From 95d111bb20a05d8cbc6bbf0b52432130af10af2d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 31 Oct 2023 19:28:55 -0400 Subject: [PATCH] var changes --- selfdrive/car/hyundai/carcontroller.py | 6 +++--- selfdrive/controls/controlsd.py | 5 ++++- selfdrive/ui/qt/onroad.cc | 2 +- selfdrive/ui/qt/onroad_settings.cc | 2 +- 4 files changed, 9 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 144bb7ef14..7a8775e68e 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -101,7 +101,7 @@ class CarController: self.speeds = 0 self.v_target_plan = 0 self.hkg_can_smooth_stop = self.param_s.get_bool("HkgSmoothStop") - self.custom_planner_speed = self.param_s.get_bool("CustomStockLongPlanner") + self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner") self.lead_distance = 0 def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float: @@ -136,7 +136,7 @@ class CarController: if self.frame % 200 == 0: self.speed_limit_control_enabled = self.param_s.get_bool("SpeedLimitControl") self.is_metric = self.param_s.get_bool("IsMetric") - self.custom_planner_speed = self.param_s.get_bool("CustomStockLongPlanner") + self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner") self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap") self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1) self.v_target_plan = min(CC.vCruise * CV.KPH_TO_MS, self.speeds) @@ -453,7 +453,7 @@ class CarController: target_speed_kph = set_speed_kph else: target_speed_kph = min(v_cruise_kph_prev, set_speed_kph) - if self.custom_planner_speed: + if self.custom_stock_planner_speed: target_speed_kph = self.curve_speed_hysteresis(self.v_target_plan * CV.MS_TO_KPH) if self.v_tsc_state != 0 or self.m_tsc_state > 1: self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index a833243fac..83cd42e1cd 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -202,6 +202,7 @@ class Controls: self.live_torque = self.params.get_bool("LiveTorque") self.torqued_override = self.params.get_bool("TorquedOverride") + self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner") self.process_not_running = False @@ -908,11 +909,13 @@ class Controls: self.prof.checkpoint("Ratekeeper", ignore=True) self.is_metric = self.params.get_bool("IsMetric") - self.experimental_mode = self.params.get_bool("ExperimentalMode") and (self.CP.openpilotLongitudinalControl or not self.CP.pcmCruiseSpeed) + self.experimental_mode = self.params.get_bool("ExperimentalMode") and (self.CP.openpilotLongitudinalControl or + (not self.CP.pcmCruiseSpeed and self.custom_stock_planner_speed)) self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8")) self.reverse_acc_change = self.params.get_bool("ReverseAccChange") self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl") + self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner") if self.sm.frame % int(2.5 / DT_CTRL) == 0: self.live_torque = self.params.get_bool("LiveTorque") diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 8326bfe511..77a0a4e242 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -357,7 +357,7 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals void ExperimentalButton::changeMode() { const auto cp = (*uiState()->sm)["carParams"].getCarParams(); - bool can_change = (hasLongitudinalControl(cp) || (cp.getCustomStockLongAvailable() && params.getBool("CustomStockLongPlanner"))) + bool can_change = (hasLongitudinalControl(cp) || (!cp.getPcmCruiseSpeed() && params.getBool("CustomStockLongPlanner"))) && params.getBool("ExperimentalModeConfirmed"); if (can_change) { params.putBool("ExperimentalMode", !experimental_mode); diff --git a/selfdrive/ui/qt/onroad_settings.cc b/selfdrive/ui/qt/onroad_settings.cc index ef4304d94e..67efd15e7c 100644 --- a/selfdrive/ui/qt/onroad_settings.cc +++ b/selfdrive/ui/qt/onroad_settings.cc @@ -134,7 +134,7 @@ void OnroadSettings::changeGapAdjustCruise() { void OnroadSettings::changeDynamicExperimentalControl() { UIScene &scene = uiState()->scene; const auto cp = (*uiState()->sm)["carParams"].getCarParams(); - bool can_change = (hasLongitudinalControl(cp) || (cp.getCustomStockLongAvailable() && params.getBool("CustomStockLongPlanner"))); + bool can_change = hasLongitudinalControl(cp) || (!cp.getPcmCruiseSpeed() && params.getBool("CustomStockLongPlanner")); if (can_change) { scene.dynamic_experimental_control = !scene.dynamic_experimental_control; params.putBool("DynamicExperimentalControl", scene.dynamic_experimental_control);