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Merge branch 'master' into elantra-2024-port

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This commit is contained in:
royjr
2025-10-02 09:22:06 -04:00
parent a22aed37f5 92214b69d8
commit 154ee95e99
28 changed files with 407 additions and 29 deletions
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cereal/custom.capnp
+7
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@@ -149,6 +149,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
vTarget @4 :Float32;
aTarget @5 :Float32;
events @6 :List(OnroadEventSP.Event);
e2eAlerts @7 :E2eAlerts;
struct DynamicExperimentalControl {
state @0 :DynamicExperimentalControlState;
@@ -246,6 +247,10 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
sccMap @2;
speedLimitAssist @3;
}
struct E2eAlerts {
greenLightAlert @0 :Bool;
}
}
struct OnroadEventSP @0xda96579883444c35 {
@@ -291,6 +296,7 @@ struct OnroadEventSP @0xda96579883444c35 {
speedLimitActive @20;
speedLimitChanged @21;
speedLimitPending @22;
e2eChime @23;
}
}
@@ -299,6 +305,7 @@ 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;
common/params_keys.h
+4
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@@ -148,6 +148,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> 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}},
{"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
{"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
@@ -157,6 +158,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"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"}},
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
selfdrive/car/tests/test_car_interfaces.py
+1 -1
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@@ -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':
selfdrive/controls/controlsd.py
+1 -1
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@@ -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:
selfdrive/controls/lib/longcontrol.py
+7 -3
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@@ -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:
selfdrive/controls/tests/test_longcontrol.py
+15 -12
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@@ -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
selfdrive/selfdrived/selfdrived.py
+1 -1
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@@ -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)
selfdrive/ui/sunnypilot/SConscript
+6 -1
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@@ -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",
@@ -90,9 +91,13 @@ 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")
selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc
+63
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@@ -0,0 +1,63 @@
/**
* 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 &param, 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 QGridLayout();
mainFrame->setLayout(mainFrameLayout);
mainFrameLayout->setSpacing(0);
onroadScreenOffTimer = new OptionControlSP(
"OnroadScreenOffTimer",
"",
"",
"",
{0, 11}, 1, true, &onroadScreenOffTimerOptions);
onroadScreenBrightness = new OptionControlSP(
"OnroadScreenOffBrightness",
"",
"",
"",
{0, 100}, 10, true, nullptr, false);
connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
onroadScreenOffTimer->setFixedWidth(280);
onroadScreenBrightness->setFixedWidth(280);
mainFrameLayout->addWidget(onroadScreenOffTimer, 0, 0, Qt::AlignLeft);
mainFrameLayout->addWidget(onroadScreenBrightness, 0, 1, Qt::AlignRight);
addItem(mainFrame);
refresh();
}
void OnroadScreenBrightnessControl::refresh() {
// Driving Screen Off Timer
int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str());
std::string labelTimer = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
labelTimer += "Delay";
labelTimer += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
labelTimer += (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m");
labelTimer += "</span></span>";
onroadScreenOffTimer->setLabel(QString::fromStdString(labelTimer));
// Driving Screen Off Brightness
std::string valBrightness = params.get("OnroadScreenOffBrightness");
std::string labelBrightness = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
labelBrightness += "Brightness";
labelBrightness += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
labelBrightness += (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
labelBrightness += "</span></span>";
onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness));
}
selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h
+42
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@@ -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<QString, QString> 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 &param, const QString &title, const QString &desc, const QString &icon,
QWidget *parent = nullptr);
void refresh();
private:
Params params;
OptionControlSP *onroadScreenOffTimer;
OptionControlSP *onroadScreenBrightness;
};
selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
+40
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@@ -0,0 +1,40 @@
/**
* 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("Driving Screen Off: Non-Critical Events"),
tr("Turn off device screen or reduce brightness after driving starts. "
"It automatically brightens again when screen is touched or a critical event occurs."),
"",
this);
list->addItem(onroadScreenBrightnessControl);
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();
}
selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h
+28
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@@ -0,0 +1,28 @@
/**
* 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/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;
};
selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+2
View File
@@ -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"),
selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+10
View File
@@ -49,6 +49,16 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
"",
false,
},
{
"GreenLightAlert",
tr("Green Traffic Light Alert (Beta)"),
QString("%1<br>"
"<h4>%2</h4><br>")
.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,
},
};
// Add regular toggles first
selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+55
View File
@@ -14,6 +14,11 @@
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 green_light_small_max = green_light_alert_small * 2 - 40;
int green_light_large_max = green_light_alert_large * 2 - 40;
green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {green_light_small_max, green_light_small_max});
green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {green_light_large_max, green_light_large_max});
}
void HudRendererSP::updateState(const UIState &s) {
@@ -105,11 +110,15 @@ void HudRendererSP::updateState(const UIState &s) {
smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
}
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) {
@@ -194,6 +203,18 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
// Road Name
drawRoadName(p, surface_rect);
// Green Light Alert
if (greenLightAlert) {
e2eAlertDisplayTimer = 3 * UI_FREQ;
}
if (e2eAlertDisplayTimer > 0) {
e2eAlertFrame++;
drawE2eAlert(p, surface_rect);
} else {
e2eAlertFrame = 0;
}
}
p.restore();
@@ -666,3 +687,37 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
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) {
int size = devUiInfo > 0 ? green_light_alert_small : green_light_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);
QString alert_text = tr("GREEN\nLIGHT");
// Alert Circle
QPoint center = alertRect.center();
QColor 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 = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 255) : QColor(0, 255, 0, 255);
p.setFont(InterFont(48, QFont::Bold));
p.setPen(txtColor);
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() / 7);
p.drawText(textRect, Qt::AlignCenter, alert_text);
// Alert Image
QPixmap &alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
QPointF pixmapCenterOffset = QPointF(alert_img.width() / 2.0, alert_img.height() / 2.0);
QPointF drawPoint = center - pixmapCenterOffset;
p.drawPixmap(drawPoint, alert_img);
}
selfdrive/ui/sunnypilot/qt/onroad/hud.h
+8
View File
@@ -36,6 +36,7 @@ private:
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);
bool lead_status;
float lead_d_rel;
@@ -93,4 +94,11 @@ private:
int speedLimitAssistFrame;
QPixmap plus_arrow_up_img;
QPixmap minus_arrow_down_img;
int green_light_alert_small = 250;
int green_light_alert_large = 300;
QPixmap green_light_alert_small_img;
QPixmap green_light_alert_large_img;
bool greenLightAlert;
int e2eAlertFrame;
int e2eAlertDisplayTimer = 0;
};
selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
+2
View File
@@ -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();
}
selfdrive/ui/sunnypilot/ui.cc
+24
View File
@@ -11,6 +11,16 @@
void UIStateSP::updateStatus() {
UIState::updateStatus();
if (scene.started && scene.onroadScreenOffControl) {
auto selfdriveState = (*sm)["selfdriveState"].getSelfdriveState();
if (selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE &&
selfdriveState.getAlertStatus() != cereal::SelfdriveState::AlertStatus::NORMAL) {
reset_onroad_sleep_timer();
} else if (scene.onroadScreenOffTimer > 0) {
scene.onroadScreenOffTimer--;
}
}
}
UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
@@ -55,6 +65,20 @@ 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");
// 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();
}
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) {
selfdrive/ui/sunnypilot/ui.h
+1
View File
@@ -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);
selfdrive/ui/sunnypilot/ui_scene.h
+3
View File
@@ -12,4 +12,7 @@ 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;
} UISceneSP;
selfdrive/ui/ui.cc
+7
View File
@@ -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);
sunnypilot/selfdrive/assets/images/green_light.png
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:3aa5ec9ac1daee6a549e62647d90bcaa66d2485f7df7f386ff902fcfb04c1716
size 6583
sunnypilot/selfdrive/assets/offroad/icon_display.png
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:614767308d435d165a9ab78e3eac22ee15697d94066df8200ef32afb33ef8d60
size 5698
sunnypilot/selfdrive/car/car_specific.py
+8 -2
View File
@@ -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
sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
+50
View File
@@ -0,0 +1,50 @@
"""
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")
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._frame += 1
def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
self._read_params()
if not self.green_light_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
# Green light alert
self.green_light_alert = model_x[max_idx] > TRIGGER_THRESHOLD and \
not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled
if self.green_light_alert:
events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+8 -2
View File
@@ -10,6 +10,7 @@ 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
@@ -30,6 +31,7 @@ class LongitudinalPlannerSP:
self.sla = SpeedLimitAssist(CP)
self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
self.source = LongitudinalPlanSource.cruise
self.e2e_alerts_helper = E2EAlertsHelper()
self.output_v_target = 0.
self.output_a_target = 0.
@@ -53,8 +55,6 @@ class LongitudinalPlannerSP:
long_enabled = sm['carControl'].enabled
long_override = sm['carControl'].cruiseControl.override
self.events_sp.clear()
# Smart Cruise Control
self.scc.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise)
@@ -78,7 +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')
@@ -135,4 +137,8 @@ class LongitudinalPlannerSP:
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
pm.send('longitudinalPlanSP', plan_sp_send)
sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
-6
View File
@@ -54,7 +54,6 @@ class SpeedLimitAssist:
self.frame = -1
self.long_engaged_timer = 0
self.pre_active_timer = 0
self.speed_limit_changed_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
@@ -288,7 +287,6 @@ class SpeedLimitAssist:
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)
self.speed_limit_changed_timer = max(0, self.speed_limit_changed_timer - 1)
# ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE
if self.state != SpeedLimitAssistState.disabled:
@@ -302,8 +300,6 @@ class SpeedLimitAssist:
self.state = SpeedLimitAssistState.inactive
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
self.speed_limit_changed_timer = int(SPEED_LIMIT_CHANGED_HOLD_PERIOD / DT_MDL)
elif self.speed_limit_changed_timer <= 0:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
@@ -318,8 +314,6 @@ class SpeedLimitAssist:
# INACTIVE
elif self.state == SpeedLimitAssistState.inactive:
if self.speed_limit_changed:
self.speed_limit_changed_timer = int(SPEED_LIMIT_CHANGED_HOLD_PERIOD / DT_MDL)
elif self.speed_limit_changed_timer <= 0:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
elif self._update_non_pcm_long_confirmed_state():
sunnypilot/selfdrive/selfdrived/events.py
+8
View File
@@ -224,4 +224,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
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),
},
}