Merge branch 'SP-134-pause-lateral-speed' into master-dev-c3

# Conflicts:
#	CHANGELOGS.md

CHANGELOGS.md

@@ -29,6 +29,9 @@ sunnypilot - 0.9.7.0 (2024-05-xx)
   * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
 * NEW❗: Ford CAN-FD longitudinal
   * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
+* UPDATED: Pause Lateral Below Speed w/ Blinker
+  * NEW❗: Customizable Pause Lateral Speed
+    * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
 * UPDATED: Hyundai CAN Longitudinal
   * Auto-enable radar tracks on platforms with applicable Mando radar
 * UPDATED: Hyundai CAN-FD Radar-based SCC

common/params.cc

@@ -291,6 +291,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"OsmWayTest", PERSISTENT},
     {"OsmDownloadedDate", PERSISTENT},
     {"PathOffset", PERSISTENT | BACKUP},
+    {"PauseLateralSpeed", PERSISTENT | BACKUP},
     {"QuietDrive", PERSISTENT | BACKUP},
     {"RoadEdge", PERSISTENT | BACKUP},
     {"ReverseAccChange", PERSISTENT | BACKUP},

selfdrive/car/interfaces.py

@@ -220,7 +220,9 @@ class CarInterfaceBase(ABC):
     self.gear_warning = 0
     self.cruise_cancelled_btn = True
     self.acc_mads_combo = self.param_s.get_bool("AccMadsCombo")
+    self.is_metric = self.param_s.get_bool("IsMetric")
     self.below_speed_pause = self.param_s.get_bool("BelowSpeedPause")
+    self.pause_lateral_speed = self.param_s.get("PauseLateralSpeed", encoding="utf8")
     self.prev_acc_mads_combo = False
     self.mads_event_lock = True
     self.gap_button_counter = 0
@@ -606,7 +608,10 @@ class CarInterfaceBase(ABC):
     if self.CP.openpilotLongitudinalControl:
       self.toggle_exp_mode(gap_button)
 
-    cs_out.belowLaneChangeSpeed = cs_out.vEgo < LANE_CHANGE_SPEED_MIN and self.below_speed_pause
+    below_lateral_speed = LANE_CHANGE_SPEED_MIN if not self.pause_lateral_speed else \
+                          self.pause_lateral_speed * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS)
+
+    cs_out.belowLaneChangeSpeed = cs_out.vEgo < below_lateral_speed and self.below_speed_pause
 
     if cs_out.gearShifter in [GearShifter.park, GearShifter.reverse] or cs_out.doorOpen or \
       (cs_out.seatbeltUnlatched and cs_out.gearShifter != GearShifter.park):
@@ -708,6 +713,10 @@ class CarInterfaceBase(ABC):
   def sp_update_params(self):
     self.experimental_mode = self.param_s.get_bool("ExperimentalMode")
     self._frame += 1
+    if self._frame % 100 == 0:
+      self.is_metric = self.param_s.get_bool("IsMetric")
+      self.below_speed_pause = self.param_s.get_bool("BelowSpeedPause")
+      self.pause_lateral_speed = self.param_s.get("PauseLateralSpeed", encoding="utf8")
     if self._frame % 300 == 0:
       self._frame = 0
       self.reverse_dm_cam = self.param_s.get_bool("ReverseDmCam")

selfdrive/manager/manager.py

@@ -80,6 +80,7 @@ def manager_init() -> None:
     ("OnroadScreenOffEvent", "1"),
     ("OnroadSettings", "1"),
     ("PathOffset", "0"),
+    ("PauseLateralSpeed", "0"),
     ("ReverseAccChange", "0"),
     ("ScreenRecorder", "1"),
     ("ShowDebugUI", "1"),

selfdrive/ui/qt/offroad/sunnypilot/lane_change_settings.cc

@@ -16,7 +16,7 @@ LaneChangeSettings::LaneChangeSettings(QWidget* parent) : QWidget(parent) {
     {
       "BelowSpeedPause",
       tr("Pause Lateral Below Speed w/ Blinker"),
-      tr("Enable this toggle to pause lateral actuation with blinker when traveling below 20 MPH or 32 km/h."),
+      tr("Enable this toggle to pause lateral actuation with blinker when traveling below the desired speed selected below."),
       "../assets/offroad/icon_blank.png",
     },
     {
@@ -41,16 +41,32 @@ LaneChangeSettings::LaneChangeSettings(QWidget* parent) : QWidget(parent) {
   connect(auto_lane_change_timer, &AutoLaneChangeTimer::updateOtherToggles, this, &LaneChangeSettings::updateToggles);
   list->addItem(auto_lane_change_timer);
 
+  // Pause Lateral Below Speed w/ Blinker
+  pause_lateral_speed = new PauseLateralSpeed();
+  pause_lateral_speed->showDescription();
+  connect(pause_lateral_speed, &SPOptionControl::updateLabels, pause_lateral_speed, &PauseLateralSpeed::refresh);
+
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
     list->addItem(toggle);
     toggles[param.toStdString()] = toggle;
 
+    if (param == "BelowSpeedPause") {
+      list->addItem(pause_lateral_speed);
+    }
+
     // trigger offroadTransition when going onroad/offroad
     connect(uiState(), &UIState::offroadTransition, toggle, &ParamControl::setEnabled);
   }
 
+  connect(toggles["BelowSpeedPause"], &ToggleControl::toggleFlipped, [=](bool state) {
+    pause_lateral_speed->setEnabled(state);
+    pause_lateral_speed->setVisible(state);
+  });
+  pause_lateral_speed->setEnabled(toggles["BelowSpeedPause"]->isToggled());
+  pause_lateral_speed->setVisible(toggles["BelowSpeedPause"]->isToggled());
+
   main_layout->addWidget(new ScrollView(list, this));
 }
 
@@ -111,3 +127,25 @@ void AutoLaneChangeTimer::refresh() {
     setLabel("2 " + second);
   }
 }
+
+PauseLateralSpeed::PauseLateralSpeed() : SPOptionControl (
+  "PauseLateralSpeed",
+  "",
+  tr("Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h."),
+  "../assets/offroad/icon_blank.png",
+  {0, 255},
+  5) {
+
+  refresh();
+}
+
+void PauseLateralSpeed::refresh() {
+  QString option = QString:: fromStdString(params.get("PauseLateralSpeed"));
+  bool is_metric = params.getBool("IsMetric");
+
+  if (option == "0") {
+    setLabel(tr("Default"));
+  } else {
+    setLabel(option + " " + (is_metric ? tr("km/h") : tr("mph")));
+  }
+}

selfdrive/ui/qt/offroad/sunnypilot/lane_change_settings.h

@@ -19,6 +19,22 @@ private:
   Params params;
 };
 
+class PauseLateralSpeed : public SPOptionControl {
+  Q_OBJECT
+
+public:
+  PauseLateralSpeed();
+
+  void refresh();
+
+  signals:
+    void ToggleUpdated();
+
+private:
+  Params params;
+};
+
+
 class LaneChangeSettings : public QWidget {
   Q_OBJECT
 
@@ -37,4 +53,5 @@ private:
   std::map<std::string, ParamControl*> toggles;
 
   AutoLaneChangeTimer *auto_lane_change_timer;
-};
+  PauseLateralSpeed *pause_lateral_speed;
+};