car_control.getCruiseControl().getOverride(); smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled(); smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive(); smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled(); smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive(); + + greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert(); + leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert(); + + // override stock current speed values + float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo(); + speed = std::max(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH)); + hideVEgoUI = s.scene.hideVEgoUI; + + leftBlinkerOn = car_state.getLeftBlinker(); + rightBlinkerOn = car_state.getRightBlinker(); + leftBlindspot = car_state.getLeftBlindspot(); + rightBlindspot = car_state.getRightBlindspot(); + showTurnSignals = s.scene.turn_signals; } void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) { HudRenderer::draw(p, surface_rect); + + e2eAlertDisplayTimer = std::max(0, e2eAlertDisplayTimer - 1); + + p.save(); + + if (is_cruise_available) { + drawSetSpeedSP(p, surface_rect); + } + + if (!hideVEgoUI) { + drawCurrentSpeedSP(p, surface_rect); + } + if (!reversing) { // Smart Cruise Control int x_offset = -260; @@ -148,20 +186,81 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) { drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height()); } - // Standstill Timer - if (standstillTimer) { - drawStandstillTimer(p, surface_rect.right() / 12 * 10, surface_rect.bottom() / 12 * 1.53); + // Speed Limit + bool showSpeedLimit; + bool speed_limit_assist_pre_active_pulse = pulseElement(speedLimitAssistFrame); + + // Position speed limit sign next to set speed box + const int sign_width = is_metric ? 200 : 172; + const int sign_x = is_metric ? 280 : 272; + const int sign_y = 45; + const int sign_height = 204; + QRect sign_rect(sign_x, sign_y, sign_width, sign_height); + + if (speedLimitAssistState == cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) { + speedLimitAssistFrame++; + showSpeedLimit = speed_limit_assist_pre_active_pulse; + drawSpeedLimitPreActiveArrow(p, sign_rect); + } else { + speedLimitAssistFrame = 0; + showSpeedLimit = speedLimitMode != SpeedLimitMode::OFF; } - // Speed Limit - if (speedLimitMode != SpeedLimitMode::OFF) { - drawSpeedLimitSigns(p); - drawUpcomingSpeedLimit(p); + if (showSpeedLimit) { + drawSpeedLimitSigns(p, sign_rect); + + // do not show during SLA's preActive state + if (speedLimitAssistState != cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) { + drawUpcomingSpeedLimit(p); + } } // Road Name drawRoadName(p, surface_rect); + + // Green Light & Lead Depart Alerts + if (greenLightAlert or leadDepartAlert) { + e2eAlertDisplayTimer = 3 * UI_FREQ; + // reset onroad sleep timer for e2e alerts + uiStateSP()->reset_onroad_sleep_timer(); + } + + if (e2eAlertDisplayTimer > 0) { + e2eAlertFrame++; + if (greenLightAlert) { + alert_text = tr("GREEN\nLIGHT"); + alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img; + } + else if (leadDepartAlert) { + alert_text = tr("LEAD VEHICLE\nDEPARTING"); + alert_img = devUiInfo > 0 ? lead_depart_alert_small_img : lead_depart_alert_large_img; + } + drawE2eAlert(p, surface_rect); + } + // Standstill Timer + else if (standstillTimer && isStandstill) { + alert_img = QPixmap(); + + standstillElapsedTime += 1.0 / UI_FREQ; + int minute = static_cast(standstillElapsedTime / 60); + int second = static_cast(standstillElapsedTime - (minute * 60)); + alert_text = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0')); + drawE2eAlert(p, surface_rect, tr("STOPPED")); + e2eAlertFrame++; + } + // No Alerts displayed + else { + e2eAlertFrame = 0; + if (not isStandstill) standstillElapsedTime = 0.0; + } + + // Blinker + if (showTurnSignals) { + drawBlinker(p, surface_rect); + } } + + p.restore(); } void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) { @@ -316,47 +415,11 @@ void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) { rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color); } -void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) { - if (isStandstill) { - standstillElapsedTime += 1.0 / UI_FREQ; - - int minute = static_cast(standstillElapsedTime / 60); - int second = static_cast(standstillElapsedTime - (minute * 60)); - - // stop sign for standstill timer - const int size = 190; // size - const float angle = M_PI / 8.0; - - QPolygon octagon; - for (int i = 0; i < 8; i++) { - float curr_angle = angle + i * M_PI / 4.0; - int point_x = x + size / 2 * cos(curr_angle); - int point_y = y + size / 2 * sin(curr_angle); - octagon << QPoint(point_x, point_y); - } - - p.setPen(QPen(Qt::white, 6)); - p.setBrush(QColor(255, 90, 81, 200)); // red pastel - p.drawPolygon(octagon); - - QString time_str = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0')); - p.setFont(InterFont(55, QFont::Bold)); - p.setPen(Qt::white); - QRect timerTextRect = p.fontMetrics().boundingRect(QString(time_str)); - timerTextRect.moveCenter({x, y}); - p.drawText(timerTextRect, Qt::AlignCenter, QString(time_str)); - } else { - standstillElapsedTime = 0.0; - } -} - -void HudRendererSP::drawSpeedLimitSigns(QPainter &p) { +void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) { + bool speedLimitWarningEnabled = speedLimitMode >= SpeedLimitMode::WARNING; // TODO-SP: update to include SpeedLimitMode::ASSIST bool hasSpeedLimit = speedLimitValid || speedLimitLastValid; - int speedLimitFinal = std::nearbyint(speedLimitValid ? speedLimit : speedLimitLast); - int speedLimitOffsetFinal = speedLimitFinal + std::nearbyint(speedLimitOffset); - bool overspeed = hasSpeedLimit && speedLimitOffsetFinal < std::nearbyint(speed); - bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING; // TODO-SP: update to include SpeedLimitMode::ASSIST - QString speedLimitStr = hasSpeedLimit ? QString::number(speedLimitFinal) : "---"; + bool overspeed = hasSpeedLimit && std::nearbyint(speedLimitFinalLast) < std::nearbyint(speed); + QString speedLimitStr = hasSpeedLimit ? QString::number(std::nearbyint(speedLimitLast)) : "---"; // Offset display text QString speedLimitSubText = ""; @@ -369,13 +432,6 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) { speedLimitSubTextFactor = 0.475; } - // Position next to MAX speed box - const int sign_width = is_metric ? 200 : 172; - const int sign_x = is_metric ? 280 : 272; - const int sign_y = 45; - const int sign_height = 204; - QRect sign_rect(sign_x, sign_y, sign_width, sign_height); - int alpha = 255; QColor red_color = QColor(255, 0, 0, alpha); QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color : @@ -577,3 +633,201 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) { QString truncated = fm.elidedText(roadNameStr, Qt::ElideRight, road_rect.width() - 20); p.drawText(road_rect, Qt::AlignCenter, truncated); } + +void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect) { + const int sign_margin = 12; + const int arrow_spacing = sign_margin * 3; + int arrow_x = sign_rect.right() + arrow_spacing; + + int _set_speed = std::nearbyint(set_speed); + int _speed_limit_final_last = std::nearbyint(speedLimitFinalLast); + + // Calculate the vertical offset using a sinusoidal function for smooth bouncing + double bounce_frequency = 2.0 * M_PI / UI_FREQ; // 20 frames for one full oscillation + int bounce_offset = 20 * sin(speedLimitAssistFrame * bounce_frequency); // Adjust the amplitude (20 pixels) as needed + + if (_set_speed < _speed_limit_final_last) { + QPoint iconPosition(arrow_x, sign_rect.center().y() - plus_arrow_up_img.height() / 2 + bounce_offset); + p.drawPixmap(iconPosition, plus_arrow_up_img); + } else if (_set_speed > _speed_limit_final_last) { + QPoint iconPosition(arrow_x, sign_rect.center().y() - minus_arrow_down_img.height() / 2 - bounce_offset); + p.drawPixmap(iconPosition, minus_arrow_down_img); + } +} + +void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) { + // Draw outer box + border to contain set speed + const QSize default_size = {172, 204}; + QSize set_speed_size = is_metric ? QSize(200, 204) : default_size; + QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size); + + // Draw set speed box + p.setPen(QPen(QColor(255, 255, 255, 75), 6)); + p.setBrush(QColor(0, 0, 0, 166)); + p.drawRoundedRect(set_speed_rect, 32, 32); + + // Colors based on status + QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff); + QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff); + if (is_cruise_set) { + set_speed_color = QColor(255, 255, 255); + if (speedLimitAssistActive) { + set_speed_color = longOverride ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 0xff, 0, 0xff); + max_color = longOverride ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0x80, 0xd8, 0xa6, 0xff); + } else { + if (status == STATUS_DISENGAGED) { + max_color = QColor(255, 255, 255); + } else if (status == STATUS_OVERRIDE) { + max_color = QColor(0x91, 0x9b, 0x95, 0xff); + } else { + max_color = QColor(0x80, 0xd8, 0xa6, 0xff); + } + } + } + + // Draw "MAX" text + p.setFont(InterFont(40, QFont::DemiBold)); + p.setPen(max_color); + p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX")); + + // Draw set speed + QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–"; + p.setFont(InterFont(90, QFont::Bold)); + p.setPen(set_speed_color); + p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr); +} + +void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) { + int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large; + int x = surface_rect.center().x() + surface_rect.width() / 4; + int y = surface_rect.center().y() + 40; + x += devUiInfo > 0 ? 0 : 50; + y += devUiInfo > 0 ? 0 : 80; + QRect alertRect(x - size, y - size, size * 2, size * 2); + + // Alert Circle + QPoint center = alertRect.center(); + QColor frameColor; + if (not alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75); + else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75); + p.setPen(QPen(frameColor, 15)); + p.setBrush(QColor(0, 0, 0, 190)); + p.drawEllipse(center, size, size); + + // Alert Text + QColor txtColor; + QFont font; + int alert_bottom_adjustment; + if (not alert_alt_text.isEmpty()) { + font = InterFont(100, QFont::Bold); + alert_bottom_adjustment = 5; + txtColor = QColor(255, 255, 255, 255); + } else { + font = InterFont(48, QFont::Bold); + alert_bottom_adjustment = 7; + txtColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 255) : QColor(0, 255, 0, 190); + } + p.setPen(txtColor); + p.setFont(font); + QFontMetrics fm(p.font()); + QRect textRect = fm.boundingRect(alertRect, Qt::TextWordWrap, alert_text); + textRect.moveCenter({alertRect.center().x(), alertRect.center().y()}); + textRect.moveBottom(alertRect.bottom() - alertRect.height() / alert_bottom_adjustment); + p.drawText(textRect, Qt::AlignCenter, alert_text); + + if (not alert_alt_text.isEmpty()) { + // Alert Alternate Text + p.setFont(InterFont(80, QFont::Bold)); + p.setPen(QColor(255, 175, 3, 240)); + QFontMetrics fmt(p.font()); + QRect topTextRect = fmt.boundingRect(alertRect, Qt::TextWordWrap, alert_alt_text); + topTextRect.moveCenter({alertRect.center().x(), alertRect.center().y()}); + topTextRect.moveTop(alertRect.top() + alertRect.height() / 3.5); + p.drawText(topTextRect, Qt::AlignCenter, alert_alt_text); + } else { + // Alert Image instead of Top Text + QPointF pixmapCenterOffset = QPointF(alert_img.width() / 2.0, alert_img.height() / 2.0); + QPointF drawPoint = center - pixmapCenterOffset; + p.drawPixmap(drawPoint, alert_img); + } +} + +void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) { + QString speedStr = QString::number(std::nearbyint(speed)); + + p.setFont(InterFont(176, QFont::Bold)); + HudRenderer::drawText(p, surface_rect.center().x(), 210, speedStr); + + p.setFont(InterFont(66)); + HudRenderer::drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200); +} + +void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) { + if (!leftBlinkerOn && !rightBlinkerOn) { + blinkerFrameCounter = 0; + return; + } + ++blinkerFrameCounter; + + const int circleRadius = 44; + const int arrowLength = 44; + const int x_gap = 180; + const int y_offset = 272; + + const int centerX = surface_rect.center().x(); + const bool hazard = leftBlinkerOn && rightBlinkerOn; + + const QPen bgBorder(Qt::white, 5); + const QPen arrowPen(Qt::NoPen); + + p.save(); + + auto drawArrow = [&](int cx, int cy, int dir, const QBrush &arrowBrush) { + const int bodyLength = arrowLength / 2; + const int bodyWidth = arrowLength / 2; + const int headLength = arrowLength / 2; + const int headWidth = arrowLength; + + QPolygon arrow; + arrow.reserve(7); + arrow << QPoint(cx - dir * bodyLength, cy - bodyWidth / 2) + << QPoint(cx, cy - bodyWidth / 2) + << QPoint(cx, cy - headWidth / 2) + << QPoint(cx + dir * headLength, cy) + << QPoint(cx, cy + headWidth / 2) + << QPoint(cx, cy + bodyWidth / 2) + << QPoint(cx - dir * bodyLength, cy + bodyWidth / 2); + + p.setPen(arrowPen); + p.setBrush(arrowBrush); + p.drawPolygon(arrow); + }; + + auto drawCircle = [&](int cx, int cy, const QBrush &bgBrush) { + p.setPen(bgBorder); + p.setBrush(bgBrush); + p.drawEllipse(QPoint(cx, cy), circleRadius, circleRadius); + }; + + struct BlinkerSide { bool on; int dir; bool blocked; int cx; }; + const std::array sides = {{ + {leftBlinkerOn, -1, hazard ? true : (leftBlinkerOn && leftBlindspot), centerX - x_gap}, + {rightBlinkerOn, 1, hazard ? true : (rightBlinkerOn && rightBlindspot), centerX + x_gap}, + }}; + + for (const auto &s: sides) { + if (!s.on) continue; + + QColor bgColor = s.blocked ? QColor(135, 23, 23) : QColor(23, 134, 68); + QColor arrowColor = s.blocked ? QColor(66, 12, 12) : QColor(12, 67, 34); + if (pulseElement(blinkerFrameCounter)) arrowColor = Qt::white; + + const QBrush bgBrush(bgColor); + const QBrush arrowBrush(arrowColor); + + drawCircle(s.cx, y_offset, bgBrush); + drawArrow(s.cx, y_offset, s.dir, arrowBrush); + } + + p.restore(); +} diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h index 1e153f1548..c50e2d641d 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h @@ -31,9 +31,14 @@ private: void drawStandstillTimer(QPainter &p, int x, int y); bool pulseElement(int frame); void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name); - void drawSpeedLimitSigns(QPainter &p); + void drawSpeedLimitSigns(QPainter &p, QRect &sign_rect); void drawUpcomingSpeedLimit(QPainter &p); void drawRoadName(QPainter &p, const QRect &surface_rect); + void drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect); + void drawSetSpeedSP(QPainter &p, const QRect &surface_rect); + void drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text = ""); + void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect); + void drawBlinker(QPainter &p, const QRect &surface_rect); bool lead_status; float lead_d_rel; @@ -77,6 +82,7 @@ private: float speedLimitOffset; bool speedLimitValid; bool speedLimitLastValid; + float speedLimitFinalLast; bool speedLimitAheadValid; float speedLimitAhead; float speedLimitAheadDistance; @@ -85,4 +91,28 @@ private: SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF; bool roadName; QString roadNameStr; + cereal::LongitudinalPlanSP::SpeedLimit::AssistState speedLimitAssistState; + bool speedLimitAssistActive; + int speedLimitAssistFrame; + QPixmap plus_arrow_up_img; + QPixmap minus_arrow_down_img; + int e2e_alert_small = 250; + int e2e_alert_large = 300; + QPixmap green_light_alert_small_img; + QPixmap green_light_alert_large_img; + bool greenLightAlert; + int e2eAlertFrame; + int e2eAlertDisplayTimer = 0; + bool leadDepartAlert; + QPixmap lead_depart_alert_small_img; + QPixmap lead_depart_alert_large_img; + QString alert_text; + QPixmap alert_img; + bool hideVEgoUI; + bool leftBlinkerOn; + bool rightBlinkerOn; + bool leftBlindspot; + bool rightBlindspot; + int blinkerFrameCounter; + bool showTurnSignals; }; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc index b26d1b828a..3f853e3363 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc @@ -25,8 +25,10 @@ void OnroadWindowSP::updateState(const UIStateSP &s) { void OnroadWindowSP::mousePressEvent(QMouseEvent *e) { OnroadWindow::mousePressEvent(e); + uiStateSP()->reset_onroad_sleep_timer(); } void OnroadWindowSP::offroadTransition(bool offroad) { OnroadWindow::offroadTransition(offroad); + uiStateSP()->reset_onroad_sleep_timer(); } diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc index eaf05942a9..be39b297d7 100644 --- a/selfdrive/ui/sunnypilot/qt/util.cc +++ b/selfdrive/ui/sunnypilot/qt/util.cc @@ -95,13 +95,12 @@ QStringList searchFromList(const QString &query, const QStringList &list) { return list; } - QStringList search_terms = query.simplified().toLower().split(" ", QString::SkipEmptyParts); + QStringList search_terms = query.simplified().toLower().replace(QRegularExpression("[^a-zA-Z0-9\\s]"), " ").split(" ", QString::SkipEmptyParts); QStringList search_results; for (const QString &element : list) { if (std::all_of(search_terms.begin(), search_terms.end(), [&](const QString &term) { QString normalized_term = term.normalized(QString::NormalizationForm_KD).toLower(); - normalized_term.remove(QRegularExpression("[^a-zA-Z0-9\\s]")); QString normalized_element = element.normalized(QString::NormalizationForm_KD).toLower(); return normalized_element.contains(normalized_term, Qt::CaseInsensitive); })) { @@ -123,7 +122,3 @@ std::optional loadCerealEvent(Params& params, const std:: return std::nullopt; } } - -bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) { - return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement"); -} diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h index 60a73615ba..4b9d615ce5 100644 --- a/selfdrive/ui/sunnypilot/qt/util.h +++ b/selfdrive/ui/sunnypilot/qt/util.h @@ -23,4 +23,3 @@ std::optional getParamIgnoringDefault(const std::string ¶m_name, co QMap loadPlatformList(); QStringList searchFromList(const QString &query, const QStringList &list); std::optional loadCerealEvent(Params& params, const std::string& _param); -bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp); diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h index 03cb461385..e111ce2fb5 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h @@ -7,6 +7,7 @@ #pragma once +#include #include #include #include @@ -500,7 +501,7 @@ private: int getParamValueScaled() { const auto param_value = QString::fromStdString(params.get(key)); - return static_cast(param_value.toFloat() * 100); + return std::nearbyint(param_value.toFloat() * 100.0f); } void setParamValueScaled(const int new_value) { @@ -544,10 +545,8 @@ public: main_layout->removeWidget(title_label); hlayout->addWidget(title_label, 1); } - if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) { - main_layout->removeItem(spacingItem); - spacingItem = nullptr; - } + main_layout->removeItem(spacingItem); + spacingItem = nullptr; } label.setStyleSheet(label_enabled_style); diff --git a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc index b918938d11..b22684a295 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc +++ b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc @@ -14,10 +14,10 @@ ExpandableToggleRow::ExpandableToggleRow(const QString ¶m, const QString &ti QObject::connect(this, &ExpandableToggleRow::toggleFlipped, this, &ExpandableToggleRow::toggleClicked); collapsibleWidget = new QFrame(this); - collapsibleWidget->setContentsMargins(0, 0, 0, 0); collapsibleWidget->setVisible(false); QVBoxLayout *collapsible_layout = new QVBoxLayout(); collapsibleWidget->setLayout(collapsible_layout); + collapsible_layout->setContentsMargins(0, 0, 0, 0); list = new ListWidgetSP(this, false); diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc index fd7365821c..c021e0e95b 100644 --- a/selfdrive/ui/sunnypilot/ui.cc +++ b/selfdrive/ui/sunnypilot/ui.cc @@ -11,6 +11,15 @@ void UIStateSP::updateStatus() { UIState::updateStatus(); + + if (scene.started && scene.onroadScreenOffControl) { + auto selfdriveState = (*sm)["selfdriveState"].getSelfdriveState(); + if (selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) { + reset_onroad_sleep_timer(); + } else if (scene.onroadScreenOffTimer > 0) { + scene.onroadScreenOffTimer--; + } + } } UIStateSP::UIStateSP(QObject *parent) : UIState(parent) { @@ -55,6 +64,24 @@ void ui_update_params_sp(UIStateSP *s) { 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("RoadNameToggle"); + s->scene.trueVEgoUI = params.getBool("TrueVEgoUI"); + s->scene.hideVEgoUI = params.getBool("HideVEgoUI"); + + // Onroad Screen Brightness + s->scene.onroadScreenOffBrightness = std::atoi(params.get("OnroadScreenOffBrightness").c_str()); + s->scene.onroadScreenOffControl = params.getBool("OnroadScreenOffControl"); + s->scene.onroadScreenOffTimerParam = std::atoi(params.get("OnroadScreenOffTimer").c_str()); + s->reset_onroad_sleep_timer(); + + s->scene.turn_signals = params.getBool("ShowTurnSignals"); +} + +void UIStateSP::reset_onroad_sleep_timer() { + if (scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl) { + scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ; + } else { + scene.onroadScreenOffTimer = -1; + } } DeviceSP::DeviceSP(QObject *parent) : Device(parent) { diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h index 393f997cbd..55dd43ad52 100644 --- a/selfdrive/ui/sunnypilot/ui.h +++ b/selfdrive/ui/sunnypilot/ui.h @@ -61,6 +61,7 @@ public: return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor"; }); } + void reset_onroad_sleep_timer(); signals: void sunnylinkRoleChanged(bool subscriber); diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h index 768cc5d7a1..233f1e15de 100644 --- a/selfdrive/ui/sunnypilot/ui_scene.h +++ b/selfdrive/ui/sunnypilot/ui_scene.h @@ -12,4 +12,10 @@ typedef struct UISceneSP : UIScene { bool standstill_timer = false; int speed_limit_mode = 0; bool road_name = false; + int onroadScreenOffBrightness, onroadScreenOffTimer = 0; + bool onroadScreenOffControl; + int onroadScreenOffTimerParam; + bool trueVEgoUI; + bool hideVEgoUI; + bool turn_signals = false; } UISceneSP; diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index ef7110e72e..4048daf74a 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -464,15 +472,6 @@ Steering lag calibration is complete. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot إعادة التشغيل @@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int تشغيل وضع الراحة + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + التحقق + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -649,6 +727,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HudRendererSP + + km/h + كم/س + + + mph + ميل/س + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + MAX + + HyundaiSettings @@ -767,6 +902,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -790,6 +937,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1048,6 +1223,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1169,10 +1356,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت. - - NVMe drive not mounted. - محرك NVMe غير مثبَّت. - Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. @@ -1211,6 +1394,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1597,6 +1784,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1691,6 +1931,10 @@ Warning: You are on a metered connection! Developer المطور + + Display + + SetupWidget @@ -1927,6 +2171,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + السابق + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + السابق + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2309,6 +2631,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2319,6 +2695,10 @@ Warning: You are on a metered connection! Cancel إلغاء + + Favorites + + VisualsPanel @@ -2362,6 +2742,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index dde9241460..3d90dca182 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -464,15 +472,6 @@ Steering lag calibration is complete. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot Neustart @@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int ENTSPANNTER MODUS AN + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + ÜBERPRÜFEN + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -645,6 +723,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HudRendererSP + + km/h + km/h + + + mph + mph + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + MAX + + HyundaiSettings @@ -759,6 +894,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -782,6 +929,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1040,6 +1215,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1157,10 +1344,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. - - NVMe drive not mounted. - NVMe-Laufwerk nicht gemounted. - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1 @@ -1203,6 +1386,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1577,6 +1764,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1671,6 +1911,10 @@ Warning: You are on a metered connection! Developer Entwickler + + Display + + SetupWidget @@ -1909,6 +2153,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + Zurück + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + Zurück + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2291,6 +2613,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2301,6 +2677,10 @@ Warning: You are on a metered connection! Cancel Abbrechen + + Favorites + + VisualsPanel @@ -2344,6 +2724,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 3b53e7f944..284f63ebf3 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -468,15 +476,6 @@ La calibración del retraso de la dirección está completa. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot Reiniciar @@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int MODO CHILL + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + VERIFICAR + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -649,6 +727,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HudRendererSP + + km/h + km/h + + + mph + mph + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + MAX + + HyundaiSettings @@ -763,6 +898,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -786,6 +933,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1044,6 +1219,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1165,10 +1352,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse. - - NVMe drive not mounted. - Unidad NVMe no montada. - Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. @@ -1207,6 +1390,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1581,6 +1768,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1675,6 +1915,10 @@ Warning: You are on a metered connection! Developer Desarrollador + + Display + + SetupWidget @@ -1911,6 +2155,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2293,6 +2615,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2303,6 +2679,10 @@ Warning: You are on a metered connection! Cancel Cancelar + + Favorites + + VisualsPanel @@ -2346,6 +2726,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 45705defd9..c6c998b723 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -464,15 +472,6 @@ Steering lag calibration is complete. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot Redémarrer @@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int MODE DÉTENTE ACTIVÉ + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + VÉRIFIER + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -645,6 +723,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HudRendererSP + + km/h + km/h + + + mph + mi/h + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + MAX + + HyundaiSettings @@ -759,6 +894,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -782,6 +929,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1040,6 +1215,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1161,10 +1348,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Une mise à jour du système d'exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu'elle sera prête à être installée. - - NVMe drive not mounted. - Le disque NVMe n'est pas monté. - Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. @@ -1203,6 +1386,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1577,6 +1764,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1671,6 +1911,10 @@ Warning: You are on a metered connection! Developer Dév. + + Display + + SetupWidget @@ -1907,6 +2151,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + Retour + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + Retour + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2289,6 +2611,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2299,6 +2675,10 @@ Warning: You are on a metered connection! Cancel Annuler + + Favorites + + VisualsPanel @@ -2342,6 +2722,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 3faa183954..b6a29a867c 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -468,15 +476,6 @@ Steering lag calibration is complete. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot 再起動 @@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int CHILLモード + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + 確認 + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -648,6 +726,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 最大速度 + + HudRendererSP + + km/h + km/h + + + mph + mph + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + 最大速度 + + HyundaiSettings @@ -761,6 +896,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -784,6 +931,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1042,6 +1217,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1159,10 +1346,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. オペレーティングシステムがバックグラウンドでダウンロードされています。インストールの準備が整うと更新を促されます。 - - NVMe drive not mounted. - SSDドライブ(NVMe)がマウントされていません。 - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 デバイスの温度が高すぎるためシステム起動前の冷却中です。現在のデバイス内部温度: %1 @@ -1205,6 +1388,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1576,6 +1763,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1670,6 +1910,10 @@ Warning: You are on a metered connection! Developer 開発 + + Display + + SetupWidget @@ -1906,6 +2150,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + 戻る + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + 戻る + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2288,6 +2610,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2298,6 +2674,10 @@ Warning: You are on a metered connection! Cancel キャンセル + + Favorites + + VisualsPanel @@ -2341,6 +2721,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 756cad6045..f3ec6b69e8 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -134,14 +134,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - 밝기 - - - Overrides the brightness of the device. - 기기 밝기를 직접 설정합니다. - Auto (Dark) 자동 (어둡게) @@ -150,6 +142,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto 자동 + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -254,6 +254,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. 빠른 부팅 모드는 업데이트가 비활성화되어 있어야 합니다.<br>먼저 소프트웨어 패널에서 '업데이트 비활성화'를 활성화하세요. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -472,16 +480,6 @@ Steering lag calibration is complete. Wake-Up Behavior 깨우기 동작 - - Interactivity Timeout - 상호작용 타임아웃 - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - 설정 화면에 사용자 지정 타임아웃을 적용하세요. -사용자가 화면과 상호작용하지 않으면 설정 화면이 자동으로 닫히는 시간입니다. - Reboot 재부팅 @@ -526,10 +524,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad 항상 오프로드 종료 - - Always Offroad - 항상 오프로드 - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. ⁍ 기본값: 기기가 정상적으로 부팅/절전 모드에서 해제되며, 작동 준비가 완료됩니다. @@ -542,6 +536,35 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. 부팅/절전 모드 후 기기의 상태를 제어합니다. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + 상호작용 타임아웃 + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + 설정 화면에 사용자 지정 타임아웃을 적용하세요. +사용자가 화면과 상호작용하지 않으면 설정 화면이 자동으로 닫히는 시간입니다. + DriveStats @@ -603,6 +626,61 @@ This is the time after which settings UI closes automatically if user is not int 안정 모드 켜짐 + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + 확인 + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -655,6 +733,63 @@ Firehose 모드를 사용하면 훈련 데이터 업로드를 극대화하여 op 최대 + + HudRendererSP + + km/h + km/h + + + mph + mph + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + 분 + + + mi + + + + ft + + + + AHEAD + + + + MAX + 최대 + + HyundaiSettings @@ -768,6 +903,18 @@ Firehose 모드를 사용하면 훈련 데이터 업로드를 극대화하여 op This platform supports limited MADS settings. 이 플랫폼은 제한된 MADS 설정을 지원합니다. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -791,6 +938,34 @@ Firehose 모드를 사용하면 훈련 데이터 업로드를 극대화하여 op Start the vehicle to check vehicle compatibility. 차량 호환성을 확인하려면 차량 시동을 걸어주세요. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1050,6 +1225,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1167,10 +1354,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. 기기 운영체제 업데이트가 백그라운드에서 다운로드 중입니다. 설치가 준비되면 업데이트를 진행하라는 메시지가 표시됩니다. - - NVMe drive not mounted. - NVMe 드라이브가 마운트되지 않았습니다. - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 기기 온도가 너무 높습니다. 시스템이 시작하기 전에 온도를 낮추고 있습니다. 현재 내부 부품 온도는 %1입니다. @@ -1215,6 +1398,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1590,6 +1777,59 @@ Warning: You are on a metered connection! sunnypilot sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1684,6 +1924,10 @@ Warning: You are on a metered connection! Developer 개발자 + + Display + + SetupWidget @@ -1920,6 +2164,84 @@ Warning: You are on a metered connection! 이 설정들을 변경하려면 항상 오프로드 모드를 활성화하거나 차량 시동을 꺼야 합니다. + + SpeedLimitPolicy + + Back + 뒤로 + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + 뒤로 + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2302,6 +2624,60 @@ Warning: You are on a metered connection! 실험 모드를 활성화하려면 sunnypilot 가감속 제어(알파) 토글을 켜세요. + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2312,6 +2688,10 @@ Warning: You are on a metered connection! Cancel 취소 + + Favorites + + VisualsPanel @@ -2355,6 +2735,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). 앞차를 추적하는 역삼각형 아래에 유용한 측정 지표를 표시합니다. (openpilot 가감속 제어 기능이 있는 차량에만 해당됩니다) + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 0a886d435c..e820f472af 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -468,15 +476,6 @@ A calibração do atraso da direção foi concluída. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot Reiniciar @@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int MODO CHILL ON + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + VERIFICAR + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -649,6 +727,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp LIMITE + + HudRendererSP + + km/h + km/h + + + mph + mph + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + LIMITE + + HyundaiSettings @@ -763,6 +898,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -786,6 +933,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1044,6 +1219,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1161,10 +1348,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar. - - NVMe drive not mounted. - Unidade NVMe não montada. - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1 @@ -1207,6 +1390,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1581,6 +1768,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1675,6 +1915,10 @@ Warning: You are on a metered connection! Developer Desenvdor + + Display + + SetupWidget @@ -1911,6 +2155,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + Voltar + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + Voltar + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2293,6 +2615,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2303,6 +2679,10 @@ Warning: You are on a metered connection! Cancel Cancelar + + Favorites + + VisualsPanel @@ -2346,6 +2726,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 7b89f2a694..67a5a5eaeb 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -464,15 +472,6 @@ Steering lag calibration is complete. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot รีบูต @@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int คุณกำลังใช้โหมดชิล + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + ตรวจสอบ + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -644,6 +722,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp สูงสุด + + HudRendererSP + + km/h + กม./ชม. + + + mph + ไมล์/ชม. + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + สูงสุด + + HyundaiSettings @@ -757,6 +892,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -780,6 +927,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1038,6 +1213,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1159,10 +1346,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. กำลังดาวน์โหลดอัปเดทสำหรับระบบปฏิบัติการอยู่เบื้องหลัง คุณจะได้รับการแจ้งเตือนเมื่อระบบพร้อมสำหรับการติดตั้ง - - NVMe drive not mounted. - ไม่ได้ติดตั้งไดร์ฟ NVMe - Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. @@ -1201,6 +1384,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1572,6 +1759,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1666,6 +1906,10 @@ Warning: You are on a metered connection! Developer นักพัฒนา + + Display + + SetupWidget @@ -1902,6 +2146,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + ย้อนกลับ + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + ย้อนกลับ + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2284,6 +2606,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2294,6 +2670,10 @@ Warning: You are on a metered connection! Cancel ยกเลิก + + Favorites + + VisualsPanel @@ -2337,6 +2717,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 0598d08364..923ab69139 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -464,15 +472,6 @@ Steering lag calibration is complete. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot Yeniden başlat @@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + KONTROL ET + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -644,6 +722,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HudRendererSP + + km/h + km/h + + + mph + mph + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + MAX + + HyundaiSettings @@ -757,6 +892,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -780,6 +927,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1038,6 +1213,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1158,10 +1345,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - - NVMe drive not mounted. - - Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. @@ -1200,6 +1383,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1571,6 +1758,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1665,6 +1905,10 @@ Warning: You are on a metered connection! Developer + + Display + + SetupWidget @@ -1901,6 +2145,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2283,6 +2605,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2293,6 +2669,10 @@ Warning: You are on a metered connection! Cancel + + Favorites + + VisualsPanel @@ -2336,6 +2716,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 1f4db2d6d0..3be9377503 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -468,15 +476,6 @@ Steering lag calibration is complete. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot 重启 @@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int 轻松模式运行 + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + 查看 + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -648,6 +726,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 最高定速 + + HudRendererSP + + km/h + km/h + + + mph + mph + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + 最高定速 + + HyundaiSettings @@ -761,6 +896,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -784,6 +931,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1042,6 +1217,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1159,10 +1346,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. 一个针对您设备的操作系统更新正在后台下载中。当更新准备好安装时，您将收到提示进行更新。 - - NVMe drive not mounted. - NVMe固态硬盘未被挂载。 - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1 @@ -1205,6 +1388,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1576,6 +1763,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1670,6 +1910,10 @@ Warning: You are on a metered connection! Developer 开发人员 + + Display + + SetupWidget @@ -1906,6 +2150,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + 返回 + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + 返回 + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2288,6 +2610,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2298,6 +2674,10 @@ Warning: You are on a metered connection! Cancel 取消 + + Favorites + + VisualsPanel @@ -2341,6 +2721,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 1a8784846c..fac29bed62 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Brightness - - Brightness - - - - Overrides the brightness of the device. - - Auto (Dark) @@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Auto + + Global Brightness + + + + Overrides the brightness of the device. This applies to both onroad and offroad screens. + + ConfirmationDialog @@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first. + + Enable Copyparty service + + + + Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP. + + DevicePanel @@ -468,15 +476,6 @@ Steering lag calibration is complete. Wake-Up Behavior - - Interactivity Timeout - - - - Apply a custom timeout for settings UI. -This is the time after which settings UI closes automatically if user is not interacting with the screen. - - Reboot 重新啟動 @@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int Exit Always Offroad - - Always Offroad - - ⁍ Default: Device will boot/wake-up normally & will be ready to engage. @@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int Controls state of the device after boot/sleep. + + Onroad Uploads + + + + Enable Always Offroad + + + + + DisplayPanel + + Onroad Screen: Reduced Brightness + + + + Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed. + + + + Interactivity Timeout + + + + Apply a custom timeout for settings UI. +This is the time after which settings UI closes automatically if user is not interacting with the screen. + + DriveStats @@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int 輕鬆模式 ON + + ExternalStorageControl + + External Storage + + + + Extend your comma device's storage by inserting a USB drive into the aux port. + + + + CHECK + 檢查 + + + MOUNT + + + + UNMOUNT + + + + FORMAT + + + + Are you sure you want to format this drive? This will erase all data. + + + + Format + + + + formatting + + + + insert drive + + + + needs format + + + + mounting + + + + unmounting + + + FirehosePanel @@ -648,6 +726,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 最高 + + HudRendererSP + + km/h + km/h + + + mph + mph + + + GREEN +LIGHT + + + + LEAD VEHICLE +DEPARTING + + + + SPEED + + + + LIMIT + + + + Near + + + + km + + + + m + + + + mi + + + + ft + + + + AHEAD + + + + MAX + 最高 + + HyundaiSettings @@ -761,6 +896,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp This platform supports limited MADS settings. + + Enforce Torque Lateral Control + + + + Enable this to enforce sunnypilot to steer with Torque lateral control. + + + + Customize Params + + LongitudinalPanel @@ -784,6 +931,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Start the vehicle to check vehicle compatibility. + + Intelligent Cruise Button Management (ICBM) (Alpha) + + + + When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control. + + + + Smart Cruise Control - Vision + + + + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. + + + + Smart Cruise Control - Map + + + + Use map data to estimate the appropriate speed to drive through turns ahead. + + + + Speed Limit + + MadsSettings @@ -1042,6 +1217,18 @@ The default software delay value is 0.2 Total Delay: + + Use Lane Turn Desires + + + + Adjust Lane Turn Speed + + + + Set the maximum speed for lane turn desires. Default is 19 %1. + + MultiOptionDialog @@ -1159,10 +1346,6 @@ The default software delay value is 0.2 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. 一個有關操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。 - - NVMe drive not mounted. - NVMe 固態硬碟未被掛載。 - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 裝置溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1 @@ -1205,6 +1388,10 @@ The default software delay value is 0.2 %1 + + <b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three. + + OffroadHome @@ -1576,6 +1763,59 @@ Warning: You are on a metered connection! sunnypilot + + None + + + + Fixed + + + + Percent + + + + Car +Only + + + + Map +Only + + + + Car +First + + + + Map +First + + + + Combined +Data + + + + Off + + + + Information + + + + Warning + + + + Assist + + SettingsWindow @@ -1670,6 +1910,10 @@ Warning: You are on a metered connection! Developer 開發人員 + + Display + + SetupWidget @@ -1906,6 +2150,84 @@ Warning: You are on a metered connection! + + SpeedLimitPolicy + + Back + 回上頁 + + + Speed Limit Source + + + + ⦿ Car Only: Use Speed Limit data only from Car + + + + ⦿ Map Only: Use Speed Limit data only from OpenStreetMaps + + + + ⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps + + + + ⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car + + + + ⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps + + + + + SpeedLimitSettings + + Back + 回上頁 + + + Speed Limit + + + + Customize Source + + + + Speed Limit Offset + + + + ⦿ None: No Offset + + + + ⦿ Fixed: Adds a fixed offset [Speed Limit + Offset] + + + + ⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)] + + + + ⦿ Off: Disables the Speed Limit functions. + + + + ⦿ Information: Displays the current road's speed limit. + + + + ⦿ Warning: Provides a warning when exceeding the current road's speed limit. + + + + ⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons. + + + SshControl @@ -2288,6 +2610,60 @@ Warning: You are on a metered connection! + + TorqueLateralControlCustomParams + + Manual Real-Time Tuning + + + + Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values. + + + + Lateral Acceleration Factor + + + + Friction + + + + Real-time and Offline + + + + Offline Only + + + + + TorqueLateralControlSettings + + Self-Tune + + + + Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default. + + + + Less Restrict Settings for Self-Tune (Beta) + + + + Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values. + + + + Enable Custom Tuning + + + + Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also be used live when "Manual Real-Time Tuning" toggle is enabled. + + + TreeOptionDialog @@ -2298,6 +2674,10 @@ Warning: You are on a metered connection! Cancel 取消 + + Favorites + + VisualsPanel @@ -2341,6 +2721,91 @@ Warning: You are on a metered connection! Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control). + + Enable Tesla Rainbow Mode + + + + A beautiful rainbow effect on the path the model wants to take. + + + + It + + + + does not + + + + affect driving in any way. + + + + Enable Standstill Timer + + + + Show a timer on the HUD when the car is at a standstill. + + + + Display Road Name + + + + 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. + + + + Green Traffic Light Alert (Beta) + + + + A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. + + + + Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly. + + + + Lead Departure Alert (Beta) + + + + A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. + + + + Speedometer: Always Display True Speed + + + + Always display the true vehicle current speed from wheel speed sensors. + + + + Speedometer: Hide from Onroad Screen + + + + Right + + + + Right && +Bottom + + + + Developer UI + + + + Display real-time parameters and metrics from various sources. + + WiFiPromptWidget diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 4cad883f7d..6bca2b7f7f 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -204,6 +204,13 @@ void Device::updateBrightness(const UIState &s) { brightness = 0; } + // Onroad Brightness Control +#ifdef SUNNYPILOT + if (awake && s.scene.started && s.scene.onroadScreenOffControl && s.scene.onroadScreenOffTimer == 0) { + brightness = s.scene.onroadScreenOffBrightness * 0.01 * brightness; + } +#endif + if (brightness != last_brightness) { if (!brightness_future.isRunning()) { brightness_future = QtConcurrent::run(Hardware::set_brightness, brightness); diff --git a/sunnypilot/__init__.py b/sunnypilot/__init__.py index ab5441aa71..dd9870597d 100644 --- a/sunnypilot/__init__.py +++ b/sunnypilot/__init__.py @@ -4,4 +4,15 @@ 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. """ + +import hashlib + PARAMS_UPDATE_PERIOD = 3 # seconds + + +def get_file_hash(path: str) -> str: + sha256_hash = hashlib.sha256() + with open(path, "rb") as f: + for byte_block in iter(lambda: f.read(4096), b""): + sha256_hash.update(byte_block) + return sha256_hash.hexdigest() diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py index 70b590a8b2..f9c4057bab 100644 --- a/sunnypilot/mads/helpers.py +++ b/sunnypilot/mads/helpers.py @@ -9,6 +9,10 @@ from openpilot.common.params import Params from opendbc.car import structs from opendbc.safety import ALTERNATIVE_EXPERIENCE from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP +from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP + + +MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla") class MadsSteeringModeOnBrake: @@ -17,20 +21,25 @@ class MadsSteeringModeOnBrake: DISENGAGE = 2 -def get_mads_limited_brands(CP: structs.CarParams) -> bool: - return CP.brand in ("rivian", "tesla") +def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool: + if CP.brand == 'rivian': + return True + if CP.brand == 'tesla': + return not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS + + return False -def read_steering_mode_param(CP: structs.CarParams, params: Params): - if get_mads_limited_brands(CP): +def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params): + if get_mads_limited_brands(CP, CP_SP): return MadsSteeringModeOnBrake.DISENGAGE return params.get("MadsSteeringMode", return_default=True) -def set_alternative_experience(CP: structs.CarParams, params: Params): +def set_alternative_experience(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params): enabled = params.get_bool("Mads") - steering_mode = read_steering_mode_param(CP, params) + steering_mode = read_steering_mode_param(CP, CP_SP, params) if enabled: CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS @@ -53,9 +62,12 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p # MADS Partial Support # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms - # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling - mads_partial_support = get_mads_limited_brands(CP) + # TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling + mads_partial_support = get_mads_limited_brands(CP, CP_SP) if mads_partial_support: params.put("MadsSteeringMode", 2) params.put_bool("MadsUnifiedEngagementMode", True) + + # no ACC MAIN button for these brands + if CP.brand in MADS_NO_ACC_MAIN_BUTTON: params.remove("MadsMainCruiseAllowed") diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index f16b688358..7eab55e6ea 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -10,7 +10,7 @@ from cereal import log, custom from opendbc.car import structs from opendbc.car.hyundai.values import HyundaiFlags from openpilot.common.params import Params -from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, get_mads_limited_brands +from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, MADS_NO_ACC_MAIN_BUTTON from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState @@ -27,6 +27,7 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) class ModularAssistiveDrivingSystem: def __init__(self, selfdrive): self.CP = selfdrive.CP + self.CP_SP = selfdrive.CP_SP self.params = selfdrive.params self.enabled = False @@ -43,14 +44,16 @@ class ModularAssistiveDrivingSystem: if self.CP.brand == "hyundai": if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD): self.allow_always = True + if self.CP.brand == "tesla": + self.allow_always = True - if get_mads_limited_brands(self.CP): + if self.CP.brand in MADS_NO_ACC_MAIN_BUTTON: self.no_main_cruise = True # read params on init self.enabled_toggle = self.params.get_bool("Mads") self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed") - self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.params) + self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.CP_SP, self.params) self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode") def read_params(self): @@ -58,6 +61,7 @@ class ModularAssistiveDrivingSystem: self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode") def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool: + # ignore `pedalPressed` events caused by gas presses if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.selfdrive.CS_prev.gasPressed and self.disengage_on_accelerator): return True @@ -102,12 +106,13 @@ class ModularAssistiveDrivingSystem: def update_events(self, CS: structs.CarState): if not self.selfdrive.enabled and self.enabled: - if self.events.has(EventName.doorOpen): - self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen) - self.transition_paused_state() - if self.events.has(EventName.seatbeltNotLatched): - self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched) - self.transition_paused_state() + if CS.standstill: + if self.events.has(EventName.doorOpen): + self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen) + self.transition_paused_state() + if self.events.has(EventName.seatbeltNotLatched): + self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched) + self.transition_paused_state() if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse): self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear) self.transition_paused_state() diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py index e49ff8c64e..08d17376d6 100755 --- a/sunnypilot/mapd/mapd_installer.py +++ b/sunnypilot/mapd/mapd_installer.py @@ -22,7 +22,7 @@ from openpilot.system.version import is_prebuilt from openpilot.sunnypilot.mapd import MAPD_PATH, MAPD_BIN_DIR import openpilot.system.sentry as sentry -VERSION = 'v1.11.0' +VERSION = "v1.12.0" URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd" diff --git a/sunnypilot/mapd/tests/__init__.py b/sunnypilot/mapd/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/sunnypilot/mapd/tests/mapd_hash b/sunnypilot/mapd/tests/mapd_hash new file mode 100644 index 0000000000..0322ea97ca --- /dev/null +++ b/sunnypilot/mapd/tests/mapd_hash @@ -0,0 +1 @@ +fdb3b49ee19956e6ce09fdc3373cbba557f1263b2180e9f344c1d4053852284b \ No newline at end of file diff --git a/sunnypilot/mapd/tests/test_mapd_version.py b/sunnypilot/mapd/tests/test_mapd_version.py new file mode 100644 index 0000000000..5619d2ec29 --- /dev/null +++ b/sunnypilot/mapd/tests/test_mapd_version.py @@ -0,0 +1,19 @@ +""" +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. +""" +from openpilot.sunnypilot import get_file_hash +from openpilot.sunnypilot.mapd import MAPD_PATH +from openpilot.sunnypilot.mapd.update_version import MAPD_HASH_PATH + + +class TestMapdVersion: + def test_compare_versions(self): + mapd_hash = get_file_hash(MAPD_PATH) + + with open(MAPD_HASH_PATH) as f: + current_hash = f.read().strip() + + assert current_hash == mapd_hash, "Run sunnypilot/mapd/update_version.py to update the current mapd version and hash" diff --git a/sunnypilot/mapd/update_version.py b/sunnypilot/mapd/update_version.py new file mode 100755 index 0000000000..c5e08b3f8f --- /dev/null +++ b/sunnypilot/mapd/update_version.py @@ -0,0 +1,97 @@ +#!/usr/bin/env python3 +""" +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. +""" +import argparse +import os +import re + +from openpilot.sunnypilot import get_file_hash +from openpilot.common.basedir import BASEDIR +from openpilot.sunnypilot.mapd import MAPD_PATH + +MAPD_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "tests", "mapd_hash") +MAPD_VERSION_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "mapd_installer.py") + + +def update_mapd_hash(): + mapd_hash = get_file_hash(MAPD_PATH) + + with open(MAPD_HASH_PATH, "w") as f: + f.write(mapd_hash) + + print(f"Generated and updated new mapd hash to {MAPD_HASH_PATH}") + + +def get_current_mapd_version(path: str) -> str: + print("[GET CURRENT MAPD VERSION]") + with open(path) as f: + for line in f: + if line.strip().startswith("VERSION"): + # Match VERSION = 'v1.11.0' or VERSION="v1.11.0" (with optional spaces) + match = re.search(r'VERSION\s*=\s*[\'"]([^\'"]+)[\'"]', line) + if match: + ver = match.group(1) + print(f'Current mapd version: "{ver}"') + return ver + else: + print("[ERROR] VERSION line found but no quoted value detected.") + return "" + print("[ERROR] VERSION not found in file!") + return "" + + +def update_mapd_version(ver: str, path: str): + print("[CHANGE CURRENT MAPD VERSION]") + + with open(path) as f: + lines = f.readlines() + + found = False + new_lines = [] + for line in lines: + if not found and line.startswith("VERSION ="): + new_lines.append(f'VERSION = "{ver}"\n') + found = True + new_lines.extend(lines[lines.index(line) + 1:]) + break + else: + new_lines.append(line) + + if not found: + print("[ERROR] VERSION line not found! Aborting without writing.") + return + + with open(path, "w") as f: + f.writelines(new_lines) + + print(f'New mapd version: "{ver}"') + print("[DONE]") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Update mapd version and hash") + parser.add_argument("--new_ver", type=str, help="New mapd version") + args = parser.parse_args() + + if not args.new_ver: + print("Warning: No new mapd version provided. Use --new_ver to specify") + print("Example:") + print(" python sunnypilot/mapd/update_version.py --new_ver \"v1.12.0\"") + print("Current mapd version and hash will not be updated! (aborted)") + exit(0) + + current_ver = get_current_mapd_version(MAPD_VERSION_PATH) + new_ver = f"{args.new_ver}" + if current_ver == new_ver: + print(f'Proposed mapd version: "{new_ver}"') + confirm = input("Proposed mapd version is the same as the current mapd version. Confirm? (y/n): ").upper().strip() + if confirm != "Y": + print("Current mapd version and hash will not be updated! (aborted)") + exit(0) + + update_mapd_version(new_ver, MAPD_VERSION_PATH) + update_mapd_hash() diff --git a/sunnypilot/mapd/version.py b/sunnypilot/mapd/version.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py index 718c910c5c..0260a3c3bc 100755 --- a/sunnypilot/models/default_model.py +++ b/sunnypilot/models/default_model.py @@ -3,6 +3,7 @@ import os import hashlib from openpilot.common.basedir import BASEDIR +from openpilot.sunnypilot import get_file_hash DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h") MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash") @@ -10,14 +11,6 @@ VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "drivi POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx") -def get_file_hash(path: str) -> str: - sha256_hash = hashlib.sha256() - with open(path, "rb") as f: - for byte_block in iter(lambda: f.read(4096), b""): - sha256_hash.update(byte_block) - return sha256_hash.hexdigest() - - def update_model_hash(): vision_hash = get_file_hash(VISION_ONNX_PATH) policy_hash = get_file_hash(POLICY_ONNX_PATH) diff --git a/sunnypilot/models/tests/test_default_model.py b/sunnypilot/models/tests/test_default_model.py index 5067dbaf46..7c2fde70a8 100644 --- a/sunnypilot/models/tests/test_default_model.py +++ b/sunnypilot/models/tests/test_default_model.py @@ -1,4 +1,12 @@ -from openpilot.sunnypilot.models.default_model import get_file_hash, MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH +""" +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. +""" + +from openpilot.sunnypilot import get_file_hash +from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH import hashlib diff --git a/sunnypilot/selfdrive/assets/images/green_light.png b/sunnypilot/selfdrive/assets/images/green_light.png new file mode 100644 index 0000000000..2da2c13a82 --- /dev/null +++ b/sunnypilot/selfdrive/assets/images/green_light.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3aa5ec9ac1daee6a549e62647d90bcaa66d2485f7df7f386ff902fcfb04c1716 +size 6583 diff --git a/sunnypilot/selfdrive/assets/images/lead_depart.png b/sunnypilot/selfdrive/assets/images/lead_depart.png new file mode 100644 index 0000000000..6030ee67cf --- /dev/null +++ b/sunnypilot/selfdrive/assets/images/lead_depart.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:087db35bd469e85aefe3b45636f11ab3e8b55ceb7bc94ea059cfd9a69c2f338f +size 8914 diff --git a/sunnypilot/selfdrive/assets/img_minus_arrow_down.png b/sunnypilot/selfdrive/assets/img_minus_arrow_down.png new file mode 100644 index 0000000000..250f640585 --- /dev/null +++ b/sunnypilot/selfdrive/assets/img_minus_arrow_down.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f4a0bf26cfd2c64939759d43bee839aadfd017a6f74065095a27b03615e55a4 +size 26627 diff --git a/sunnypilot/selfdrive/assets/img_plus_arrow_up.png b/sunnypilot/selfdrive/assets/img_plus_arrow_up.png new file mode 100644 index 0000000000..14c1529da3 --- /dev/null +++ b/sunnypilot/selfdrive/assets/img_plus_arrow_up.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e451ff31e9b3f144822ab282b8e47cd5a603ca59ff94bd1849271181b86c6b1 +size 29220 diff --git a/sunnypilot/selfdrive/assets/offroad/icon_display.png b/sunnypilot/selfdrive/assets/offroad/icon_display.png new file mode 100644 index 0000000000..547977f522 --- /dev/null +++ b/sunnypilot/selfdrive/assets/offroad/icon_display.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:614767308d435d165a9ab78e3eac22ee15697d94066df8200ef32afb33ef8d60 +size 5698 diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py index 7e6f300d73..97ce26429c 100644 --- a/sunnypilot/selfdrive/car/car_specific.py +++ b/sunnypilot/selfdrive/car/car_specific.py @@ -18,9 +18,9 @@ GearShifter = structs.CarState.GearShifter class CarSpecificEventsSP: - def __init__(self, CP: structs.CarParams, params): + def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP): self.CP = CP - self.params = params + self.CP_SP = CP_SP self.low_speed_alert = False @@ -42,4 +42,10 @@ class CarSpecificEventsSP: if self.low_speed_alert: events.add(EventName.belowSteerSpeed) + elif self.CP.brand == 'toyota': + if self.CP.openpilotLongitudinalControl: + if CS.cruiseState.standstill and not CS.brakePressed and self.CP_SP.enableGasInterceptor: + if events.has(EventName.resumeRequired): + events.remove(EventName.resumeRequired) + return events_sp diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/sunnypilot/selfdrive/car/cruise_ext.py index 716e3e1c93..3691c35972 100644 --- a/sunnypilot/selfdrive/car/cruise_ext.py +++ b/sunnypilot/selfdrive/car/cruise_ext.py @@ -6,18 +6,24 @@ See the LICENSE.md file in the root directory for more details. """ import numpy as np -from cereal import car +from cereal import car, custom from opendbc.car import structs +from openpilot.common.constants import CV from openpilot.common.params import Params from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import ACTIVE_STATES as SLA_ACTIVE_STATES +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target ButtonType = car.CarState.ButtonEvent.Type +SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState CRUISE_BUTTON_TIMER = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.setCruise: 0, ButtonType.resumeCruise: 0, ButtonType.cancel: 0, ButtonType.mainCruise: 0} V_CRUISE_MIN = 8 +V_CRUISE_MAX = 145 +V_CRUISE_UNSET = 255 def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarState.ButtonEvent.Type, int]) -> None: @@ -32,11 +38,12 @@ def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarSta button_timers[b.type.raw] = 1 if b.pressed else 0 - class VCruiseHelperSP: def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> None: self.CP = CP self.CP_SP = CP_SP + self.v_cruise_kph = V_CRUISE_UNSET + self.v_cruise_cluster_kph = V_CRUISE_UNSET self.params = Params() self.v_cruise_min = 0 self.enabled_prev = False @@ -47,6 +54,16 @@ class VCruiseHelperSP: self.enable_button_timers = CRUISE_BUTTON_TIMER + # Speed Limit Assist + self.sla_state = SpeedLimitAssistState.disabled + self.prev_sla_state = SpeedLimitAssistState.disabled + self.has_speed_limit = False + self.speed_limit_final_last = 0. + self.speed_limit_final_last_kph = 0. + self.prev_speed_limit_final_last_kph = 0. + self.req_plus = False + self.req_minus = False + def read_custom_set_speed_params(self) -> None: self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled") self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True) @@ -89,3 +106,33 @@ class VCruiseHelperSP: return enabled and self.enabled_prev return enabled + + def update_speed_limit_assist(self, is_metric, LP_SP: custom.LongitudinalPlanSP) -> None: + resolver = LP_SP.speedLimit.resolver + self.has_speed_limit = resolver.speedLimitValid or resolver.speedLimitLastValid + self.speed_limit_final_last = LP_SP.speedLimit.resolver.speedLimitFinalLast + self.speed_limit_final_last_kph = self.speed_limit_final_last * CV.MS_TO_KPH + self.sla_state = LP_SP.speedLimit.assist.state + self.req_plus, self.req_minus = compare_cluster_target(self.v_cruise_cluster_kph * CV.KPH_TO_MS, + self.speed_limit_final_last, is_metric) + + @property + def update_speed_limit_final_last_changed(self) -> bool: + return self.has_speed_limit and bool(self.speed_limit_final_last_kph != self.prev_speed_limit_final_last_kph) + + def update_speed_limit_assist_pre_active_confirmed(self, button_type: car.CarState.ButtonEvent.Type) -> bool: + if self.sla_state == SpeedLimitAssistState.preActive or self.prev_sla_state == SpeedLimitAssistState.preActive: + if button_type == ButtonType.decelCruise and self.req_minus: + return True + if button_type == ButtonType.accelCruise and self.req_plus: + return True + + return False + + def update_speed_limit_assist_v_cruise_non_pcm(self) -> None: + if self.sla_state in SLA_ACTIVE_STATES and (self.prev_sla_state not in SLA_ACTIVE_STATES or + self.update_speed_limit_final_last_changed): + self.v_cruise_kph = np.clip(round(self.speed_limit_final_last_kph, 1), self.v_cruise_min, V_CRUISE_MAX) + + self.prev_sla_state = self.sla_state + self.prev_speed_limit_final_last_kph = self.speed_limit_final_last_kph diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py index 55244caa57..ed0c11fb19 100644 --- a/sunnypilot/selfdrive/car/interfaces.py +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -22,8 +22,18 @@ def log_fingerprint(CP: structs.CarParams) -> None: sentry.capture_fingerprint(CP.carFingerprint, CP.brand) -def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, - params: Params = None, enabled: bool = False) -> None: +def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params = None, enabled: bool = False) -> bool: + if params is None: + params = Params() + + if CP.steerControlType != structs.CarParams.SteerControlType.angle: + enabled = params.get_bool("EnforceTorqueControl") + + return enabled + + +def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, + params: Params = None, enabled: bool = False) -> bool: if params is None: params = Params() @@ -35,13 +45,12 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs if nnlc_model_name != "MOCK" and CP.steerControlType != structs.CarParams.SteerControlType.angle: enabled = params.get_bool("NeuralNetworkLateralControl") - if enabled: - CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning) - CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match + return enabled + def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None: if params is None: @@ -52,12 +61,19 @@ def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_S CP_SP.pcmCruiseSpeed = False +def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, enforce_torque: bool, nnlc_enabled: bool) -> None: + if nnlc_enabled or enforce_torque: + CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning) + + def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None: CP = CI.CP CP_SP = CI.CP_SP - _initialize_neural_network_lateral_control(CI, CP, CP_SP, params) + enforce_torque = _enforce_torque_lateral_control(CP, params) + 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) def initialize_params(params) -> list[dict[str, Any]]: diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py index e0f9326bf8..8caeeaeabc 100644 --- a/sunnypilot/selfdrive/controls/controlsd_ext.py +++ b/sunnypilot/selfdrive/controls/controlsd_ext.py @@ -10,7 +10,6 @@ from cereal import log, custom from opendbc.car import structs from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog -from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral @@ -19,7 +18,6 @@ class ControlsExt: self.CP = CP self.params = params self.blinker_pause_lateral = BlinkerPauseLateral() - self.param_store = ParamStore(self.CP) self.get_params_sp() cloudlog.info("controlsd_ext is waiting for CarParamsSP") @@ -30,7 +28,6 @@ class ControlsExt: self.pm_services_ext = ['carControlSP'] def get_params_sp(self) -> None: - self.param_store.update(self.params) self.blinker_pause_lateral.get_params() def get_lat_active(self, sm: messaging.SubMaster) -> bool: @@ -73,8 +70,6 @@ class ControlsExt: # MADS state CC_SP.mads = sm['selfdriveStateSP'].mads - CC_SP.params = self.param_store.param_list - CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement return CC_SP diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py new file mode 100644 index 0000000000..0135b2806c --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py @@ -0,0 +1,58 @@ +""" +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. +""" + +from cereal import messaging, custom + +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD +from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP + +TRIGGER_THRESHOLD = 30 + + +class E2EAlertsHelper: + def __init__(self): + self._params = Params() + self._frame = -1 + + self.green_light_alert = False + self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert") + self.lead_depart_alert = False + self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert") + + def _read_params(self) -> None: + if self._frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0: + self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert") + self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert") + + self._frame += 1 + + def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None: + self._read_params() + + if not (self.green_light_alert_enabled or self.lead_depart_alert_enabled): + return + + CS = sm['carState'] + CC = sm['carControl'] + + model_x = sm['modelV2'].position.x + max_idx = len(model_x) - 1 + has_lead = sm['radarState'].leadOne.status + lead_vRel: float = sm['radarState'].leadOne.vRel + + # Green light alert + self.green_light_alert = (self.green_light_alert_enabled and model_x[max_idx] > TRIGGER_THRESHOLD + and not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled) + + # Lead Departure Alert + self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30 + and has_lead and lead_vRel > 1 and not CS.gasPressed) + + if self.green_light_alert or self.lead_depart_alert: + events_sp.add(custom.OnroadEventSP.EventName.e2eChime) diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py index 6e134276e5..39525b3b8e 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py @@ -6,11 +6,13 @@ See the LICENSE.md file in the root directory for more details. """ from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl +from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_override import LatControlTorqueExtOverride -class LatControlTorqueExt(NeuralNetworkLateralControl): +class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueExtOverride): def __init__(self, lac_torque, CP, CP_SP, CI): - super().__init__(lac_torque, CP, CP_SP, CI) + NeuralNetworkLateralControl.__init__(self, lac_torque, CP, CP_SP, CI) + LatControlTorqueExtOverride.__init__(self, CP) def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation, desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel, diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py index 1965d50b51..609d2f78b6 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py @@ -58,7 +58,8 @@ class LatControlTorqueExtBase: self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space() self._ff = 0.0 - self._pid = PIDController(0.0, 0.0, k_f=0.0) + self._pid = PIDController(self.torque_params.kp, self.torque_params.ki, + k_f=self.torque_params.kf) self._pid_log = None self._setpoint = 0.0 self._measurement = 0.0 diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py new file mode 100644 index 0000000000..f07a7292c1 --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py @@ -0,0 +1,34 @@ +""" +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. +""" + +from openpilot.common.params import Params + + +class LatControlTorqueExtOverride: + def __init__(self, CP): + self.CP = CP + self.params = Params() + self.enforce_torque_control_toggle = self.params.get_bool("EnforceTorqueControl") # only during init + self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled") + self.frame = -1 + + def update_override_torque_params(self, torque_params) -> bool: + if not self.enforce_torque_control_toggle: + return False + + self.frame += 1 + if self.frame % 300 == 0: + self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled") + + if not self.torque_override_enabled: + return False + + torque_params.latAccelFactor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True)) + torque_params.friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True)) + return True + + return False diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py index af5f5dbd7d..4c2443f253 100644 --- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py @@ -7,22 +7,31 @@ See the LICENSE.md file in the root directory for more details. from cereal import messaging, custom from opendbc.car import structs +from openpilot.common.constants import CV +from openpilot.selfdrive.car.cruise import V_CRUISE_MAX from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController +from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver +from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP from openpilot.sunnypilot.models.helpers import get_active_bundle DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState -Source = custom.LongitudinalPlanSP.LongitudinalPlanSource +LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource class LongitudinalPlannerSP: def __init__(self, CP: structs.CarParams, mpc): + self.events_sp = EventsSP() + self.resolver = SpeedLimitResolver() self.dec = DynamicExperimentalController(CP, mpc) self.scc = SmartCruiseControl() self.resolver = SpeedLimitResolver() + self.sla = SpeedLimitAssist(CP) self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None - self.source = Source.cruise + self.source = LongitudinalPlanSource.cruise + self.e2e_alerts_helper = E2EAlertsHelper() self.output_v_target = 0. self.output_a_target = 0. @@ -39,15 +48,29 @@ class LongitudinalPlannerSP: return self.dec.mode() def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]: - self.scc.update(sm, v_ego, a_ego, v_cruise) + CS = sm['carState'] + v_cruise_cluster_kph = min(CS.vCruiseCluster, V_CRUISE_MAX) + v_cruise_cluster = v_cruise_cluster_kph * CV.KPH_TO_MS + + long_enabled = sm['carControl'].enabled + long_override = sm['carControl'].cruiseControl.override + + # Smart Cruise Control + self.scc.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise) # Speed Limit Resolver self.resolver.update(v_ego, sm) + # Speed Limit Assist + has_speed_limit = self.resolver.speed_limit_valid or self.resolver.speed_limit_last_valid + self.sla.update(long_enabled, long_override, v_ego, a_ego, v_cruise_cluster, self.resolver.speed_limit, + self.resolver.speed_limit_final_last, has_speed_limit, self.resolver.distance, self.events_sp) + targets = { - Source.cruise: (v_cruise, a_ego), - Source.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target), - Source.sccMap: (self.scc.map.output_v_target, self.scc.map.output_a_target), + LongitudinalPlanSource.cruise: (v_cruise, a_ego), + LongitudinalPlanSource.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target), + LongitudinalPlanSource.sccMap: (self.scc.map.output_v_target, self.scc.map.output_a_target), + LongitudinalPlanSource.speedLimitAssist: (self.sla.output_v_target, self.sla.output_a_target), } self.source = min(targets, key=lambda k: targets[k][0]) @@ -55,7 +78,9 @@ class LongitudinalPlannerSP: return self.output_v_target, self.output_a_target def update(self, sm: messaging.SubMaster) -> None: + self.events_sp.clear() self.dec.update(sm) + self.e2e_alerts_helper.update(sm, self.events_sp) def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None: plan_sp_send = messaging.new_message('longitudinalPlanSP') @@ -66,6 +91,7 @@ class LongitudinalPlannerSP: longitudinalPlanSP.longitudinalPlanSource = self.source longitudinalPlanSP.vTarget = float(self.output_v_target) longitudinalPlanSP.aTarget = float(self.output_a_target) + longitudinalPlanSP.events = self.events_sp.to_msg() # Dynamic Experimental Control dec = longitudinalPlanSP.dec @@ -96,8 +122,24 @@ class LongitudinalPlannerSP: speedLimit = longitudinalPlanSP.speedLimit resolver = speedLimit.resolver resolver.speedLimit = float(self.resolver.speed_limit) + resolver.speedLimitLast = float(self.resolver.speed_limit_last) + resolver.speedLimitFinal = float(self.resolver.speed_limit_final) + resolver.speedLimitFinalLast = float(self.resolver.speed_limit_final_last) + resolver.speedLimitValid = self.resolver.speed_limit_valid + resolver.speedLimitLastValid = self.resolver.speed_limit_last_valid resolver.speedLimitOffset = float(self.resolver.speed_limit_offset) resolver.distToSpeedLimit = float(self.resolver.distance) resolver.source = self.resolver.source + assist = speedLimit.assist + assist.state = self.sla.state + assist.enabled = self.sla.is_enabled + assist.active = self.sla.is_active + assist.vTarget = float(self.sla.output_v_target) + assist.aTarget = float(self.sla.output_a_target) + + # E2E Alerts + e2eAlerts = longitudinalPlanSP.e2eAlerts + e2eAlerts.greenLightAlert = self.e2e_alerts_helper.green_light_alert + e2eAlerts.leadDepartAlert = self.e2e_alerts_helper.lead_depart_alert pm.send('longitudinalPlanSP', plan_sp_send) diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py deleted file mode 100644 index 65a0175340..0000000000 --- a/sunnypilot/selfdrive/controls/lib/param_store.py +++ /dev/null @@ -1,44 +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. -""" -from cereal import custom -from opendbc.car import structs -from openpilot.common.params import Params - -from sunnypilot.sunnylink.utils import get_param_as_byte - - -class ParamStore: - keys: list[str] - _params: dict[str, custom.CarControlSP.Param] - - def __init__(self, CP: structs.CarParams): - universal_params: list[str] = [] - brand_params: list[str] = [] - - self.keys = universal_params + brand_params - self._params = {} - - self.frame = 0 - - def update(self, params: Params) -> None: - self.frame += 1 - if self.frame % 300 != 0: - return - - for key in self.keys: - param_type = params.get_type(key).name.lower() # Using string instead of number because its "loose" dependency, and could change by OP at anytime. - - # Over engineering opportunity: It's possible this conversion is slow, we may check the value as params returns it for cache purposes. Not today. - param_value = get_param_as_byte(key, params) - if (existing_param := self._params.get(key)) is not None and existing_param.value == param_value: - continue - - self._params[key] = custom.CarControlSP.Param(key=key, value=param_value, type=param_type) - - @property - def param_list(self) -> list[custom.CarControlSP.Param]: - return [v for k,v in self._params.items()] diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py index cd45870ef6..c7f11a1bb2 100644 --- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py +++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py @@ -12,8 +12,8 @@ from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState -ACTIVE_STATES = (MapState.turning, MapState.overriding) -ENABLED_STATES = (MapState.enabled, *ACTIVE_STATES) +ACTIVE_STATES = (MapState.turning, ) +ENABLED_STATES = (MapState.enabled, MapState.overriding, *ACTIVE_STATES) R = 6373000.0 # approximate radius of earth in meters TO_RADIANS = math.pi / 180 diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py index 0f60621658..4ca45202fc 100644 --- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py +++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py @@ -14,9 +14,6 @@ class SmartCruiseControl: self.vision = SmartCruiseControlVision() self.map = SmartCruiseControlMap() - def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> None: - long_enabled = sm['carControl'].enabled - long_override = sm['carControl'].cruiseControl.override - + def update(self, sm: messaging.SubMaster, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise: float) -> None: self.map.update(long_enabled, long_override, v_ego, a_ego, v_cruise) self.vision.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise) diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py index af14a87f0c..22ea75fe19 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py @@ -6,3 +6,14 @@ See the LICENSE.md file in the root directory for more details. """ LIMIT_ADAPT_ACC = -1. # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits. LIMIT_MAX_MAP_DATA_AGE = 10. # s Maximum time to hold to map data, then consider it invalid inside limits controllers. + +# Speed Limit Assist constants +PCM_LONG_REQUIRED_MAX_SET_SPEED = { + True: (33.3333, 36.1111), # km/h, (120, 130) + False: (31.2928, 35.7632), # mph, (70, 80) +} + +CONFIRM_SPEED_THRESHOLD = { + True: 80, # km/h + False: 50, # mph +} diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py index 7d219ac3bb..baf9328032 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py @@ -19,3 +19,10 @@ class OffsetType(IntEnum): off = 0 fixed = 1 percentage = 2 + + +class Mode(IntEnum): + off = 0 + information = 1 + warning = 2 + assist = 3 diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py new file mode 100644 index 0000000000..40e8f653ff --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py @@ -0,0 +1,19 @@ +""" +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. +""" + +from openpilot.common.constants import CV + + +def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]: + speed_conv = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH + v_cruise_cluster_conv = round(v_cruise_cluster * speed_conv) + target_set_speed_conv = round(target_set_speed * speed_conv) + + req_plus = v_cruise_cluster_conv < target_set_speed_conv + req_minus = v_cruise_cluster_conv > target_set_speed_conv + + return req_plus, req_minus diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py new file mode 100644 index 0000000000..302d8cd14d --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py @@ -0,0 +1,397 @@ +""" +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. +""" +import time + +from cereal import custom, car +from openpilot.common.params import Params +from openpilot.common.constants import CV +from openpilot.common.realtime import DT_MDL +from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N +from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target +from openpilot.selfdrive.modeld.constants import ModelConstants + +ButtonType = car.CarState.ButtonEvent.Type +EventNameSP = custom.OnroadEventSP.EventName +SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState +SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source + +ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting) +ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES) + +DISABLED_GUARD_PERIOD = 0.5 # secs. +PRE_ACTIVE_GUARD_PERIOD = 15 # secs. Time to wait after activation before considering temp deactivation signal. +SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1 # secs. Time to wait after speed limit change before switching to preActive. + +LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers to provide. +LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acceleration allowed for limit controllers to provide while active. +LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers. +LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state. +V_CRUISE_UNSET = 255 + +CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise) +CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise) +CRUISE_BUTTON_CONFIRM_HOLD = 0.5 # secs. + + +class SpeedLimitAssist: + _speed_limit_final_last: float + _distance: float + v_ego: float + a_ego: float + v_offset: float + + def __init__(self, CP): + self.params = Params() + self.CP = CP + self.frame = -1 + self.long_engaged_timer = 0 + self.pre_active_timer = 0 + self.is_metric = self.params.get_bool("IsMetric") + self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist + self.long_enabled = False + self.long_enabled_prev = False + self.is_enabled = False + self.is_active = False + self.output_v_target = V_CRUISE_UNSET + self.output_a_target = 0. + self.v_ego = 0. + self.a_ego = 0. + self.v_offset = 0. + self.target_set_speed_conv = 0 + self.prev_target_set_speed_conv = 0 + self.v_cruise_cluster = 0. + self.v_cruise_cluster_prev = 0. + self.v_cruise_cluster_conv = 0 + self.prev_v_cruise_cluster_conv = 0 + self._has_speed_limit = False + self._speed_limit = 0. + self._speed_limit_final_last = 0. + self.speed_limit_prev = 0. + self.speed_limit_final_last_conv = 0 + self.prev_speed_limit_final_last_conv = 0 + self._distance = 0. + self.state = SpeedLimitAssistState.disabled + self._state_prev = SpeedLimitAssistState.disabled + self.pcm_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise + + self._plus_hold = 0. + self._minus_hold = 0. + self._last_carstate_ts = 0. + + # TODO-SP: SLA's own output_a_target for planner + # Solution functions mapped to respective states + self.acceleration_solutions = { + SpeedLimitAssistState.disabled: self.get_current_acceleration_as_target, + SpeedLimitAssistState.inactive: self.get_current_acceleration_as_target, + SpeedLimitAssistState.preActive: self.get_current_acceleration_as_target, + SpeedLimitAssistState.pending: self.get_current_acceleration_as_target, + SpeedLimitAssistState.adapting: self.get_adapting_state_target_acceleration, + SpeedLimitAssistState.active: self.get_active_state_target_acceleration, + } + + @property + def speed_limit_changed(self) -> bool: + return self._has_speed_limit and bool(self._speed_limit != self.speed_limit_prev) + + @property + def v_cruise_cluster_changed(self) -> bool: + return bool(self.v_cruise_cluster_conv != self.prev_v_cruise_cluster_conv) + + @property + def target_set_speed_confirmed(self) -> bool: + return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv) + + def get_v_target_from_control(self) -> float: + if self._has_speed_limit: + if self.pcm_op_long and self.is_enabled: + return self._speed_limit_final_last + if not self.pcm_op_long and self.is_active: + return self._speed_limit_final_last + + # Fallback + return V_CRUISE_UNSET + + # TODO-SP: SLA's own output_a_target for planner + def get_a_target_from_control(self) -> float: + return self.a_ego + + def update_params(self) -> None: + if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0: + self.is_metric = self.params.get_bool("IsMetric") + self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist + + def update_car_state(self, CS: car.CarState) -> None: + now = time.monotonic() + self._last_carstate_ts = now + + for b in CS.buttonEvents: + if not b.pressed: + if b.type in CRUISE_BUTTONS_PLUS: + self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD) + elif b.type in CRUISE_BUTTONS_MINUS: + self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD) + + def _get_button_release(self, req_plus: bool, req_minus: bool) -> bool: + now = time.monotonic() + if req_plus and now <= self._plus_hold: + self._plus_hold = 0. + return True + elif req_minus and now <= self._minus_hold: + self._minus_hold = 0. + return True + + # expired + if now > self._plus_hold: + self._plus_hold = 0. + if now > self._minus_hold: + self._minus_hold = 0. + return False + + def update_calculations(self, v_cruise_cluster: float) -> None: + speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH + self.v_cruise_cluster = v_cruise_cluster + + # Update current velocity offset (error) + self.v_offset = self._speed_limit_final_last - self.v_ego + + self.speed_limit_final_last_conv = round(self._speed_limit_final_last * speed_conv) + self.v_cruise_cluster_conv = round(self.v_cruise_cluster * speed_conv) + + cst_low, cst_high = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.is_metric] + pcm_long_required_max = cst_low if self._has_speed_limit and self.speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric] else \ + cst_high + pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv) + + self.target_set_speed_conv = pcm_long_required_max_set_speed_conv if self.pcm_op_long else self.speed_limit_final_last_conv + + @property + def apply_confirm_speed_threshold(self) -> bool: + # below CST: always require user confirmation + if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]: + return True + + # at/above CST: + # - new speed limit >= CST: auto change + # - new speed limit < CST: user confirmation required + return bool(self.speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]) + + def get_current_acceleration_as_target(self) -> float: + return self.a_ego + + def get_adapting_state_target_acceleration(self) -> float: + if self._distance > 0: + return (self._speed_limit_final_last ** 2 - self.v_ego ** 2) / (2. * self._distance) + + return self.v_offset / float(ModelConstants.T_IDXS[CONTROL_N]) + + def get_active_state_target_acceleration(self) -> float: + return self.v_offset / float(ModelConstants.T_IDXS[CONTROL_N]) + + def _update_confirmed_state(self): + if self._has_speed_limit: + if self.v_offset < LIMIT_SPEED_OFFSET_TH: + self.state = SpeedLimitAssistState.adapting + else: + self.state = SpeedLimitAssistState.active + else: + self.state = SpeedLimitAssistState.pending + + def _update_non_pcm_long_confirmed_state(self) -> bool: + if self.target_set_speed_confirmed: + return True + + if self.state != SpeedLimitAssistState.preActive: + return False + + req_plus, req_minus = compare_cluster_target(self.v_cruise_cluster, self._speed_limit_final_last, self.is_metric) + + return self._get_button_release(req_plus, req_minus) + + def update_state_machine_pcm_op_long(self): + self.long_engaged_timer = max(0, self.long_engaged_timer - 1) + self.pre_active_timer = max(0, self.pre_active_timer - 1) + + # ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE + if self.state != SpeedLimitAssistState.disabled: + if not self.long_enabled or not self.enabled: + self.state = SpeedLimitAssistState.disabled + + else: + # ACTIVE + if self.state == SpeedLimitAssistState.active: + if self.v_cruise_cluster_changed: + self.state = SpeedLimitAssistState.inactive + elif self.speed_limit_changed and self.apply_confirm_speed_threshold: + self.state = SpeedLimitAssistState.preActive + self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL) + elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH: + self.state = SpeedLimitAssistState.adapting + + # ADAPTING + elif self.state == SpeedLimitAssistState.adapting: + if self.v_cruise_cluster_changed: + self.state = SpeedLimitAssistState.inactive + elif self.speed_limit_changed and self.apply_confirm_speed_threshold: + self.state = SpeedLimitAssistState.preActive + self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL) + elif self.v_offset >= LIMIT_SPEED_OFFSET_TH: + self.state = SpeedLimitAssistState.active + + # PENDING + elif self.state == SpeedLimitAssistState.pending: + if self.target_set_speed_confirmed: + self._update_confirmed_state() + elif self.speed_limit_changed: + self.state = SpeedLimitAssistState.preActive + self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL) + + # PRE_ACTIVE + elif self.state == SpeedLimitAssistState.preActive: + if self.target_set_speed_confirmed: + self._update_confirmed_state() + elif self.pre_active_timer <= 0: + # Timeout - session ended + self.state = SpeedLimitAssistState.inactive + + # INACTIVE + elif self.state == SpeedLimitAssistState.inactive: + pass + + # DISABLED + elif self.state == SpeedLimitAssistState.disabled: + if self.long_enabled and self.enabled: + # start or reset preActive timer if initially enabled or manual set speed change detected + if not self.long_enabled_prev or self.v_cruise_cluster_changed: + self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL) + + elif self.long_engaged_timer <= 0: + if self.target_set_speed_confirmed: + self._update_confirmed_state() + elif self._has_speed_limit: + self.state = SpeedLimitAssistState.preActive + self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL) + else: + self.state = SpeedLimitAssistState.pending + + enabled = self.state in ENABLED_STATES + active = self.state in ACTIVE_STATES + + return enabled, active + + def update_state_machine_non_pcm_long(self): + self.long_engaged_timer = max(0, self.long_engaged_timer - 1) + self.pre_active_timer = max(0, self.pre_active_timer - 1) + + # ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE + if self.state != SpeedLimitAssistState.disabled: + if not self.long_enabled or not self.enabled: + self.state = SpeedLimitAssistState.disabled + + else: + # ACTIVE + if self.state == SpeedLimitAssistState.active: + if self.v_cruise_cluster_changed: + self.state = SpeedLimitAssistState.inactive + + elif self.speed_limit_changed and self.apply_confirm_speed_threshold: + self.state = SpeedLimitAssistState.preActive + self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL) + + # PRE_ACTIVE + elif self.state == SpeedLimitAssistState.preActive: + if self._update_non_pcm_long_confirmed_state(): + self.state = SpeedLimitAssistState.active + elif self.pre_active_timer <= 0: + # Timeout - session ended + self.state = SpeedLimitAssistState.inactive + + # INACTIVE + elif self.state == SpeedLimitAssistState.inactive: + if self.speed_limit_changed: + self.state = SpeedLimitAssistState.preActive + self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL) + elif self._update_non_pcm_long_confirmed_state(): + self.state = SpeedLimitAssistState.active + + # DISABLED + elif self.state == SpeedLimitAssistState.disabled: + if self.long_enabled and self.enabled: + # start or reset preActive timer if initially enabled or manual set speed change detected + if not self.long_enabled_prev or self.v_cruise_cluster_changed: + self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL) + + elif self.long_engaged_timer <= 0: + if self._update_non_pcm_long_confirmed_state(): + self.state = SpeedLimitAssistState.active + elif self._has_speed_limit: + self.state = SpeedLimitAssistState.preActive + self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL) + else: + self.state = SpeedLimitAssistState.inactive + + enabled = self.state in ENABLED_STATES + active = self.state in ACTIVE_STATES + + return enabled, active + + def update_events(self, events_sp: EventsSP) -> None: + if self.state == SpeedLimitAssistState.preActive: + events_sp.add(EventNameSP.speedLimitPreActive) + + if self.state == SpeedLimitAssistState.pending and self._state_prev != SpeedLimitAssistState.pending: + events_sp.add(EventNameSP.speedLimitPending) + + if self.is_active: + if self._state_prev not in ACTIVE_STATES: + events_sp.add(EventNameSP.speedLimitActive) + + # only notify if we acquire a valid speed limit + # do not check has_speed_limit here + elif self._speed_limit != self.speed_limit_prev: + if self.speed_limit_prev <= 0: + events_sp.add(EventNameSP.speedLimitActive) + elif self.speed_limit_prev > 0 and self._speed_limit > 0: + events_sp.add(EventNameSP.speedLimitChanged) + + def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float, + speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None: + self.long_enabled = long_enabled + self.v_ego = v_ego + self.a_ego = a_ego + + self._has_speed_limit = has_speed_limit + self._speed_limit = speed_limit + self._speed_limit_final_last = speed_limit_final_last + self._distance = distance + + self.update_params() + self.update_calculations(v_cruise_cluster) + + self._state_prev = self.state + if self.pcm_op_long: + self.is_enabled, self.is_active = self.update_state_machine_pcm_op_long() + else: + self.is_enabled, self.is_active = self.update_state_machine_non_pcm_long() + + self.update_events(events_sp) + + # Update change tracking variables + self.speed_limit_prev = self._speed_limit + self.v_cruise_cluster_prev = self.v_cruise_cluster + self.long_enabled_prev = self.long_enabled + self.prev_target_set_speed_conv = self.target_set_speed_conv + self.prev_v_cruise_cluster_conv = self.v_cruise_cluster_conv + self.prev_speed_limit_final_last_conv = self.speed_limit_final_last_conv + + self.output_v_target = self.get_v_target_from_control() + self.output_a_target = self.get_a_target_from_control() + + self.frame += 1 diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py index 2a74a01d13..51fb8f6d64 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py @@ -26,6 +26,9 @@ class SpeedLimitResolver: distance_solutions: dict[custom.LongitudinalPlanSP.SpeedLimit.Source, float] v_ego: float speed_limit: float + speed_limit_last: float + speed_limit_final: float + speed_limit_final_last: float distance: float source: custom.LongitudinalPlanSP.SpeedLimit.Source speed_limit_offset: float @@ -54,6 +57,27 @@ class SpeedLimitResolver: self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True) self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True) + self.speed_limit = 0. + self.speed_limit_last = 0. + self.speed_limit_final = 0. + self.speed_limit_final_last = 0. + self.speed_limit_offset = 0. + + def update_speed_limit_states(self) -> None: + self.speed_limit_final = self.speed_limit + self.speed_limit_offset + + if self.speed_limit > 0.: + self.speed_limit_last = self.speed_limit + self.speed_limit_final_last = self.speed_limit_final + + @property + def speed_limit_valid(self) -> bool: + return self.speed_limit > 0. + + @property + def speed_limit_last_valid(self) -> bool: + return self.speed_limit_last > 0. + def update_params(self): if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0: self.policy = self.params.get("SpeedLimitPolicy", return_default=True) @@ -149,4 +173,6 @@ class SpeedLimitResolver: self.speed_limit, self.distance, self.source = self._resolve_limit_sources(sm) self.speed_limit_offset = self._get_speed_limit_offset() + self.update_speed_limit_states() + self.frame += 1 diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py new file mode 100644 index 0000000000..d2c7a4716d --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py @@ -0,0 +1,241 @@ +""" +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. +""" +from cereal import custom + +from opendbc.car.car_helpers import interfaces +from opendbc.car.toyota.values import CAR as TOYOTA +from openpilot.common.constants import CV +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET +from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \ + PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES +from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP + +SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState + +ALL_STATES = tuple(SpeedLimitAssistState.schema.enumerants.values()) + +SPEED_LIMITS = { + 'residential': 25 * CV.MPH_TO_MS, # 25 mph + 'city': 35 * CV.MPH_TO_MS, # 35 mph + 'highway': 65 * CV.MPH_TO_MS, # 65 mph + 'freeway': 80 * CV.MPH_TO_MS, # 80 mph +} + + +class TestSpeedLimitAssist: + + def setup_method(self): + self.params = Params() + self.reset_custom_params() + self.events_sp = EventsSP() + CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2) + self.sla = SpeedLimitAssist(CI.CP) + self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL) + self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1] # use 80 MPH for now + self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH + + def teardown_method(self, method): + self.reset_state() + + def _setup_platform(self, car_name): + CarInterface = interfaces[car_name] + CP = CarInterface.get_non_essential_params(car_name) + CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name) + CI = CarInterface(CP, CP_SP) + sunnypilot_interfaces.setup_interfaces(CI, self.params) + return CI + + def reset_custom_params(self): + self.params.put("SpeedLimitMode", int(Mode.assist)) + self.params.put_bool("IsMetric", False) + self.params.put("SpeedLimitOffsetType", 0) + self.params.put("SpeedLimitValueOffset", 0) + + def reset_state(self): + self.sla.state = SpeedLimitAssistState.disabled + self.sla.frame = -1 + self.sla.last_op_engaged_frame = 0 + self.sla.op_engaged = False + self.sla.op_engaged_prev = False + self.sla._speed_limit = 0. + self.sla.speed_limit_prev = 0. + self.sla.last_valid_speed_limit_offsetted = 0. + self.sla._distance = 0. + self.events_sp.clear() + + def initialize_active_state(self, initialize_v_cruise): + self.sla.state = SpeedLimitAssistState.active + self.sla.v_cruise_cluster = initialize_v_cruise + self.sla.v_cruise_cluster_prev = initialize_v_cruise + self.sla.prev_v_cruise_cluster_conv = round(initialize_v_cruise * self.speed_conv) + + def test_initial_state(self): + assert self.sla.state == SpeedLimitAssistState.disabled + assert not self.sla.is_enabled + assert not self.sla.is_active + assert V_CRUISE_UNSET == self.sla.get_v_target_from_control() + + def test_disabled(self): + self.params.put("SpeedLimitMode", int(Mode.off)) + for _ in range(int(10. / DT_MDL)): + self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.disabled + + def test_transition_disabled_to_preactive(self): + for _ in range(int(3. / DT_MDL)): + self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.preActive + assert self.sla.is_enabled and not self.sla.is_active + + def test_transition_disabled_to_pending_no_speed_limit_not_max_initial_set_speed(self): + for _ in range(int(3. / DT_MDL)): + self.sla.update(True, False, SPEED_LIMITS['highway'], 0, SPEED_LIMITS['city'], 0, 0, False, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.pending + assert self.sla.is_enabled and not self.sla.is_active + + def test_preactive_to_active_with_max_speed_confirmation(self): + self.sla.state = SpeedLimitAssistState.preActive + self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'], + SPEED_LIMITS['highway'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.active + assert self.sla.is_enabled and self.sla.is_active + assert self.sla.output_v_target == SPEED_LIMITS['highway'] + + def test_preactive_timeout_to_inactive(self): + self.sla.state = SpeedLimitAssistState.preActive + self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp) + + for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)): + self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.inactive + + def test_preactive_to_pending_no_speed_limit(self): + self.sla.state = SpeedLimitAssistState.preActive + self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed, 0, 0, False, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.pending + assert self.sla.is_enabled and not self.sla.is_active + + def test_pending_to_active_when_speed_limit_available(self): + self.sla.state = SpeedLimitAssistState.pending + self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed + self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv) + + self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed, + SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.active + + def test_pending_to_adapting_when_below_speed_limit(self): + self.sla.state = SpeedLimitAssistState.pending + self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed + self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv) + + self.sla.update(True, False, SPEED_LIMITS['highway'] + 5, 0, self.pcm_long_max_set_speed, + SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.adapting + assert self.sla.is_enabled and self.sla.is_active + + def test_active_to_adapting_transition(self): + self.initialize_active_state(self.pcm_long_max_set_speed) + + self.sla.update(True, False, SPEED_LIMITS['highway'] + 2, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'], + SPEED_LIMITS['highway'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.adapting + + def test_adapting_to_active_transition(self): + self.sla.state = SpeedLimitAssistState.adapting + self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed + self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv) + + self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'], + SPEED_LIMITS['highway'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.active + + def test_manual_cruise_change_detection(self): + self.sla.state = SpeedLimitAssistState.active + expected_cruise = SPEED_LIMITS['highway'] + self.sla.v_cruise_cluster_prev = expected_cruise + + different_cruise = SPEED_LIMITS['highway'] + 5 + self.sla.update(True, False, SPEED_LIMITS['city'], 0, different_cruise, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.inactive + + # TODO-SP: test lower CST cases + def test_rapid_speed_limit_changes(self): + self.initialize_active_state(self.pcm_long_max_set_speed) + speed_limits = [SPEED_LIMITS['highway'], SPEED_LIMITS['freeway']] + + for _, speed_limit in enumerate(speed_limits): + self.sla.update(True, False, speed_limit, 0, self.pcm_long_max_set_speed, speed_limit, speed_limit, True, 0, self.events_sp) + assert self.sla.state in ACTIVE_STATES + + def test_invalid_speed_limits_handling(self): + self.initialize_active_state(self.pcm_long_max_set_speed) + + invalid_limits = [-10, 0, 200 * CV.MPH_TO_MS] + + for invalid_limit in invalid_limits: + self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, invalid_limit, SPEED_LIMITS['city'], True, 0, self.events_sp) + assert isinstance(self.sla.output_v_target, (int, float)) + assert self.sla.output_v_target == V_CRUISE_UNSET or self.sla.output_v_target > 0 + + def test_stale_data_handling(self): + self.initialize_active_state(self.pcm_long_max_set_speed) + old_speed_limit = SPEED_LIMITS['city'] + + self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, 0, old_speed_limit, True, 0, self.events_sp) + assert self.sla.state in ACTIVE_STATES + assert self.sla.output_v_target == old_speed_limit + + def test_distance_based_adapting(self): + self.sla.state = SpeedLimitAssistState.adapting + self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed + self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv) + + distance = 100.0 + current_speed = SPEED_LIMITS['freeway'] + target_speed = SPEED_LIMITS['highway'] + + self.sla.update(True, False, current_speed, 0, self.pcm_long_max_set_speed, target_speed, target_speed, True, distance, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.adapting + assert self.sla.output_v_target == target_speed # TODO-SP: assert expected accel, need to enable self.acceleration_solutions + + def test_long_disengaged_to_disabled(self): + self.initialize_active_state(self.pcm_long_max_set_speed) + + self.sla.update(False, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], + SPEED_LIMITS['city'], True, 0, self.events_sp) + assert self.sla.state == SpeedLimitAssistState.disabled + assert self.sla.output_v_target == V_CRUISE_UNSET + + def test_maintain_states_with_no_changes(self): + """Test that states are maintained when no significant changes occur""" + test_states = [ + SpeedLimitAssistState.preActive, + SpeedLimitAssistState.pending, + SpeedLimitAssistState.active, + SpeedLimitAssistState.adapting + ] + + for state in test_states: + self.sla.state = state + self.sla.op_engaged = True + + initial_state = state + + self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp) + + assert self.sla.state in ALL_STATES # Sanity check + + if initial_state == SpeedLimitAssistState.preActive: + assert self.sla.state in [SpeedLimitAssistState.preActive, SpeedLimitAssistState.active] + elif initial_state in ACTIVE_STATES: + assert self.sla.state in ACTIVE_STATES diff --git a/sunnypilot/selfdrive/locationd/torqued_ext.py b/sunnypilot/selfdrive/locationd/torqued_ext.py new file mode 100644 index 0000000000..58a23da00e --- /dev/null +++ b/sunnypilot/selfdrive/locationd/torqued_ext.py @@ -0,0 +1,65 @@ +""" +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. +""" + +import numpy as np + +from cereal import car + +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD + +RELAXED_MIN_BUCKET_POINTS = np.array([1, 200, 300, 500, 500, 300, 200, 1]) + +ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda'] + + + +class TorqueEstimatorExt: + def __init__(self, CP: car.CarParams): + self.CP = CP + self._params = Params() + self.frame = -1 + + self.enforce_torque_control_toggle = self._params.get_bool("EnforceTorqueControl") # only during init + self.use_params = self.CP.brand in ALLOWED_CARS and self.CP.lateralTuning.which() == 'torque' + self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle") + self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled") + self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS + self.factor_sanity = 0.0 + self.friction_sanity = 0.0 + self.offline_latAccelFactor = 0.0 + self.offline_friction = 0.0 + + def initialize_custom_params(self, decimated=False): + self.update_use_params() + + if self.enforce_torque_control_toggle: + if self._params.get_bool("LiveTorqueParamsRelaxedToggle"): + self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS / (10 if decimated else 1) + self.factor_sanity = 0.5 if decimated else 1.0 + self.friction_sanity = 0.8 if decimated else 1.0 + + if self._params.get_bool("CustomTorqueParams"): + self.offline_latAccelFactor = float(self._params.get("TorqueParamsOverrideLatAccelFactor", return_default=True)) + self.offline_friction = float(self._params.get("TorqueParamsOverrideFriction", return_default=True)) + + def _update_params(self): + if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0: + self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle") + self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled") + + def update_use_params(self): + self._update_params() + + if self.enforce_torque_control_toggle: + if self.torque_override_enabled: + self.use_params = False + else: + self.use_params = self.use_live_torque_params + + self.frame += 1 diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py index 7c723397fb..e9f4b29bae 100644 --- a/sunnypilot/selfdrive/selfdrived/events.py +++ b/sunnypilot/selfdrive/selfdrived/events.py @@ -1,6 +1,10 @@ +import cereal.messaging as messaging from cereal import log, car, custom +from openpilot.common.constants import CV from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \ NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target AlertSize = log.SelfdriveState.AlertSize @@ -14,6 +18,49 @@ EventNameSP = custom.OnroadEventSP.EventName EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()} +def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + speedLimit = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimit + speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)) + message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit' + return Alert( + message, + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.) + + +def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH + speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast + speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv) + + if CP.openpilotLongitudinalControl and CP.pcmCruise: + # PCM long + cst_low, cst_high = PCM_LONG_REQUIRED_MAX_SET_SPEED[metric] + pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high + pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv) + speed_unit = "km/h" if metric else "mph" + alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate" + else: + # Non PCM long + v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS + + req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric) + arrow_str = "" + if req_plus: + arrow_str = "RES/+" + elif req_minus: + arrow_str = "SET/-" + + alert_2_str = f"Operate the {arrow_str} cruise control button to activate" + + return Alert( + "Speed Limit Assist: Activation Required", + alert_2_str, + AlertStatus.normal, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.none, .1) + + class EventsSP(EventsBase): def __init__(self): super().__init__() @@ -148,5 +195,41 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = { "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.), - } + }, + + EventNameSP.speedLimitActive: { + ET.WARNING: Alert( + "Automatically adjusting to the posted speed limit", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.), + }, + + EventNameSP.speedLimitChanged: { + ET.WARNING: Alert( + "Set speed changed", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.), + }, + + EventNameSP.speedLimitPreActive: { + ET.WARNING: speed_limit_pre_active_alert, + }, + + EventNameSP.speedLimitPending: { + ET.WARNING: Alert( + "Automatically adjusting to the last speed limit", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.), + }, + + EventNameSP.e2eChime: { + ET.PERMANENT: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.MID, VisualAlert.none, AudibleAlert.prompt, 0.1), + }, } diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py index b7838a40b0..cd2a358c60 100644 --- a/sunnypilot/sunnylink/api.py +++ b/sunnypilot/sunnylink/api.py @@ -147,7 +147,7 @@ class SunnylinkApi(BaseApi): self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID) # Set the last ping time to the current time since we were just talking to the API - last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time + last_ping = int((time.monotonic() if successful_registration else start_time) * 1e9) Params().put("LastSunnylinkPingTime", last_ping) # Disable sunnylink if registration was not successful diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py index 25a77c367b..d1b38d656f 100755 --- a/sunnypilot/sunnylink/athena/sunnylinkd.py +++ b/sunnypilot/sunnylink/athena/sunnylinkd.py @@ -178,12 +178,29 @@ def getParamsAllKeys() -> list[str]: return keys +@dispatcher.add_method +def getParamsAllKeysV1() -> dict[str, str]: + available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()] + + params_dict: dict[str, list[dict[str, str | bool | int | None]]] = {"params": []} + for key in available_keys: + value = get_param_as_byte(key, get_default=True) + params_dict["params"].append({ + "key": key, + "type": int(params.get_type(key).value), + "default_value": base64.b64encode(value).decode('utf-8') if value else None, + }) + + return {"keys": json.dumps(params_dict.get("params", []))} + + @dispatcher.add_method def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]: params = Params() + available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()] try: - param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()] + param_keys_validated = [key for key in params_keys if key in available_keys] params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []} for key in param_keys_validated: value = get_param_as_byte(key) diff --git a/sunnypilot/sunnylink/registration_manager.py b/sunnypilot/sunnylink/registration_manager.py index 34323c2789..805d2482db 100755 --- a/sunnypilot/sunnylink/registration_manager.py +++ b/sunnypilot/sunnylink/registration_manager.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import time +from openpilot.common.params import Params from openpilot.common.realtime import Ratekeeper from openpilot.common.swaglog import cloudlog @@ -12,17 +13,22 @@ NetworkType = log.DeviceState.NetworkType def main(): """The main method is expected to be called by the manager when the device boots up.""" - rk = Ratekeeper(.5) - sm = messaging.SubMaster(['deviceState'], poll='deviceState') - while True: - sm.update(1000) - if sm['deviceState'].networkType != NetworkType.none: - break + try: + rk = Ratekeeper(.5) + sm = messaging.SubMaster(['deviceState'], poll='deviceState') + while True: + sm.update(1000) + if sm['deviceState'].networkType != NetworkType.none: + break - cloudlog.info(f"Waiting to become online... {time.monotonic()}") - rk.keep_time() + cloudlog.info(f"Waiting to become online... {time.monotonic()}") + rk.keep_time() - register_sunnylink() + register_sunnylink() + except Exception: + cloudlog.exception("Sunnylink registration failed") + Params().put_bool("SunnylinkTempFault", True) + raise if __name__ == "__main__": diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py index 91c0788795..e86a795170 100644 --- a/sunnypilot/sunnylink/utils.py +++ b/sunnypilot/sunnylink/utils.py @@ -6,31 +6,32 @@ from openpilot.common.params import Params, ParamKeyType from openpilot.system.version import is_prebuilt -def get_sunnylink_status(params=None) -> tuple[bool, bool]: +def get_sunnylink_status(params=None) -> tuple[bool, bool, bool]: """Get the status of Sunnylink on the device. Returns a tuple of (is_sunnylink_enabled, is_registered).""" params = params or Params() is_sunnylink_enabled = params.get_bool("SunnylinkEnabled") is_registered = params.get("SunnylinkDongleId") not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID) - return is_sunnylink_enabled, is_registered + is_on_temporary_fault = params.get_bool("SunnylinkTempFault") + return is_sunnylink_enabled, is_registered, is_on_temporary_fault def sunnylink_ready(params=None) -> bool: """Check if the device is ready to communicate with Sunnylink. That means it is enabled and registered.""" params = params or Params() - is_sunnylink_enabled, is_registered = get_sunnylink_status(params) - return is_sunnylink_enabled and is_registered + is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params) + return is_sunnylink_enabled and is_registered and not is_on_temporary_fault def use_sunnylink_uploader(params) -> bool: """Check if the device is ready to use Sunnylink and the uploader is enabled.""" - return sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader") + return not params.get_bool("NetworkMetered") and sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader") def sunnylink_need_register(params=None) -> bool: """Check if the device needs to be registered with Sunnylink.""" params = params or Params() - is_sunnylink_enabled, is_registered = get_sunnylink_status(params) - return is_sunnylink_enabled and not is_registered + is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params) + return is_sunnylink_enabled and not is_registered and not is_on_temporary_fault def register_sunnylink(): @@ -47,8 +48,12 @@ def register_sunnylink(): "timeout": 60 } - sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args) - print(f"SunnyLinkId: {sunnylink_id}") + try: + sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args) + print(f"SunnyLinkId: {sunnylink_id}") + except Exception: + Params().put_bool("SunnylinkTempFault", True) + raise def get_api_token(): @@ -60,14 +65,20 @@ def get_api_token(): print(f"API Token: {token}") -def get_param_as_byte(param_name: str, params=None) -> bytes | None: +def get_param_as_byte(param_name: str, params=None, get_default=False) -> bytes | None: """Get a parameter as bytes. Returns None if the parameter does not exist.""" - params = params or Params() # Use existing Params instance if provided - param = params.get(param_name) + params = params or Params() + param = params.get(param_name) if not get_default else params.get_default_value(param_name) + if param is None: return None param_type = params.get_type(param_name) + return _to_bytes(param, param_type) + + +def _to_bytes(param: bytes, param_type: ParamKeyType) -> bytes | None: + """Convert a parameter value to bytes based on its type.""" if param_type == ParamKeyType.BYTES: return bytes(param) elif param_type == ParamKeyType.JSON: diff --git a/system/manager/process_config.py b/system/manager/process_config.py index b1a2fa6e13..c5f20e511b 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -95,6 +95,12 @@ def is_stock_model(started, params, CP: car.CarParams) -> bool: def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool: return bool(os.path.exists(Paths.mapd_root())) +def uploader_ready(started: bool, params: Params, CP: car.CarParams) -> bool: + if not params.get_bool("OnroadUploads"): + return only_offroad(started, params, CP) + + return always_run(started, params, CP) + def or_(*fns): return lambda *args: operator.or_(*(fn(*args) for fn in fns)) @@ -145,7 +151,7 @@ procs = [ PythonProcess("hardwared", "system.hardware.hardwared", always_run), PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC), - PythonProcess("uploader", "system.loggerd.uploader", always_run), + PythonProcess("uploader", "system.loggerd.uploader", uploader_ready), PythonProcess("statsd", "system.statsd", always_run), PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad), diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd index eb2372ceed..c8b50b0791 100755 Binary files a/third_party/mapd_pfeiferj/mapd and b/third_party/mapd_pfeiferj/mapd differ diff --git a/uv.lock b/uv.lock index 25d2b626cf..b871cc8da4 100644 --- a/uv.lock +++ b/uv.lock @@ -945,7 +945,7 @@ dependencies = [ { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] wheels = [ - { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" }, + { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:d0afaf3b005e35e14b929d5491d2d5b64562d0c1cd5093ba969fb63908670dd4" }, ] [package.metadata]