torque: show static override values in Dev UI & gate useParams on custom torque tune (#1821)

torque: show static override values in Dev UI

selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py

@@ -141,7 +141,8 @@ class DeveloperUiRenderer(Widget):
 
     # Add torque-specific elements if using torque control
     if sm['controlsState'].lateralControlState.which() == 'torqueState':
-      if sm.valid['liveTorqueParameters']:
+      override_active = ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled
+      if sm.valid['liveTorqueParameters'] or override_active:
         elements.extend([
           self.friction_elem.update(sm, ui_state.is_metric),
           self.lat_accel_factor_elem.update(sm, ui_state.is_metric),

selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py

@@ -8,8 +8,7 @@ import pyray as rl
 from dataclasses import dataclass
 
 from openpilot.common.constants import CV
-
-
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 
@@ -248,12 +247,12 @@ class FrictionCoefficientElement:
     self.unit = ""
 
   def update(self, sm, is_metric: bool) -> UiElement:
-    ltp = sm['liveTorqueParameters']
-    friction_coef = ltp.frictionCoefficientFiltered
-    live_valid = ltp.liveValid
+    if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
+      return UiElement(f"{ui_state.torque_override_friction:.3f}", "FRIC.", self.unit, rl.WHITE)
 
-    value = f"{friction_coef:.3f}"
-    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    ltp = sm['liveTorqueParameters']
+    value = f"{ltp.frictionCoefficientFiltered:.3f}"
+    color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
     return UiElement(value, "FRIC.", self.unit, color)
 
 
@@ -262,12 +261,12 @@ class LatAccelFactorElement:
     self.unit = ""
 
   def update(self, sm, is_metric: bool) -> UiElement:
-    ltp = sm['liveTorqueParameters']
-    lat_accel_factor = ltp.latAccelFactorFiltered
-    live_valid = ltp.liveValid
+    if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
+      return UiElement(f"{ui_state.torque_override_lat_accel_factor:.3f}", "L.A.F.", self.unit, rl.WHITE)
 
-    value = f"{lat_accel_factor:.3f}"
-    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    ltp = sm['liveTorqueParameters']
+    value = f"{ltp.latAccelFactorFiltered:.3f}"
+    color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
     return UiElement(value, "L.A.F.", self.unit, color)
 
 

selfdrive/ui/sunnypilot/ui_state.py

@@ -143,6 +143,11 @@ class UIStateSP:
     self.standstill_timer = self.params.get_bool("StandstillTimer")
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
     self.torque_bar = self.params.get_bool("TorqueBar")
+    self.enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
+    self.custom_torque_params = self.params.get_bool("CustomTorqueParams")
+    self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
+    self.torque_override_lat_accel_factor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
+    self.torque_override_friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)

sunnypilot/selfdrive/locationd/torqued_ext.py

@@ -4,7 +4,6 @@ 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
@@ -18,7 +17,6 @@ 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
@@ -28,6 +26,7 @@ class TorqueEstimatorExt:
     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.custom_torque_params = self._params.get_bool("CustomTorqueParams")
     self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
     self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS
     self.factor_sanity = 0.0
@@ -51,13 +50,14 @@ class TorqueEstimatorExt:
   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.custom_torque_params = self._params.get_bool("CustomTorqueParams")
       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:
+      if self.custom_torque_params and self.torque_override_enabled:
         self.use_params = False
       else:
         self.use_params = self.use_live_torque_params