diff --git a/cereal/log.capnp b/cereal/log.capnp index 80a5034392..eea8c8ba45 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -198,6 +198,7 @@ struct OnroadEvent @0xc4fa6047f024e718 { silentSeatbeltNotLatched @161; silentParkBrake @162; controlsMismatchLateral @163; + hyundaiRadarTracksConfirmed @164; soundsUnavailableDEPRECATED @47; } diff --git a/common/params.cc b/common/params.cc index 3c11e034cb..e8e05ff6b2 100644 --- a/common/params.cc +++ b/common/params.cc @@ -224,6 +224,12 @@ std::unordered_map keys = { {"SunnylinkdPid", PERSISTENT}, {"SunnylinkEnabled", PERSISTENT}, + // sunnypilot car specific params + {"HyundaiRadarTracks", PERSISTENT}, + {"HyundaiRadarTracksConfirmed", PERSISTENT}, + {"HyundaiRadarTracksPersistent", PERSISTENT}, + {"HyundaiRadarTracksToggle", PERSISTENT}, + {"DynamicExperimentalControl", PERSISTENT}, }; diff --git a/opendbc_repo b/opendbc_repo index 6ddebc9a03..6a2ad131eb 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 6ddebc9a0365d3421bee7cceddb0263c88fb78dd +Subproject commit 6a2ad131ebfe7a15dca5aae391ef5225189c3c2d diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 1852dccf74..e093b5e0d0 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -23,6 +23,7 @@ from openpilot.selfdrive.car.cruise import VCruiseHelper from openpilot.selfdrive.car.car_specific import MockCarState from openpilot.sunnypilot.mads.mads import MadsParams +from openpilot.sunnypilot.selfdrive.car.interfaces import setup_car_interface_sp, initialize_car_interface_sp REPLAY = "REPLAY" in os.environ @@ -100,6 +101,7 @@ class Car: cached_params = _cached_params self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params) + setup_car_interface_sp(self.CI.CP, self.params) self.RI = get_radar_interface(self.CI.CP) self.CP = self.CI.CP @@ -230,6 +232,7 @@ class Car: # Initialize CarInterface, once controls are ready # TODO: this can make us miss at least a few cycles when doing an ECU knockout self.CI.init(self.CP, *self.can_callbacks) + initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks) # signal pandad to switch to car safety mode self.params.put_bool_nonblocking("ControlsReady", True) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 672d809dd9..481a33079b 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -1061,6 +1061,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"), }, + EventName.hyundaiRadarTracksConfirmed: { + ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize") + } } diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 8328bf67f0..759682f44f 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -24,6 +24,7 @@ from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEE from openpilot.system.version import get_build_metadata from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem +from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ @@ -137,6 +138,8 @@ class SelfdriveD: sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP'] self.pm = messaging.PubMaster(sock_services) + self.car_events_sp = CarSpecificEventsSP(self.CP, self.params) + def update_events(self, CS): """Compute onroadEvents from carState""" @@ -177,6 +180,9 @@ class SelfdriveD: car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg() self.events.add_from_msg(car_events) + car_events_sp = self.car_events_sp.update().to_msg() + self.events.add_from_msg(car_events_sp) + if self.CP.notCar: # wait for everything to init first if self.sm.frame > int(5. / DT_CTRL) and self.initialized: @@ -495,6 +501,7 @@ class SelfdriveD: self.personality = self.read_personality_param() self.mads.read_params() + self.car_events_sp.read_params() time.sleep(0.1) def run(self): diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc index eee48a6bdb..1a362f62c6 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.cc +++ b/selfdrive/ui/qt/offroad/developer_panel.cc @@ -29,6 +29,18 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) { }); addItem(longManeuverToggle); + // TODO-SP: Move to Vehicles panel when ported back + hyundaiRadarTracksToggle = new ParamControl( + "HyundaiRadarTracksToggle", + tr("Hyundai: Enable Radar Tracks"), + tr("Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. " + "This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance."), ""); + hyundaiRadarTracksToggle->setConfirmation(true, false); + QObject::connect(hyundaiRadarTracksToggle, &ParamControl::toggleFlipped, [=](bool state) { + updateToggles(offroad); + }); + addItem(hyundaiRadarTracksToggle); + auto enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), ""); addItem(enableGithubRunner); @@ -51,9 +63,15 @@ void DeveloperPanel::updateToggles(bool _offroad) { AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); cereal::CarParams::Reader CP = cmsg.getRoot(); + + auto hyundai = CP.getCarName() == "hyundai"; + auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096); + longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad); + hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP)); } else { longManeuverToggle->setEnabled(false); + hyundaiRadarTracksToggle->setVisible(false); } offroad = _offroad; diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h index 0351cd045c..5dc5a5c494 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.h +++ b/selfdrive/ui/qt/offroad/developer_panel.h @@ -16,6 +16,7 @@ private: Params params; ParamControl* joystickToggle; ParamControl* longManeuverToggle; + ParamControl* hyundaiRadarTracksToggle; bool is_release; bool offroad; diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 4f7a2222bd..2599845376 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 6eaab99989..dbedef9326 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 58fb2696c6..017df12e08 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index b9be52acd8..0cbf515c5d 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 4f757d5f0c..529d9e3209 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index ebc217e556..6ef5a3a2ae 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 4d24c47d48..879a95e307 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 08ce8b7647..94dd75473e 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 0037777958..9bfdb2fb21 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 517ad5fd1d..ba3841ddeb 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 6f82c97e9f..6a48443d69 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -131,6 +131,14 @@ Enable GitHub runner service + + Hyundai: Enable Radar Tracks + + + + Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. + + DevicePanel diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py new file mode 100644 index 0000000000..5abb5603d6 --- /dev/null +++ b/sunnypilot/selfdrive/car/car_specific.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 cereal import log +from opendbc.car import structs + +from openpilot.selfdrive.selfdrived.events import Events + +EventName = log.OnroadEvent.EventName + + +class CarSpecificEventsSP: + def __init__(self, CP: structs.CarParams, params): + self.CP = CP + self.params = params + + self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks") + self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed") + + def read_params(self): + self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks") + self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed") + + def update(self): + events = Events() + if self.CP.carName == 'hyundai': + if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed: + events.add(EventName.hyundaiRadarTracksConfirmed) + + return events diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py new file mode 100644 index 0000000000..a92f8f60be --- /dev/null +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -0,0 +1,41 @@ +""" +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 opendbc.car import Bus, structs +from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable +from opendbc.car.car_helpers import can_fingerprint +from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR +from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC +from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP + + +def setup_car_interface_sp(CP: structs.CarParams, params): + if CP.carName == 'hyundai': + if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable: + # Having this automatic without a toggle causes a weird process replay diff because + # somehow it sees fewer logs than intended + if params.get_bool("HyundaiRadarTracksToggle"): + CP.sunnypilotFlags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value + if params.get_bool("HyundaiRadarTracks"): + CP.radarUnavailable = False + + +def initialize_car_interface_sp(CP: structs.CarParams, params, can_recv: CanRecvCallable, can_send: CanSendCallable): + if CP.carName == 'hyundai': + if CP.sunnypilotFlags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS: + can_recv() + _, fingerprint = can_fingerprint(can_recv) + radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in HYUNDAI_DBC[CP.carFingerprint] + + radar_tracks = params.get_bool("HyundaiRadarTracks") + radar_tracks_persistent = params.get_bool("HyundaiRadarTracksPersistent") + + params.put_bool_nonblocking("HyundaiRadarTracksConfirmed", radar_tracks) + + if not radar_tracks_persistent: + params.put_bool_nonblocking("HyundaiRadarTracks", not radar_unavailable) + params.put_bool_nonblocking("HyundaiRadarTracksPersistent", True)