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Fix DevTekVE's comments

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This commit is contained in:
discountchubbs
2025-03-25 06:49:46 -07:00
parent 668cebca0f
commit cdbe4d08ec
5 changed files with 54 additions and 106 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: 3a89d4932c...ad06564a6b
selfdrive/car/card.py
-4
View File
@@ -109,10 +109,6 @@ class Car:
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
sunnypilot_interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
sunnypilot_interfaces.set_hyundai_long_tune_flag(self.CI.CP_SP, self.params)
if self.CI.CP.brand == 'hyundai':
self.CI.apply_longitudinal_tuning()
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
self.CP = self.CI.CP
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
+35 -72
View File
@@ -13,6 +13,12 @@
#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
enum HyundaiLongTuneOption {
Off = 0,
LongTune = 1,
EvenSmootherBraking = 2,
};
VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
main_layout = new QStackedLayout(this);
ListWidget *list = new ListWidget(this);
@@ -24,9 +30,10 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
platformSelector = new PlatformSelector();
list->addItem(platformSelector);
// Use updateUI() on offroad transition.
QObject::connect(uiState(), &UIState::offroadTransition, this, [=](bool offroad_transition) {
updateToggles(offroad_transition);
updatePanel(offroad_transition);
offroad = offroad_transition;
updateUI();
});
ScrollViewSP *scroller = new ScrollViewSP(list, this);
@@ -40,9 +47,9 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
hkgtuningToggle = new ButtonParamControlSP(
"HyundaiLongTune",
tr("HKG Custom Longitudinal Tuning"),
tr("Select a tuning mode. 'Off' means there is no custom tuning is currently applied. "
"'Long Tune' is a dynamic acceleration/brake tune individualized to your specific car. "
"'Tune + Smoother Braking' is the dynamic tuning but with even smoother braking applied."),
tr("Select a tuning mode. 'Off' means no custom tuning is applied. "
"'Long Tune' is a dynamic acceleration/brake tune individualized to your car. "
"'Tune + Smoother Braking' is the dynamic tuning with even smoother braking."),
"../assets/offroad/icon_shell.png",
tuning_buttons
);
@@ -51,9 +58,8 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
connect(hkgtuningToggle, &ButtonParamControlSP::buttonToggled, this, [=](int index) {
hkg_state = index;
// Inline update of tuning and braking params
params.put("HyundaiLongTune", QString::number(index).toStdString());
params.put("HyundaiSmootherBraking", (index == 2) ? "1" : "0");
params.putBool("HyundaiSmootherBraking", index == EvenSmootherBraking);
updateCarToggles();
});
@@ -64,8 +70,14 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
main_layout->addWidget(vehicleScreen);
}
void VehiclePanel::showEvent(QShowEvent *event) {
void VehiclePanel::updateUI() {
updatePanel(offroad);
updateCarToggles();
}
void VehiclePanel::showEvent(QShowEvent *event) {
QFrame::showEvent(event);
updateUI();
}
void VehiclePanel::updatePanel(bool _offroad) {
@@ -73,79 +85,30 @@ void VehiclePanel::updatePanel(bool _offroad) {
offroad = _offroad;
}
void VehiclePanel::updateToggles(bool offroad_transition) {
updatePanel(offroad_transition);
updateCarToggles();
}
VehiclePanel::ToggleState VehiclePanel::getToggleState(bool hasOpenpilotLong) const {
if (!hasOpenpilotLong) {
return ToggleState::DISABLED_LONGITUDINAL;
}
if (!uiState()->scene.started) {
return ToggleState::ENABLED;
}
return ToggleState::DISABLED_DRIVING;
}
void VehiclePanel::updateToggleState(AbstractControlSP* toggle, bool hasOpenpilotLong) {
static const QString LONGITUDINAL_MSG = tr("Enable openpilot longitudinal control first.");
static const QString DRIVING_MSG = tr("Cannot modify while driving. Please go offroad mode first.");
ToggleState state = getToggleState(hasOpenpilotLong);
switch (state) {
case ToggleState::ENABLED:
toggle->setDescription(toggle->property("originalDesc").toString());
break;
case ToggleState::DISABLED_LONGITUDINAL: {
QString msg = "<font color='orange'>" + tr("Enable openpilot longitudinal control first to modify this setting.") + "</font>";
toggle->setDescription(msg);
toggle->showDescription();
break;
}
case ToggleState::DISABLED_DRIVING: {
QString msg = "<font color='orange'>" + tr("Cannot modify while driving. Please go offroad mode first.") + "</font>";
toggle->setDescription(msg);
toggle->showDescription();
break;
}
}
}
void VehiclePanel::handleToggleAction(AbstractControlSP* toggle, bool checked) {
bool hasOpenpilotLong = params.getBool("ExperimentalLongitudinalEnabled");
// Only apply changes if all conditions are met
toggle->setEnabled(true);
params.putBool(toggle->objectName().toStdString(), checked);
updateToggleState(toggle, hasOpenpilotLong);
updatePanel(offroad);
}
void VehiclePanel::updateCarToggles() {
bool hasOpenpilotLong = params.getBool("ExperimentalLongitudinalEnabled");
// Pre-stage vehicle information
QString platform = platformSelector->getPlatformBundle("platform").toString();
bool openpilotLong = params.getBool("ExperimentalLongitudinalEnabled");
QString brand = platformSelector->getPlatformBundle("brand").toString();
QString make = platformSelector->getPlatformBundle("make").toString();
QString model = platformSelector->getPlatformBundle("model").toString();
if (brand == "hyundai") {
hkgtuningToggle->setVisible(true);
hkgtuningToggle->setEnabled(true);
QString tuning = QString::fromStdString(params.get("HyundaiLongTune"));
QString braking = QString::fromStdString(params.get("HyundaiSmootherBraking"));
hkg_state = (tuning == "2") ? 2 : ((tuning == "1") ? ((braking == "1") ? 2 : 1) : 0);
updateToggleState(hkgtuningToggle, hasOpenpilotLong);
// Set enabled state/description based on openpilotLong
hkgtuningToggle->setEnabled(openpilotLong);
hkgtuningToggle->setDescription(openpilotLong ?
hkgtuningToggle->property("originalDesc").toString() :
tr("Enable openpilot longitudinal control first."));
// If not enabled, show disabled description.
if (!openpilotLong) {
hkgtuningToggle->showDescription();
return;
}
int tuningOption = QString::fromStdString(params.get("HyundaiLongTune")).toInt();
hkg_state = tuningOption; // Off=0, LongTune=1, EvenSmootherBraking=2
hkgtuningToggle->setCheckedButton(hkg_state);
hkgtuningToggle->setDescription(hkgtuningToggle->property("originalDesc").toString());
hkgtuningToggle->showDescription();
} else {
// Reset if not Hyundai
// Hide toggle if not hyundai.
params.put("HyundaiLongTune", "0");
params.put("HyundaiSmootherBraking", "0");
params.putBool("HyundaiSmootherBraking", false);
hkgtuningToggle->setVisible(false);
}
}
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
+1 -14
View File
@@ -8,7 +8,6 @@
#pragma once
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
class VehiclePanel : public QFrame {
@@ -17,12 +16,6 @@ class VehiclePanel : public QFrame {
public:
explicit VehiclePanel(QWidget *parent = nullptr);
void showEvent(QShowEvent *event) override;
// Toggle states
enum class ToggleState {
ENABLED,
DISABLED_LONGITUDINAL,
DISABLED_DRIVING
};
public slots:
void updatePanel(bool _offroad);
@@ -31,7 +24,6 @@ private:
QStackedLayout* main_layout = nullptr;
QWidget* vehicleScreen = nullptr;
PlatformSelector *platformSelector = nullptr;
// Tuning control using ButtonParamControlSP with the buttonToggled signal.
ButtonParamControlSP* hkgtuningToggle = nullptr;
bool offroad;
@@ -39,12 +31,7 @@ private:
Params params;
int hkg_state = 0;
// Helper methods
ToggleState getToggleState(bool hasOpenpilotLong) const;
void updateToggleState(AbstractControlSP* toggle, bool hasOpenpilotLong);
private slots:
void updateUI();
void updateCarToggles();
void updateToggles(bool offroad_transition);
void handleToggleAction(AbstractControlSP* toggle, bool checked);
};
sunnypilot/selfdrive/car/interfaces.py
+17 -15
View File
@@ -4,7 +4,7 @@ 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 enum import Enum
from opendbc.car import Bus, structs
from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
from opendbc.car.car_helpers import can_fingerprint
@@ -19,6 +19,11 @@ from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_mode
import openpilot.system.sentry as sentry
class HyundaiLongTuneOption(Enum):
LONG_TUNING = "1"
LONG_TUNING_ALT = "2"
def log_fingerprint(CP: structs.CarParams) -> None:
if CP.carFingerprint == "MOCK":
sentry.capture_fingerprint_mock()
@@ -51,6 +56,17 @@ def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, pa
if params is None:
params = Params()
if CP.brand == 'hyundai':
tuning_option_str = params.get("HyundaiLongTune")
try:
tuning_option = HyundaiLongTuneOption(tuning_option_str)
except ValueError:
tuning_option = None
if tuning_option is not None:
CP_SP.flags |= HyundaiFlagsSP.HKGLONGTUNING.value
if params.get_bool("HyundaiSmootherBraking"):
CP_SP.flags |= HyundaiFlagsSP.HKGLONGTUNING_BRAKING.value
if CP.brand == 'hyundai':
if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
# Having this automatic without a toggle causes a weird process replay diff because
@@ -63,20 +79,6 @@ def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, pa
initialize_neural_network_lateral_control(CP, CP_SP, params)
def set_hyundai_long_tune_flag(CP_SP: structs.CarParamsSP, params):
val = params.get("HyundaiLongTune")
if isinstance(val, bytes):
val = val.decode("utf-8")
if isinstance(val, str) and ',' in val:
val_list = [v.strip() for v in val.split(',')]
else:
val_list = [val]
if any(item in ["1", "2"] for item in val_list):
CP_SP.flags |= HyundaiFlagsSP.HKGLONGTUNING.value
if params.get_bool("HyundaiSmootherBraking"):
CP_SP.flags |= HyundaiFlagsSP.HKGLONGTUNING_BRAKING.value
def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,
can_send: CanSendCallable):
if CP.brand == 'hyundai':