Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into alc-new

common/params_keys.h

@@ -130,6 +130,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
+    {"QuietMode", PERSISTENT | BACKUP},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},

selfdrive/ui/soundd.py

@@ -13,6 +13,8 @@ from openpilot.common.swaglog import cloudlog
 
 from openpilot.system import micd
 
+from openpilot.selfdrive.ui.sunnypilot.quiet_mode import QuietMode
+
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
@@ -50,8 +52,10 @@ def check_selfdrive_timeout_alert(sm):
   return False
 
 
-class Soundd:
+class Soundd(QuietMode):
   def __init__(self):
+    super().__init__()
+
     self.load_sounds()
 
     self.current_alert = AudibleAlert.none
@@ -81,7 +85,7 @@ class Soundd:
 
     ret = np.zeros(frames, dtype=np.float32)
 
-    if self.current_alert != AudibleAlert.none:
+    if self.should_play_sound(self.current_alert):
       num_loops = sound_list[self.current_alert][1]
       sound_data = self.loaded_sounds[self.current_alert]
       written_frames = 0
@@ -144,6 +148,8 @@ class Soundd:
       while True:
         sm.update(0)
 
+        self.load_param()
+
         if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
           self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
           self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

@@ -16,23 +16,26 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   device_grid_layout->setHorizontalSpacing(5);
   device_grid_layout->setVerticalSpacing(25);
 
-  std::vector<std::pair<QString, QString>> device_btns = {
-    {"dcamBtn", tr("Driver Camera Preview")},
-    {"retrainingBtn", tr("Training Guide")},
-    {"regulatoryBtn", tr("Regulatory")},
-    {"translateBtn", tr("Language")},
-    {"resetParams", tr("Reset Settings")},
+  std::vector<std::tuple<QString, QString, QString>> device_btns = {
+    {"quietModeBtn", tr("Quiet Mode"), "QuietMode"},
+    {"dcamBtn", tr("Driver Camera Preview"), ""},
+    {"retrainingBtn", tr("Training Guide"), ""},
+    {"regulatoryBtn", tr("Regulatory"), ""},
+    {"translateBtn", tr("Language"), ""},
+    {"resetParams", tr("Reset Settings"), ""},
   };
 
   int row = 0, col = 0;
-  for (int i = 0; i < device_btns.size(); i++) {
-    if (device_btns[i].first == "regulatoryBtn" && !Hardware::TICI()) {
+  for (const auto &[id, text, param] : device_btns) {
+    if (id == "regulatoryBtn" && !Hardware::TICI()) {
       continue;
     }
 
-    auto *btn = new PushButtonSP(device_btns[i].second, 720, this);
+    auto *btn = new PushButtonSP(text, 720, this, param);
+    btn->setObjectName(id);
+
     device_grid_layout->addWidget(btn, row, col);
-    buttons[device_btns[i].first] = btn;
+    buttons[id] = btn;
 
     col++;
     if (col > 1) {
@@ -43,6 +46,8 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   connect(buttons["dcamBtn"], &PushButtonSP::clicked, [=]() { emit showDriverView(); });
 
+  connect(buttons["quietModeBtn"], &PushButtonSP::clicked, buttons["quietModeBtn"], &PushButtonSP::updateButton);
+
   connect(buttons["retrainingBtn"], &PushButtonSP::clicked, [=]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
       emit reviewTrainingGuide();

selfdrive/ui/sunnypilot/qt/widgets/controls.h

@@ -520,7 +520,11 @@ protected:
     }
 
     // Draw the rectangle
+#ifdef __APPLE__
+    QRect rect(0, !_title.isEmpty() ? (h - 16) : 20, w, h);
+#else
     QRect rect(0, !_title.isEmpty() ? (h - 24) : 20, w, h);
+#endif
     p.setBrush(QColor(button_enabled ? "#b24a4a4a" : "#121212")); // Background color
     p.setPen(QPen(Qt::NoPen));
     p.drawRoundedRect(rect, 20, 20);
@@ -550,8 +554,8 @@ class PushButtonSP : public QPushButton {
   Q_OBJECT
 
 public:
-  PushButtonSP(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr) : QPushButton(text, parent) {
-    const QString buttonStyle = R"(
+  PushButtonSP(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr, const QString &param = "") : QPushButton(text, parent) {
+    buttonStyle = R"(
       QPushButton {
         border-radius: 20px;
         font-size: 50px;
@@ -560,21 +564,61 @@ public:
         padding: 0 25px 0 25px;
         color: #FFFFFF;
       }
-      QPushButton:enabled {
-        background-color: #393939;
-      }
-      QPushButton:pressed {
-        background-color: #4A4A4A;
-      }
-      QPushButton:disabled {
-        background-color: #121212;
-        color: #5C5C5C;
-      }
     )";
 
-    setStyleSheet(buttonStyle);
+    if (!param.isEmpty()) {
+      key = param.toStdString();
+      refresh();
+    } else {
+      updateStyle(false);
+    }
+
     setFixedWidth(minimum_button_width);
   }
+
+  void refresh() {
+    if (!key.empty()) {
+      bool state = params.getBool(key);
+      if (state != is_enabled) {
+        is_enabled = state;
+      }
+      updateStyle(is_enabled);
+    }
+  }
+
+  void updateButton() {
+    if (!key.empty()) {
+      params.putBool(key, !is_enabled);
+      refresh();
+    }
+  }
+
+protected:
+  // Override mouse release event to handle style updates smoothly
+  void mouseReleaseEvent(QMouseEvent *event) override {
+    if (!key.empty()) {
+      bool next_state = !params.getBool(key);
+      updateStyle(next_state);
+    }
+    QPushButton::mouseReleaseEvent(event);
+  }
+
+private:
+  std::string key = "";
+  Params params;
+  bool is_enabled;
+  QString buttonStyle;
+
+  QString btn_enabled_off_style = "QPushButton:enabled { background-color: #393939; }";
+  QString btn_enabled_on_style = "QPushButton:enabled { background-color: #1e79e8; }";
+  QString btn_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
+  QString btn_disabled_stype = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
+
+  void updateStyle(bool enabled) {
+    QString enabled_style = enabled ? btn_enabled_on_style : btn_enabled_off_style;
+
+    setStyleSheet(buttonStyle + enabled_style + btn_pressed_style + btn_disabled_stype);
+  }
 };
 
 class PanelBackButton : public QPushButton {

selfdrive/ui/sunnypilot/quiet_mode.py

@@ -0,0 +1,39 @@
+"""
+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 car
+
+from openpilot.common.params import Params
+
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+ALERTS_ALWAYS_PLAY = {
+  AudibleAlert.warningSoft,
+  AudibleAlert.warningImmediate,
+  AudibleAlert.promptDistracted,
+  AudibleAlert.promptRepeat,
+}
+
+class QuietMode:
+  def __init__(self):
+    self.params = Params()
+    self.enabled: bool = self.params.get_bool("QuietMode")
+    self._frame = 0
+
+  def load_param(self) -> None:
+    self._frame += 1
+    if self._frame % 50 == 0:  # 2.5 seconds
+      self.enabled = self.params.get_bool("QuietMode")
+
+  def should_play_sound(self, current_alert: int) -> bool:
+    """
+    Check if a sound should be played based on the Quiet Mode setting
+    and the current alert.
+    """
+    if not self.enabled:
+      return bool(current_alert != AudibleAlert.none)
+
+    return current_alert in ALERTS_ALWAYS_PLAY

selfdrive/ui/tests/test_ui/run.py

@@ -151,7 +151,7 @@ def setup_keyboard_uppercase(click, pm: PubMaster, scroll=None):
 
 def setup_driver_camera(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(950, 620)
+  click(1720, 620)
   DATA['deviceState'].deviceState.started = False
   setup_onroad(click, pm)
   DATA['deviceState'].deviceState.started = True

sunnypilot/selfdrive/controls/lib/nnlc/helpers.py

@@ -46,10 +46,10 @@ def get_nn_model_path(CP: structs.CarParams) -> tuple[str, str, bool]:
 
   exact_match = max_similarity >= 0.99
 
-  if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.8:
+  if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.9:
     nn_candidate = car_fingerprint
     model_path, max_similarity = check_nn_path(nn_candidate)
-    if 0.0 <= max_similarity < 0.8:
+    if 0.0 <= max_similarity < 0.9:
       with open(TORQUE_NN_MODEL_SUBSTITUTE_PATH, 'rb') as f:
         sub = tomllib.load(f)
       sub_candidate = sub.get(car_fingerprint, car_fingerprint)

system/manager/manager.py

@@ -53,6 +53,7 @@ def manager_init() -> None:
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),
+    ("QuietMode", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):