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Parse more flags from alt exp, more tests, hyundai main cruise allowed

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This commit is contained in:
Jason Wen
2024-12-10 12:32:08 -05:00
parent ccb452fb3a
commit cb251230dd
17 changed files with 77 additions and 50 deletions
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common/params.cc
+2 -1
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@@ -203,9 +203,10 @@ std::unordered_map<std::string, uint32_t> keys = {
// sunnypilot params
{"Mads", PERSISTENT},
{"MadsCruiseMain", PERSISTENT},
{"MadsMainCruiseAllowed", PERSISTENT},
{"MadsDisengageLateralOnBrake", PERSISTENT},
{"MadsUnifiedEngagementMode", PERSISTENT},
{"HyundaiLongitudinalMainCruiseToggleable", PERSISTENT},
};
} // namespace
selfdrive/car/card.py
+1
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@@ -119,6 +119,7 @@ class Car:
data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
MadsParams().set_alternative_experience(self.CP)
MadsParams().set_car_specific_params(self.CP)
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
selfdrive/ui/qt/offroad/developer_panel.cc
+2 -2
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@@ -29,8 +29,8 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
addItem(madsToggle);
// TODO-SP: Rename toggle
auto madsCruiseMainToggle = new ParamControl("MadsCruiseMain", tr("MADS: Cruise Main"), "", "");
addItem(madsCruiseMainToggle);
auto madsMainCruiseToggle = new ParamControl("MadsMainCruiseAllowed", tr("MADS: Toggle with Main Cruise"), "", "");
addItem(madsMainCruiseToggle);
auto madsDisengageLateralOnBrakeToggle = new ParamControl("MadsDisengageLateralOnBrake", tr("MADS: Disengage Lateral on Brake"), "", "");
addItem(madsDisengageLateralOnBrakeToggle);
selfdrive/ui/translations/main_ar.ts
+4 -4
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@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation>وضع المناورة الطولية</translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_de.ts
+4 -4
View File
@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_es.ts
+4 -4
View File
@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation>Modo de maniobra longitudinal</translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_fr.ts
+4 -4
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@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_ja.ts
+4 -4
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@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_ko.ts
+4 -4
View File
@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation>롱컨 기동 모드</translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_pt-BR.ts
+4 -4
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@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation>Modo Longitudinal Maneuver</translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_th.ts
+4 -4
View File
@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_tr.ts
+4 -4
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@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_zh-CHS.ts
+4 -4
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@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_zh-CHT.ts
+4 -4
View File
@@ -123,10 +123,6 @@
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Cruise Main</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Disengage Lateral on Brake</source>
<translation type="unfinished"></translation>
@@ -139,6 +135,10 @@
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Toggle with Main Cruise</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
sunnypilot/mads/helpers.py
+25 -1
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@@ -1,11 +1,15 @@
from panda import ALTERNATIVE_EXPERIENCE
from panda import Panda, ALTERNATIVE_EXPERIENCE
from openpilot.common.params import Params
from opendbc.car.hyundai.values import HyundaiFlags
from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
class MadsParams:
def __init__(self):
self.params = Params()
self.allow_always = False
def read_param(self, key: str):
return self.params.get_bool(key)
@@ -13,9 +17,29 @@ class MadsParams:
def set_alternative_experience(self, CP):
enabled = self.read_param("Mads")
disengage_lateral_on_brake = self.read_param("MadsDisengageLateralOnBrake")
main_cruise = self.read_param("MadsMainCruiseAllowed")
unified_engagement_mode = self.read_param("MadsUnifiedEngagementMode")
if enabled:
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
if not disengage_lateral_on_brake:
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_LATERAL_ON_BRAKE
if main_cruise:
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MAIN_CRUISE_ALLOWED
if unified_engagement_mode:
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.UNIFIED_ENGAGEMENT_MODE
def set_car_specific_params(self, CP):
if CP.carName == "hyundai":
if (CP.sunnypilotFlags & HyundaiFlagsSP.HAS_LFA_BUTTON) or (CP.flags & HyundaiFlags.CANFD):
self.allow_always = True
CP.safetyConfig[-1].safetyParam |= Panda.FLAG_HYUNDAI_MADS_BUTTON_ALLOWED
# TODO-SP: This should be separated from MADS module for future implementations
hyundai_cruise_main_toggleable = self.read_param("HyundaiLongitudinalMainCruiseToggleable")
if hyundai_cruise_main_toggleable:
CP.sunnypilotFlags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
CP.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
sunnypilot/mads/mads.py
+1 -1
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@@ -30,7 +30,7 @@ class ModularAssistiveDrivingSystem:
self.allow_always = True
self.enabled_toggle = mads_params.read_param("Mads")
self.main_enabled_toggle = mads_params.read_param("MadsCruiseMain")
self.main_enabled_toggle = mads_params.read_param("MadsMainCruiseAllowed")
self.disengage_lateral_on_brake_toggle = mads_params.read_param("MadsDisengageLateralOnBrake")
self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode")
system/manager/manager.py
+2 -1
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@@ -44,9 +44,10 @@ def manager_init() -> None:
sunnypilot_default_params: list[tuple[str, str | bytes]] = [
("Mads", "1"),
("MadsCruiseMain", "1"),
("MadsMainCruiseAllowed", "1"),
("MadsDisengageLateralOnBrake", "0"),
("MadsUnifiedEngagementMode", "1"),
("HyundaiLongitudinalMainCruiseToggleable", "1"),
]
if params.get_bool("RecordFrontLock"):