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 674f109fc7..44b8bd69fa 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -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 +247,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 { sccMap @2; speedLimitAssist @3; } + + struct E2eAlerts { + greenLightAlert @0 :Bool; + leadDepartAlert @1 :Bool; + } } struct OnroadEventSP @0xda96579883444c35 { @@ -291,6 +297,7 @@ struct OnroadEventSP @0xda96579883444c35 { speedLimitActive @20; speedLimitChanged @21; speedLimitPending @22; + e2eChime @23; } } diff --git a/common/params_keys.h b/common/params_keys.h index 1056a3903e..3b5d02a429 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -148,11 +148,14 @@ 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}}, @@ -160,11 +163,14 @@ inline static std::unordered_map keys = { {"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"}}, @@ -190,7 +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}}, @@ -240,4 +247,13 @@ inline static std::unordered_map keys = { {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}}, {"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"}}, }; 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)
Buy Here
||| |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)
Buy Here
||| -|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)
Buy Here
||| +|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)
Buy Here
||| |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)
Buy Here
||| |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)
Buy Here
||| |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)
Buy Here
||| @@ -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)
Buy Here
||| |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)
Buy Here
||| |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)
Buy Here
||| +|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)
Buy Here
||| |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)
Buy Here
||| +|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)
Buy Here
||| |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)
Buy Here
||| |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)
Buy Here
||| |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)
Buy Here
||| |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)
Buy Here
||| |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)
Buy Here
||| +|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)
Buy Here
||| |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 0953891a78..98f2a968e4 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0953891a782d4004cde7298d310d2991e12b2ccc +Subproject commit 98f2a968e44087b3114725c9643b7a138bffe26c diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 34f0283ce4..4c44e43281 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -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 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/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/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/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 d95fe5fd80..540643bed5 100644 --- a/selfdrive/ui/qt/onroad/hud.cc +++ b/selfdrive/ui/qt/onroad/hud.cc @@ -51,8 +51,8 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) { if (is_cruise_available) { drawSetSpeed(p, surface_rect); } -#endif drawCurrentSpeed(p, surface_rect); +#endif p.restore(); } diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc index a1e3756cb6..a4165be216 100644 --- a/selfdrive/ui/qt/onroad/model.cc +++ b/selfdrive/ui/qt/onroad/model.cc @@ -34,7 +34,6 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { drawLead(painter, lead_two, lead_vertices[1], surface_rect); } } - drawLeadStatus(painter, surface_rect.height(), surface_rect.width()); painter.restore(); } @@ -175,172 +174,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float } -void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) { - auto *s = uiState(); - auto &sm = *(s->sm); - - if (!sm.alive("radarState")) return; - - const auto &radar_state = sm["radarState"].getRadarState(); - const auto &lead_one = radar_state.getLeadOne(); - const auto &lead_two = radar_state.getLeadTwo(); - - // Check if we have any active leads - bool has_lead_one = lead_one.getStatus(); - bool has_lead_two = lead_two.getStatus(); - - if (!has_lead_one && !has_lead_two) { - // Fade out status display - lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f); - if (lead_status_alpha <= 0.0f) return; - } else { - // Fade in status display - lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f); - } - - // Draw status for each lead vehicle under its chevron - if (true) { - drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1"); - } - - if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) { - drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2"); - } -} - -void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter, - const cereal::RadarState::LeadData::Reader &lead_data, - const QPointF &chevron_pos, - int height, int width, - const QString &label) { - - float d_rel = lead_data.getDRel(); - float v_rel = lead_data.getVRel(); - auto *s = uiState(); - auto &sm = *(s->sm); - float v_ego = sm["carState"].getCarState().getVEgo(); - - int chevron_data = std::atoi(Params().get("ChevronInfo").c_str()); - - // Calculate chevron size (same logic as drawLead) - float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35; - - QFont content_font = painter.font(); - content_font.setPixelSize(35); - content_font.setBold(true); - painter.setFont(content_font); - - QFontMetrics fm(content_font); - bool is_metric = s->scene.is_metric; - - QStringList text_lines; - - const int chevron_types = 3; - const int chevron_all = chevron_types + 1; // All metrics (value 4) - QStringList chevron_text[chevron_types]; - int position; - float val; - - // Distance display (chevron_data == 1 or all) - if (chevron_data == 1 || chevron_data == chevron_all) { - position = 0; - val = std::max(0.0f, d_rel); - QString distance_unit = is_metric ? "m" : "ft"; - if (!is_metric) { - val *= 3.28084f; // Convert meters to feet - } - chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit); - } - - // Absolute velocity display (chevron_data == 2 or all) - if (chevron_data == 2 || chevron_data == chevron_all) { - position = (chevron_data == 2) ? 0 : 1; - val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast(MS_TO_KPH) : static_cast(MS_TO_MPH))); - chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph")); - } - - // Time-to-contact display (chevron_data == 3 or all) - if (chevron_data == 3 || chevron_data == chevron_all) { - position = (chevron_data == 3) ? 0 : 2; - val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f; - QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---"; - chevron_text[position].append(ttc_str); - } - - // Collect all non-empty text lines - for (int i = 0; i < chevron_types; ++i) { - if (!chevron_text[i].isEmpty()) { - text_lines.append(chevron_text[i]); - } - } - - // If no text to display, return early - if (text_lines.isEmpty()) { - return; - } - - // Text box dimensions - float str_w = 150; // Width of text area - float str_h = 45; // Height per line - - // Position text below chevron, centered horizontally - float text_x = chevron_pos.x() - str_w / 2; - float text_y = chevron_pos.y() + sz + 15; - - // Clamp to screen bounds - text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10); - - // Shadow offset - QPoint shadow_offset(2, 2); - - // Draw each line of text with shadow - for (int i = 0; i < text_lines.size(); ++i) { - if (!text_lines[i].isEmpty()) { - QRect textRect(text_x, text_y + (i * str_h), str_w, str_h); - - // Draw shadow - painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha))); - painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()), - Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]); - - // Determine text color based on content and danger level - QColor text_color; - - // Check if this is a distance line (contains 'm' or 'ft') - if (text_lines[i].contains("m") || text_lines[i].contains("ft")) { - if (d_rel < 20.0f) { - text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger - } else if (d_rel < 40.0f) { - text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution - } else { - text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe - } - } - // Enhanced color coding for time-to-contact - else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) { - float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat(); - if (ttc_val < 3.0f) { - text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent - } else if (ttc_val < 6.0f) { - text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution - } else { - text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe - } - } - else { - text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines - } - - // Draw main text - painter.setPen(text_color); - painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]); - } - } - - // Reset pen - painter.setPen(Qt::NoPen); -} - void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect) { const float speedBuff = 10.; diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h index e40f832c37..3ef8ba5320 100644 --- a/selfdrive/ui/qt/onroad/model.h +++ b/selfdrive/ui/qt/onroad/model.h @@ -34,12 +34,6 @@ protected: bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out); void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert = true); - void drawLeadStatus(QPainter &painter, int height, int width); - void drawLeadStatusAtPosition(QPainter &painter, - const cereal::RadarState::LeadData::Reader &lead_data, - const QPointF &chevron_pos, - int height, int width, - const QString &label); void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect); void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead); @@ -65,8 +59,4 @@ protected: Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero(); QRectF clip_region; - float lead_status_alpha = 0.0f; - QPointF lead_status_pos; - QString lead_status_text; - QColor lead_status_color; }; 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/qt/window.cc b/selfdrive/ui/qt/window.cc index 36f12c266b..d0806e4379 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -92,6 +92,16 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) { // ignore events when device is awakened by resetInteractiveTimeout ignore = !device()->isAwake(); device()->resetInteractiveTimeout(); + +#ifdef SUNNYPILOT + auto *s_sp = uiStateSP(); + bool onroadScreenControl = s_sp->scene.onroadScreenOffControl; + bool started = s_sp->scene.started; + bool timerExpired = (s_sp->scene.onroadScreenOffTimer == 0); + ignore |= (onroadScreenControl and started and timerExpired); + s_sp->reset_onroad_sleep_timer(); +#endif + break; } default: diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h index 8a118b0bb6..63293d4177 100644 --- a/selfdrive/ui/qt/window.h +++ b/selfdrive/ui/qt/window.h @@ -7,6 +7,10 @@ #include "selfdrive/ui/qt/offroad/onboarding.h" #include "selfdrive/ui/qt/offroad/settings.h" +#ifdef SUNNYPILOT +#include "selfdrive/ui/sunnypilot/ui.h" +#endif + class MainWindow : public QWidget { Q_OBJECT diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 3f0e013d34..be92c14261 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -38,6 +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 +52,8 @@ lateral_panel_qt_src = [ "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc", "sunnypilot/qt/offroad/settings/lateral/mads_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 = [ 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/developer_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc index 9c36097f1b..021f5b3776 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc @@ -56,14 +56,13 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare addItem(errorLogBtn); QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles); - - is_release = params.getBool("IsReleaseBranch"); - is_tested = params.getBool("IsTestedBranch"); - is_development = params.getBool("IsDevelopmentBranch"); } void DeveloperPanelSP::updateToggles(bool offroad) { bool disable_updates = params.getBool("DisableUpdates"); + bool is_release = params.getBool("IsReleaseBranch"); + bool is_tested = params.getBool("IsTestedBranch"); + bool is_development = params.getBool("IsDevelopmentBranch"); prebuiltToggle->setVisible(!is_release && !is_tested && !is_development); prebuiltToggle->setEnabled(disable_updates); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h index 7f67512b5d..ed64964a56 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h @@ -22,9 +22,6 @@ private: ParamControlSP *prebuiltToggle; Params params; ParamControlSP *showAdvancedControls; - bool is_development; - bool is_release; - bool is_tested; private slots: void updateToggles(bool offroad); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc index 7e3d18bd81..8295789f0a 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; @@ -75,35 +76,21 @@ 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) { params.put("DeviceBootMode", QString::number(index).toStdString()); - updateState(); + updateState(offroad); }); - 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 @@ -129,29 +116,21 @@ 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); - std::vector always_enabled_btns = { + always_enabled_btns = { rebootBtn, poweroffBtn, offroadBtn, buttons["quietModeBtn"], + buttons["onroadUploadsBtn"], }; - 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(); - - if (!always_enabled) { - btn->setEnabled(offroad); - } - } - }); + QObject::connect(uiState(), &UIState::offroadTransition, this, &DevicePanelSP::updateState); } void DevicePanelSP::setOffroadMode() { @@ -175,7 +154,7 @@ void DevicePanelSP::setOffroadMode() { ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this); } - updateState(); + updateState(offroad); } void DevicePanelSP::resetSettings() { @@ -192,16 +171,20 @@ void DevicePanelSP::resetSettings() { } void DevicePanelSP::showEvent(QShowEvent *event) { - updateState(); + updateState(offroad); } -void DevicePanelSP::updateState() { - if (!isVisible()) { - return; +void DevicePanelSP::updateState(bool _offroad) { + for (auto btn : findChildren()) { + bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end(); + + if (!always_enabled) { + btn->setEnabled(_offroad); + } } 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 +193,11 @@ 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); } + + offroad = _offroad; } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h index 899a942dae..425c4528a1 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" @@ -24,7 +23,7 @@ public: explicit DevicePanelSP(SettingsWindowSP *parent = 0); void showEvent(QShowEvent *event) override; void setOffroadMode(); - void updateState(); + void updateState(bool _offroad); void resetSettings(); private: @@ -32,8 +31,10 @@ private: PushButtonSP *offroadBtn; MaxTimeOffroad *maxTimeOffroad; ButtonParamControlSP *toggleDeviceBootMode; - Brightness *brightness; - OptionControlSP *interactivityTimeout; + QVBoxLayout *power_group_layout; + bool offroad; + + std::vector always_enabled_btns = {}; 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 index 3e9dc427bf..f28d9e45e8 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc @@ -12,30 +12,29 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString ¶ QWidget *parent) : ExpandableToggleRow(param, title, description, icon, parent) { auto *mainFrame = new QFrame(this); - auto *mainFrameLayout = new QGridLayout(); + auto *mainFrameLayout = new QVBoxLayout(); mainFrame->setLayout(mainFrameLayout); - mainFrameLayout->setSpacing(0); + 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, nullptr, false); + {0, 100}, 10, true); 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); + mainFrameLayout->addWidget(onroadScreenBrightness); + mainFrameLayout->addWidget(onroadScreenOffTimer); addItem(mainFrame); @@ -45,19 +44,11 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString ¶ void OnroadScreenBrightnessControl::refresh() { // Driving Screen Off Timer int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str()); - std::string labelTimer = ""; - labelTimer += "Delay"; - labelTimer += "
"; - labelTimer += (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m"); - labelTimer += ""; + 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 = ""; - labelBrightness += "Brightness"; - labelBrightness += "
"; - labelBrightness += (valBrightness == "0" ? " Screen Off" : valBrightness + "%"); - labelBrightness += ""; + std::string labelBrightness = (valBrightness == "0" ? " Screen Off" : valBrightness + "%"); onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness)); } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc index b441021ff3..465047f178 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc @@ -18,12 +18,30 @@ DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) { // Onroad Screen Off/Brightness onroadScreenBrightnessControl = new OnroadScreenBrightnessControl( "OnroadScreenOffControl", - tr("Driving Screen Off: Non-Critical Events"), + 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 critical event occurs."), + "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); @@ -37,4 +55,11 @@ void DisplayPanel::showEvent(QShowEvent *event) { 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 index 1714c8a436..69b440c9d3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h @@ -7,6 +7,7 @@ #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" @@ -25,4 +26,6 @@ private: 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 ae954d7539..ac004e8856 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); @@ -86,12 +116,10 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { nnlcToggle->hideDescription(); } - nnlcToggle->updateToggle(); + nnlcToggle->updateToggle(offroad); + updateToggles(offroad); }); - toggleOffroadOnly = { - madsToggle, nnlcToggle, - }; QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles); sunnypilotScroller = new ScrollViewSP(list, this); @@ -100,6 +128,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { main_layout->addWidget(sunnypilotScreen); main_layout->addWidget(madsWidget); main_layout->addWidget(laneChangeWidget); + main_layout->addWidget(torqueLateralControlWidget); setStyleSheet(R"( #back_btn { @@ -120,7 +149,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { } void LateralPanel::showEvent(QShowEvent *event) { - nnlcToggle->updateToggle(); + nnlcToggle->updateToggle(offroad); updateToggles(offroad); } @@ -129,27 +158,40 @@ 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()); + 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 7b5e73fceb..88c4d401d0 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h @@ -15,6 +15,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_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" @@ -35,7 +36,6 @@ private: QStackedLayout* main_layout = nullptr; QWidget* sunnypilotScreen = nullptr; ScrollViewSP *sunnypilotScroller = nullptr; - std::vector toggleOffroadOnly; bool offroad; ParamControl *madsToggle; @@ -45,6 +45,9 @@ 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/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc index ff5d6221ce..3efbfeed86 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 @@ -158,3 +158,7 @@ void SpeedLimitSettings::refresh() { void SpeedLimitSettings::showEvent(QShowEvent *event) { refresh(); } + +void SpeedLimitSettings::hideEvent(QHideEvent *event) { + setCurrentWidget(subPanelFrame); +} 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 f76f9bea2a..23fa7b4ece 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 @@ -21,6 +21,7 @@ public: SpeedLimitSettings(QWidget *parent = nullptr); void refresh(); void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; signals: void backPress(); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc index 3e3977ff64..31124a3242 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc @@ -86,6 +86,10 @@ void LongitudinalPanel::showEvent(QShowEvent *event) { refresh(offroad); } +void LongitudinalPanel::hideEvent(QHideEvent *event) { + main_layout->setCurrentWidget(cruisePanelScreen); +} + void LongitudinalPanel::refresh(bool _offroad) { auto cp_bytes = params.get("CarParamsPersistent"); auto cp_sp_bytes = params.get("CarParamsSPPersistent"); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h index 0b7f39c645..a94369a560 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h @@ -18,6 +18,7 @@ class LongitudinalPanel : public QWidget { public: explicit LongitudinalPanel(QWidget *parent = nullptr); void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; void refresh(bool _offroad); private: 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/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc index 96d945ab53..4bbf894572 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc @@ -21,7 +21,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) { paramsRefresh(param_name, param_value); }); - is_sunnylink_enabled = Params().getBool("SunnylinkEnabled"); + is_sunnylink_enabled = params.getBool("SunnylinkEnabled"); connect(uiStateSP(), &UIStateSP::sunnylinkRolesChanged, this, &SunnylinkPanel::updatePanel); connect(uiStateSP(), &UIStateSP::sunnylinkDeviceUsersChanged, this, &SunnylinkPanel::updatePanel); connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) { @@ -272,7 +272,7 @@ void SunnylinkPanel::updatePanel() { const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A")); sunnylinkEnabledBtn->setEnabled(!is_onroad); - is_sunnylink_enabled = Params().getBool("SunnylinkEnabled"); + is_sunnylink_enabled = params.getBool("SunnylinkEnabled"); bool is_sub = uiStateSP()->isSunnylinkSponsor() && is_sunnylink_enabled; auto max_current_sponsor_rule = uiStateSP()->sunnylinkSponsorRole(); auto role_name = max_current_sponsor_rule.getSponsorTierString(); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc index 10ead53774..0e42f777cd 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 @@ -99,6 +140,40 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) { vlayout->addWidget(sunnypilotScroller); main_layout->addWidget(sunnypilotScreen); + + QObject::connect(uiState(), &UIState::offroadTransition, this, &VisualsPanel::refreshLongitudinalStatus); + + refreshLongitudinalStatus(); +} + +void VisualsPanel::refreshLongitudinalStatus() { + auto cp_bytes = params.get("CarParamsPersistent"); + if (!cp_bytes.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + + has_longitudinal_control = hasLongitudinalControl(CP); + } else { + has_longitudinal_control = false; + } + + if (chevron_info_settings) { + QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."); + QString chevronNoLongDescription = tr("This feature requires openpilot longitudinal control to be available."); + + if (has_longitudinal_control) { + chevron_info_settings->setDescription(chevronEnabledDescription); + } else { + // Reset to "Off" when longitudinal not available + params.put("ChevronInfo", "0"); + chevron_info_settings->setDescription(chevronNoLongDescription); + } + + // Enable only when longitudinal is available + chevron_info_settings->setEnabled(has_longitudinal_control); + chevron_info_settings->refresh(); + } } void VisualsPanel::paramsRefresh() { diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h index 30ff31c301..76a846dd45 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h @@ -19,6 +19,7 @@ public: explicit VisualsPanel(QWidget *parent = nullptr); void paramsRefresh(); + void refreshLongitudinalStatus(); protected: QStackedLayout* main_layout = nullptr; @@ -29,4 +30,6 @@ protected: ParamWatcher * param_watcher; ButtonParamControlSP *chevron_info_settings; ButtonParamControlSP *dev_ui_settings; + + bool has_longitudinal_control = false; }; 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/annotated_camera.cc b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc index 1d5567161a..f9b62b0ae7 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc @@ -18,4 +18,10 @@ void AnnotatedCameraWidgetSP::updateState(const UIState &s) { void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) { AnnotatedCameraWidget::showEvent(event); ui_update_params_sp(uiState()); + uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::RESUME); +} + +void AnnotatedCameraWidgetSP::hideEvent(QHideEvent *event) { + AnnotatedCameraWidget::hideEvent(event); + uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::PAUSE); } diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h index 8c0a385657..2e7609dae0 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h @@ -18,4 +18,5 @@ public: protected: void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent* event) override; }; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc index df1bc3c002..718bfb514b 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc @@ -14,6 +14,13 @@ 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) { @@ -100,22 +107,46 @@ 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; + + carControlEnabled = car_control.getEnabled(); + speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv; } 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; @@ -158,11 +189,6 @@ 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); @@ -194,6 +220,47 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) { // 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(); @@ -351,40 +418,6 @@ 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, QRect &sign_rect) { bool speedLimitWarningEnabled = speedLimitMode >= SpeedLimitMode::WARNING; // TODO-SP: update to include SpeedLimitMode::ASSIST bool hasSpeedLimit = speedLimitValid || speedLimitLastValid; @@ -655,10 +688,21 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) { } } - // Draw "MAX" text + // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text + if (carControlEnabled) { + if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) { + icbm_active_counter = 3 * UI_FREQ; + } else if (icbm_active_counter > 0) { + icbm_active_counter--; + } + } else { + icbm_active_counter = 0; + } + QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX"); + 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")); + p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str); // Draw set speed QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–"; @@ -666,3 +710,151 @@ 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, 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() + 20; + x += devUiInfo > 0 ? 0 : 50; + 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) { + const bool hazard = leftBlinkerOn && rightBlinkerOn; + int blinkerStatus = hazard ? 2 : (leftBlinkerOn or rightBlinkerOn) ? 1 : 0; + + if (!leftBlinkerOn && !rightBlinkerOn) { + blinkerFrameCounter = 0; + lastBlinkerStatus = 0; + return; + } + + if (blinkerStatus != lastBlinkerStatus) { + blinkerFrameCounter = 0; + lastBlinkerStatus = blinkerStatus; + } + + ++blinkerFrameCounter; + + const int BLINKER_COOLDOWN_FRAMES = UI_FREQ / 10; + if (blinkerFrameCounter < BLINKER_COOLDOWN_FRAMES) { + return; + } + + const int circleRadius = 60; + const int arrowLength = 60; + const int x_gap = 160; + const int y_offset = 272; + + const int centerX = surface_rect.center().x(); + + 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 043536bf4c..554c9c5d0d 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h @@ -36,6 +36,9 @@ 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, 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; @@ -93,4 +96,28 @@ private: 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; + int lastBlinkerStatus; + bool showTurnSignals; + + bool carControlEnabled; + float speedCluster = 0; + int icbm_active_counter = 0; }; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc index 5d92838f8a..14943b1d48 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc @@ -24,7 +24,7 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) { auto *s = uiState(); auto &sm = *(s->sm); - bool blindspot = Params().getBool("BlindSpot"); + bool blindspot = s->scene.blindspot_ui; if (blindspot) { bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot(); @@ -49,7 +49,7 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea } } - bool rainbow = Params().getBool("RainbowMode"); + bool rainbow = s->scene.rainbow_mode; //float v_ego = sm["carState"].getCarState().getVEgo(); if (rainbow) { @@ -87,4 +87,139 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea // Normal path rendering ModelRenderer::drawPath(painter, model, surface_rect.height()); } + + drawLeadStatus(painter, surface_rect.height(), surface_rect.width()); +} + +void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) { + auto *s = uiState(); + auto &sm = *(s->sm); + + bool longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); + if (!longitudinal_control) { + lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f); + return; + } + + if (!sm.alive("radarState")) { + lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f); + return; + } + + const auto &radar_state = sm["radarState"].getRadarState(); + const auto &lead_one = radar_state.getLeadOne(); + const auto &lead_two = radar_state.getLeadTwo(); + + bool has_lead_one = lead_one.getStatus(); + bool has_lead_two = lead_two.getStatus(); + + if (!has_lead_one && !has_lead_two) { + lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f); + if (lead_status_alpha <= 0.0f) return; + } else { + lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f); + } + + if (has_lead_one) { + drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1"); + } + + if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) { + drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2"); + } +} + +void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter, + const cereal::RadarState::LeadData::Reader &lead_data, + const QPointF &chevron_pos, + int height, int width, + const QString &label) { + float d_rel = lead_data.getDRel(); + float v_rel = lead_data.getVRel(); + auto *s = uiState(); + auto &sm = *(s->sm); + float v_ego = sm["carState"].getCarState().getVEgo(); + + int chevron_data = s->scene.chevron_info; + float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35; + + QFont content_font = painter.font(); + content_font.setPixelSize(50); + content_font.setBold(true); + painter.setFont(content_font); + + bool is_metric = s->scene.is_metric; + QStringList text_lines; + const int chevron_all = 4; + QStringList chevron_text[3]; + + // Distance display + if (chevron_data == 1 || chevron_data == chevron_all) { + int pos = 0; + float val = std::max(0.0f, d_rel); + QString unit = is_metric ? "m" : "ft"; + if (!is_metric) val *= 3.28084f; + chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit); + } + + // Speed display + if (chevron_data == 2 || chevron_data == chevron_all) { + int pos = (chevron_data == 2) ? 0 : 1; + float multiplier = is_metric ? static_cast(MS_TO_KPH) : static_cast(MS_TO_MPH); + float val = std::max(0.0f, (v_rel + v_ego) * multiplier); + QString unit = is_metric ? "km/h" : "mph"; + chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit); + } + + // Time to contact + if (chevron_data == 3 || chevron_data == chevron_all) { + int pos = (chevron_data == 3) ? 0 : 2; + float val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f; + QString ttc = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---"; + chevron_text[pos].append(ttc); + } + + for (int i = 0; i < 3; ++i) { + if (!chevron_text[i].isEmpty()) text_lines.append(chevron_text[i]); + } + + if (text_lines.isEmpty()) return; + + QFontMetrics fm(content_font); + float text_width = 120.0f; + for (const QString &line : text_lines) { + text_width = std::max(text_width, fm.horizontalAdvance(line) + 20.0f); + } + text_width = std::min(text_width, 250.0f); + + float line_height = 50.0f; + float total_height = text_lines.size() * line_height; + float margin = 20.0f; + + float text_y = chevron_pos.y() + sz + 15; + if (text_y + total_height > height - margin) { + float y_max = chevron_pos.y() > (height - margin) ? (height - margin) : chevron_pos.y(); + text_y = y_max - 15 - total_height; + text_y = std::max(margin, text_y); + } + + float text_x = chevron_pos.x() - text_width / 2; + text_x = std::clamp(text_x, margin, (float)width - text_width - margin); + + QPoint shadow_offset(2, 2); + QColor text_color = QColor(255, 255, 255, (int)(255 * lead_status_alpha)); + for (int i = 0; i < text_lines.size(); ++i) { + float y = text_y + (i * line_height); + if (y + line_height > height - margin) break; + + QRect rect(text_x, y, text_width, line_height); + + // Draw shadow + painter.setPen(QColor(0, 0, 0, (int)(200 * lead_status_alpha))); + painter.drawText(rect.translated(shadow_offset), Qt::AlignCenter, text_lines[i]); + painter.setPen(text_color); + painter.drawText(rect, Qt::AlignCenter, text_lines[i]); + } + + painter.setPen(Qt::NoPen); } diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h index 24404f32f0..73999f0059 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h @@ -17,6 +17,17 @@ private: void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override; void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override; + // Lead status display methods + void drawLeadStatus(QPainter &painter, int height, int width); + void drawLeadStatusAtPosition(QPainter &painter, + const cereal::RadarState::LeadData::Reader &lead_data, + const QPointF &chevron_pos, + int height, int width, + const QString &label); + QPolygonF left_blindspot_vertices; QPolygonF right_blindspot_vertices; + + // Lead status animation + float lead_status_alpha = 0.0f; }; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc index 3f853e3363..b26d1b828a 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc @@ -25,10 +25,8 @@ 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 2e066e88b5..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); })) { 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 6cbdeadf58..ab1ca0e6a6 100644 --- a/selfdrive/ui/sunnypilot/ui.cc +++ b/selfdrive/ui/sunnypilot/ui.cc @@ -14,8 +14,7 @@ void UIStateSP::updateStatus() { if (scene.started && scene.onroadScreenOffControl) { auto selfdriveState = (*sm)["selfdriveState"].getSelfdriveState(); - if (selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE && - selfdriveState.getAlertStatus() != cereal::SelfdriveState::AlertStatus::NORMAL) { + if (selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) { reset_onroad_sleep_timer(); } else if (scene.onroadScreenOffTimer > 0) { scene.onroadScreenOffTimer--; @@ -65,20 +64,29 @@ 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"); + s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str()); + s->scene.blindspot_ui = params.getBool("BlindSpot"); + s->scene.rainbow_mode = params.getBool("RainbowMode"); } -void UIStateSP::reset_onroad_sleep_timer() { - if (scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl) { - scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ; - } else { +void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) { + // Toggling from active state to inactive + if (toggleTimerStatus == OnroadTimerStatusToggle::PAUSE and scene.onroadScreenOffTimer != -1) { scene.onroadScreenOffTimer = -1; } + // Toggling from a previously inactive state or resetting an active timer + else if ((scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl and scene.onroadScreenOffTimer != -1) or toggleTimerStatus == OnroadTimerStatusToggle::RESUME) { + scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ; + } } DeviceSP::DeviceSP(QObject *parent) : Device(parent) { diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h index 55dd43ad52..ba5de83ef6 100644 --- a/selfdrive/ui/sunnypilot/ui.h +++ b/selfdrive/ui/sunnypilot/ui.h @@ -15,6 +15,12 @@ #include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/util.h" +enum OnroadTimerStatusToggle { + NONE, + PAUSE, + RESUME +}; + class UIStateSP : public UIState { Q_OBJECT @@ -61,7 +67,7 @@ public: return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor"; }); } - void reset_onroad_sleep_timer(); + void reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus = OnroadTimerStatusToggle::NONE); signals: void sunnylinkRoleChanged(bool subscriber); diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h index 7cfabb15c3..da98931e6b 100644 --- a/selfdrive/ui/sunnypilot/ui_scene.h +++ b/selfdrive/ui/sunnypilot/ui_scene.h @@ -15,4 +15,10 @@ typedef struct UISceneSP : UIScene { int onroadScreenOffBrightness, onroadScreenOffTimer = 0; bool onroadScreenOffControl; int onroadScreenOffTimerParam; + bool trueVEgoUI; + bool hideVEgoUI; + bool turn_signals = false; + int chevron_info; + bool blindspot_ui; + bool rainbow_mode; } 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/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 b75bd8ccda..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 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/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 ece2ff2419..4c2443f253 100644 --- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py @@ -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 +137,9 @@ 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 + 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/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py index 5d798949a9..302d8cd14d 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py @@ -247,11 +247,11 @@ class SpeedLimitAssist: # PENDING elif self.state == SpeedLimitAssistState.pending: - if self._has_speed_limit: - if self.v_offset < LIMIT_SPEED_OFFSET_TH: - self.state = SpeedLimitAssistState.adapting - else: - self.state = SpeedLimitAssistState.active + 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: @@ -275,9 +275,11 @@ class SpeedLimitAssist: elif self.long_engaged_timer <= 0: if self.target_set_speed_confirmed: self._update_confirmed_state() - else: + 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 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 index 3b2716265d..d2c7a4716d 100644 --- 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 @@ -96,6 +96,12 @@ class TestSpeedLimitAssist: 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'], @@ -120,12 +126,20 @@ class TestSpeedLimitAssist: def test_pending_to_active_when_speed_limit_available(self): self.sla.state = SpeedLimitAssistState.pending - 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) + 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.update(True, False, SPEED_LIMITS['city'] + 5, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp) + 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 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 7700550c2d..e9f4b29bae 100644 --- a/sunnypilot/selfdrive/selfdrived/events.py +++ b/sunnypilot/selfdrive/selfdrived/events.py @@ -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), + }, } 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]