mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-23 23:02:04 +08:00
Merge branch 'master' into hyundai-radar-toggle
This commit is contained in:
royjr
@@ -115,7 +115,9 @@ jobs:
|
||||
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
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||||
- name: Homebrew cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
if: false # disabling the cache for now because it is breaking macos builds...
|
||||
with:
|
||||
save: false # No need save here if we manually save it later conditionally
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
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||||
restore-keys: |
|
||||
@@ -136,6 +138,7 @@ jobs:
|
||||
- name: Getting scons cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
save: false # No need save here if we manually save it later conditionally
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
|
||||
@@ -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: $search_query, type:ISSUE, first:100) {
|
||||
nodes {
|
||||
... on PullRequest {
|
||||
number
|
||||
@@ -149,7 +149,7 @@ jobs:
|
||||
}
|
||||
}
|
||||
}
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}' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
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||||
}' -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
|
||||
|
||||
@@ -149,6 +149,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
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vTarget @4 :Float32;
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aTarget @5 :Float32;
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||||
events @6 :List(OnroadEventSP.Event);
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||||
e2eAlerts @7 :E2eAlerts;
|
||||
|
||||
struct DynamicExperimentalControl {
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state @0 :DynamicExperimentalControlState;
|
||||
@@ -246,6 +247,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
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sccMap @2;
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speedLimitAssist @3;
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||||
}
|
||||
|
||||
struct E2eAlerts {
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greenLightAlert @0 :Bool;
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||||
leadDepartAlert @1 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
@@ -291,6 +297,7 @@ struct OnroadEventSP @0xda96579883444c35 {
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speedLimitActive @20;
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||||
speedLimitChanged @21;
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||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -299,6 +306,7 @@ struct CarParamsSP @0x80ae746ee2596b11 {
|
||||
safetyParam @1 : Int16; # flags for sunnypilot's custom safety flags
|
||||
pcmCruiseSpeed @3 :Bool;
|
||||
intelligentCruiseButtonManagementAvailable @4 :Bool;
|
||||
enableGasInterceptor @5 :Bool;
|
||||
|
||||
neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
|
||||
|
||||
|
||||
+18
-1
@@ -148,20 +148,28 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> 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}},
|
||||
{"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"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"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// MADS params
|
||||
{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
@@ -187,7 +195,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SunnylinkCache_Users", {PERSISTENT, STRING}},
|
||||
{"SunnylinkDongleId", {PERSISTENT, STRING}},
|
||||
{"SunnylinkdPid", {PERSISTENT, INT}},
|
||||
{"SunnylinkEnabled", {PERSISTENT, BOOL}},
|
||||
{"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
|
||||
|
||||
// Backup Manager params
|
||||
{"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
|
||||
@@ -238,4 +246,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> 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"}},
|
||||
};
|
||||
|
||||
+6
-3
@@ -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|<a href="##"><img width=2000></a>Hardware Needed<br> |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[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
|
||||
@@ -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[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
@@ -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[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
@@ -259,7 +262,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -60,7 +60,7 @@ class TestCarInterfaces:
|
||||
# Test controller initialization
|
||||
# TODO: wait until card refactor is merged to run controller a few times,
|
||||
# hypothesis also slows down significantly with just one more message draw
|
||||
LongControl(car_params)
|
||||
LongControl(car_params, car_params_sp)
|
||||
if car_params.steerControlType == CarParams.SteerControlType.angle:
|
||||
LatControlAngle(car_params, car_params_sp, car_interface)
|
||||
elif car_params.lateralTuning.which() == 'pid':
|
||||
|
||||
@@ -58,7 +58,7 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
self.pose_calibrator = PoseCalibrator()
|
||||
self.calibrated_pose: Pose | None = None
|
||||
|
||||
self.LoC = LongControl(self.CP)
|
||||
self.LoC = LongControl(self.CP, self.CP_SP)
|
||||
self.VM = VehicleModel(self.CP)
|
||||
self.LaC: LatControl
|
||||
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -10,8 +10,11 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
def long_control_state_trans(CP, active, long_control_state, v_ego,
|
||||
def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
|
||||
should_stop, brake_pressed, cruise_standstill):
|
||||
# Gas Interceptor
|
||||
cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
|
||||
|
||||
stopping_condition = should_stop
|
||||
starting_condition = (not should_stop and
|
||||
not cruise_standstill and
|
||||
@@ -45,8 +48,9 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
|
||||
return long_control_state
|
||||
|
||||
class LongControl:
|
||||
def __init__(self, CP):
|
||||
def __init__(self, CP, CP_SP):
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
self.long_control_state = LongCtrlState.off
|
||||
self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
|
||||
(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
|
||||
@@ -61,7 +65,7 @@ class LongControl:
|
||||
self.pid.neg_limit = accel_limits[0]
|
||||
self.pid.pos_limit = accel_limits[1]
|
||||
|
||||
self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
|
||||
self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
|
||||
should_stop, CS.brakePressed,
|
||||
CS.cruiseState.standstill)
|
||||
if self.long_control_state == LongCtrlState.off:
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from cereal import car
|
||||
from cereal import car, custom
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
|
||||
|
||||
|
||||
@@ -8,49 +8,52 @@ class TestLongControlStateTransition:
|
||||
|
||||
def test_stay_stopped(self):
|
||||
CP = car.CarParams.new_message()
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
active = False
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.off
|
||||
|
||||
def test_engage():
|
||||
CP = car.CarParams.new_message()
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.off
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
def test_starting():
|
||||
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.starting
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.starting
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
@@ -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()))
|
||||
|
||||
@@ -159,7 +159,7 @@ class SelfdriveD(CruiseHelper):
|
||||
self.mads = ModularAssistiveDrivingSystem(self)
|
||||
self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
|
||||
|
||||
self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
|
||||
self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
|
||||
|
||||
CruiseHelper.__init__(self, self.CP)
|
||||
|
||||
|
||||
@@ -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();
|
||||
}
|
||||
|
||||
@@ -24,6 +24,7 @@ qt_src = [
|
||||
"sunnypilot/qt/offroad/offroad_home.cc",
|
||||
"sunnypilot/qt/offroad/settings/developer_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/device_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/display_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/max_time_offroad.cc",
|
||||
@@ -50,6 +51,8 @@ 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 = [
|
||||
@@ -90,9 +93,13 @@ brand_settings_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
|
||||
]
|
||||
|
||||
display_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc",
|
||||
]
|
||||
|
||||
sp_widgets_src = widgets_src + network_src
|
||||
sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
|
||||
sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + \
|
||||
longitudinal_panel_qt_src + osm_panel_qt_src + display_panel_qt_src
|
||||
sp_qt_util = qt_util
|
||||
|
||||
Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
|
||||
|
||||
@@ -25,8 +25,8 @@ const QMap<QString, QString> 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) {
|
||||
|
||||
|
||||
@@ -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;
|
||||
@@ -75,12 +76,14 @@ 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) {
|
||||
@@ -88,22 +91,6 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
|
||||
updateState();
|
||||
});
|
||||
|
||||
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
|
||||
@@ -129,9 +116,8 @@ 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);
|
||||
@@ -141,9 +127,10 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
|
||||
poweroffBtn,
|
||||
offroadBtn,
|
||||
buttons["quietModeBtn"],
|
||||
buttons["onroadUploadsBtn"],
|
||||
};
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, [=](bool _offroad) {
|
||||
for (auto btn : findChildren<PushButtonSP*>()) {
|
||||
bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
|
||||
|
||||
@@ -151,6 +138,8 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
|
||||
btn->setEnabled(offroad);
|
||||
}
|
||||
}
|
||||
offroad = _offroad;
|
||||
updateState();
|
||||
});
|
||||
}
|
||||
|
||||
@@ -201,7 +190,7 @@ void DevicePanelSP::updateState() {
|
||||
}
|
||||
|
||||
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 +199,9 @@ 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);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -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"
|
||||
|
||||
@@ -32,8 +31,8 @@ private:
|
||||
PushButtonSP *offroadBtn;
|
||||
MaxTimeOffroad *maxTimeOffroad;
|
||||
ButtonParamControlSP *toggleDeviceBootMode;
|
||||
Brightness *brightness;
|
||||
OptionControlSP *interactivityTimeout;
|
||||
QVBoxLayout *power_group_layout;
|
||||
bool offroad;
|
||||
|
||||
const QString alwaysOffroadStyle = R"(
|
||||
PushButtonSP {
|
||||
|
||||
@@ -0,0 +1,54 @@
|
||||
/**
|
||||
* 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/display/onroad_screen_brightness.h"
|
||||
|
||||
OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString ¶m, const QString &title,
|
||||
const QString &description, const QString &icon,
|
||||
QWidget *parent)
|
||||
: ExpandableToggleRow(param, title, description, icon, parent) {
|
||||
auto *mainFrame = new QFrame(this);
|
||||
auto *mainFrameLayout = new QVBoxLayout();
|
||||
mainFrame->setLayout(mainFrameLayout);
|
||||
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);
|
||||
|
||||
connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
|
||||
connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
|
||||
mainFrameLayout->addWidget(onroadScreenBrightness);
|
||||
mainFrameLayout->addWidget(onroadScreenOffTimer);
|
||||
|
||||
addItem(mainFrame);
|
||||
|
||||
refresh();
|
||||
}
|
||||
|
||||
void OnroadScreenBrightnessControl::refresh() {
|
||||
// Driving Screen Off Timer
|
||||
int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str());
|
||||
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 = (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
|
||||
onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness));
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
/**
|
||||
* 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"
|
||||
|
||||
static const QMap<QString, QString> onroadScreenOffTimerOptions = {
|
||||
{"0", "15"},
|
||||
{"1", "30"},
|
||||
{"2", "60"},
|
||||
{"3", "120"},
|
||||
{"4", "180"},
|
||||
{"5", "240"},
|
||||
{"6", "300"},
|
||||
{"7", "360"},
|
||||
{"8", "420"},
|
||||
{"9", "480"},
|
||||
{"10", "540"},
|
||||
{"11", "600"}
|
||||
};
|
||||
|
||||
class OnroadScreenBrightnessControl : public ExpandableToggleRow {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
OnroadScreenBrightnessControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
QWidget *parent = nullptr);
|
||||
void refresh();
|
||||
|
||||
private:
|
||||
Params params;
|
||||
OptionControlSP *onroadScreenOffTimer;
|
||||
OptionControlSP *onroadScreenBrightness;
|
||||
};
|
||||
@@ -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.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
|
||||
|
||||
DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
|
||||
main_layout = new QStackedLayout(this);
|
||||
ListWidgetSP *list = new ListWidgetSP(this, false);
|
||||
|
||||
sunnypilotScreen = new QWidget(this);
|
||||
QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
|
||||
vlayout->setContentsMargins(50, 20, 50, 20);
|
||||
|
||||
// Onroad Screen Off/Brightness
|
||||
onroadScreenBrightnessControl = new OnroadScreenBrightnessControl(
|
||||
"OnroadScreenOffControl",
|
||||
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 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);
|
||||
main_layout->addWidget(sunnypilotScreen);
|
||||
}
|
||||
|
||||
void DisplayPanel::showEvent(QShowEvent *event) {
|
||||
QWidget::showEvent(event);
|
||||
refresh();
|
||||
}
|
||||
|
||||
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");
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,31 @@
|
||||
/**
|
||||
* 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/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"
|
||||
|
||||
class DisplayPanel : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit DisplayPanel(QWidget *parent = nullptr);
|
||||
void showEvent(QShowEvent *event) override;
|
||||
void refresh();
|
||||
|
||||
private:
|
||||
QStackedLayout* main_layout = nullptr;
|
||||
QWidget* sunnypilotScreen = nullptr;
|
||||
ScrollViewSP *sunnypilotScroller = nullptr;
|
||||
Params params;
|
||||
OnroadScreenBrightnessControl *onroadScreenBrightnessControl = nullptr;
|
||||
Brightness *brightness;
|
||||
OptionControlSP *interactivityTimeout;
|
||||
};
|
||||
@@ -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::CarParams>();
|
||||
cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
|
||||
|
||||
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<int>(MadsSteeringMode::DISENGAGE)));
|
||||
|
||||
@@ -12,7 +12,16 @@
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
|
||||
const std::vector<std::string> 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,
|
||||
|
||||
+11
-3
@@ -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 = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
|
||||
QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
|
||||
QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
+2
-1
@@ -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.");
|
||||
|
||||
+58
@@ -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));
|
||||
}
|
||||
+27
@@ -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;
|
||||
};
|
||||
+81
@@ -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<std::tuple<QString, QString, QString, QString>> 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;
|
||||
}
|
||||
@@ -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<std::string, ParamControlSP*> toggles;
|
||||
|
||||
TorqueLateralControlCustomParams *torqueLateralControlCustomParams;
|
||||
};
|
||||
@@ -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::CarParams>();
|
||||
cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
|
||||
|
||||
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;
|
||||
|
||||
@@ -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<ParamControl *> 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).");
|
||||
|
||||
|
||||
@@ -13,6 +13,7 @@
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
|
||||
@@ -87,6 +88,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
|
||||
PanelInfo(" " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
|
||||
PanelInfo(" " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
|
||||
PanelInfo(" " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
|
||||
PanelInfo(" " + tr("Display"), new DisplayPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
|
||||
PanelInfo(" " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
|
||||
PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
|
||||
PanelInfo(" " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
|
||||
|
||||
@@ -49,6 +49,40 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
|
||||
"",
|
||||
false,
|
||||
},
|
||||
{
|
||||
"GreenLightAlert",
|
||||
tr("Green Traffic Light Alert (Beta)"),
|
||||
QString("%1<br>"
|
||||
"<h4>%2</h4><br>")
|
||||
.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<br>"
|
||||
"<h4>%2</h4><br>")
|
||||
.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("Always display the true vehicle current speed from wheel speed sensors."),
|
||||
"",
|
||||
false,
|
||||
}
|
||||
};
|
||||
|
||||
// Add regular toggles first
|
||||
|
||||
@@ -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) {
|
||||
@@ -105,16 +112,31 @@ void HudRendererSP::updateState(const UIState &s) {
|
||||
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<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
|
||||
hideVEgoUI = s.scene.hideVEgoUI;
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
drawCurrentSpeedSP(p, surface_rect);
|
||||
|
||||
if (!hideVEgoUI) {
|
||||
drawCurrentSpeedSP(p, surface_rect);
|
||||
}
|
||||
|
||||
if (!reversing) {
|
||||
// Smart Cruise Control
|
||||
@@ -194,6 +216,28 @@ 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);
|
||||
} else {
|
||||
e2eAlertFrame = 0;
|
||||
}
|
||||
}
|
||||
|
||||
p.restore();
|
||||
@@ -666,3 +710,44 @@ 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) {
|
||||
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() + 40;
|
||||
x += devUiInfo > 0 ? 0 : 50;
|
||||
y += devUiInfo > 0 ? 0 : 80;
|
||||
QRect alertRect(x - size, y - size, size * 2, size * 2);
|
||||
|
||||
// Alert Circle
|
||||
QPoint center = alertRect.center();
|
||||
QColor 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 = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 255) : QColor(0, 255, 0, 255);
|
||||
p.setFont(InterFont(48, QFont::Bold));
|
||||
p.setPen(txtColor);
|
||||
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() / 7);
|
||||
p.drawText(textRect, Qt::AlignCenter, alert_text);
|
||||
|
||||
// Alert Image
|
||||
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);
|
||||
}
|
||||
|
||||
@@ -36,6 +36,8 @@ 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);
|
||||
void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect);
|
||||
|
||||
bool lead_status;
|
||||
float lead_d_rel;
|
||||
@@ -93,4 +95,17 @@ 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;
|
||||
};
|
||||
|
||||
@@ -25,8 +25,10 @@ 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();
|
||||
}
|
||||
|
||||
@@ -7,6 +7,7 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cmath>
|
||||
#include <map>
|
||||
#include <optional>
|
||||
#include <string>
|
||||
@@ -500,7 +501,7 @@ private:
|
||||
|
||||
int getParamValueScaled() {
|
||||
const auto param_value = QString::fromStdString(params.get(key));
|
||||
return static_cast<int>(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);
|
||||
|
||||
@@ -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);
|
||||
|
||||
|
||||
@@ -11,6 +11,15 @@
|
||||
|
||||
void UIStateSP::updateStatus() {
|
||||
UIState::updateStatus();
|
||||
|
||||
if (scene.started && scene.onroadScreenOffControl) {
|
||||
auto selfdriveState = (*sm)["selfdriveState"].getSelfdriveState();
|
||||
if (selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) {
|
||||
reset_onroad_sleep_timer();
|
||||
} else if (scene.onroadScreenOffTimer > 0) {
|
||||
scene.onroadScreenOffTimer--;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
|
||||
@@ -55,6 +64,22 @@ 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();
|
||||
}
|
||||
|
||||
void UIStateSP::reset_onroad_sleep_timer() {
|
||||
if (scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl) {
|
||||
scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ;
|
||||
} else {
|
||||
scene.onroadScreenOffTimer = -1;
|
||||
}
|
||||
}
|
||||
|
||||
DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
|
||||
|
||||
@@ -61,6 +61,7 @@ public:
|
||||
return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor";
|
||||
});
|
||||
}
|
||||
void reset_onroad_sleep_timer();
|
||||
|
||||
signals:
|
||||
void sunnylinkRoleChanged(bool subscriber);
|
||||
|
||||
@@ -12,4 +12,9 @@ typedef struct UISceneSP : UIScene {
|
||||
bool standstill_timer = false;
|
||||
int speed_limit_mode = 0;
|
||||
bool road_name = false;
|
||||
int onroadScreenOffBrightness, onroadScreenOffTimer = 0;
|
||||
bool onroadScreenOffControl;
|
||||
int onroadScreenOffTimerParam;
|
||||
bool trueVEgoUI;
|
||||
bool hideVEgoUI;
|
||||
} UISceneSP;
|
||||
|
||||
@@ -204,6 +204,13 @@ void Device::updateBrightness(const UIState &s) {
|
||||
brightness = 0;
|
||||
}
|
||||
|
||||
// Onroad Brightness Control
|
||||
#ifdef SUNNYPILOT
|
||||
if (awake && s.scene.started && s.scene.onroadScreenOffControl && s.scene.onroadScreenOffTimer == 0) {
|
||||
brightness = s.scene.onroadScreenOffBrightness * 0.01 * brightness;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (brightness != last_brightness) {
|
||||
if (!brightness_future.isRunning()) {
|
||||
brightness_future = QtConcurrent::run(Hardware::set_brightness, brightness);
|
||||
|
||||
@@ -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")
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:3aa5ec9ac1daee6a549e62647d90bcaa66d2485f7df7f386ff902fcfb04c1716
|
||||
size 6583
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:087db35bd469e85aefe3b45636f11ab3e8b55ceb7bc94ea059cfd9a69c2f338f
|
||||
size 8914
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:614767308d435d165a9ab78e3eac22ee15697d94066df8200ef32afb33ef8d60
|
||||
size 5698
|
||||
@@ -18,9 +18,9 @@ GearShifter = structs.CarState.GearShifter
|
||||
|
||||
|
||||
class CarSpecificEventsSP:
|
||||
def __init__(self, CP: structs.CarParams, params):
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
self.CP = CP
|
||||
self.params = params
|
||||
self.CP_SP = CP_SP
|
||||
|
||||
self.low_speed_alert = False
|
||||
|
||||
@@ -42,4 +42,10 @@ class CarSpecificEventsSP:
|
||||
if self.low_speed_alert:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
elif self.CP.brand == 'toyota':
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if CS.cruiseState.standstill and not CS.brakePressed and self.CP_SP.enableGasInterceptor:
|
||||
if events.has(EventName.resumeRequired):
|
||||
events.remove(EventName.resumeRequired)
|
||||
|
||||
return events_sp
|
||||
|
||||
@@ -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]]:
|
||||
|
||||
@@ -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)
|
||||
@@ -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,
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
@@ -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)
|
||||
|
||||
@@ -22,7 +22,7 @@ class ParamStore:
|
||||
self.keys = universal_params + brand_params
|
||||
self._params = {}
|
||||
|
||||
self.frame = 0
|
||||
self.frame = -1
|
||||
|
||||
def update(self, params: Params) -> None:
|
||||
self.frame += 1
|
||||
|
||||
@@ -54,7 +54,6 @@ class SpeedLimitAssist:
|
||||
self.frame = -1
|
||||
self.long_engaged_timer = 0
|
||||
self.pre_active_timer = 0
|
||||
self.speed_limit_changed_timer = 0
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
|
||||
self.long_enabled = False
|
||||
@@ -248,11 +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:
|
||||
@@ -276,9 +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
|
||||
@@ -288,7 +289,6 @@ class SpeedLimitAssist:
|
||||
def update_state_machine_non_pcm_long(self):
|
||||
self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
|
||||
self.pre_active_timer = max(0, self.pre_active_timer - 1)
|
||||
self.speed_limit_changed_timer = max(0, self.speed_limit_changed_timer - 1)
|
||||
|
||||
# ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE
|
||||
if self.state != SpeedLimitAssistState.disabled:
|
||||
@@ -302,8 +302,6 @@ class SpeedLimitAssist:
|
||||
self.state = SpeedLimitAssistState.inactive
|
||||
|
||||
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
|
||||
self.speed_limit_changed_timer = int(SPEED_LIMIT_CHANGED_HOLD_PERIOD / DT_MDL)
|
||||
elif self.speed_limit_changed_timer <= 0:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
|
||||
@@ -318,8 +316,6 @@ class SpeedLimitAssist:
|
||||
# INACTIVE
|
||||
elif self.state == SpeedLimitAssistState.inactive:
|
||||
if self.speed_limit_changed:
|
||||
self.speed_limit_changed_timer = int(SPEED_LIMIT_CHANGED_HOLD_PERIOD / DT_MDL)
|
||||
elif self.speed_limit_changed_timer <= 0:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
elif self._update_non_pcm_long_confirmed_state():
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -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([0, 200, 300, 500, 500, 300, 200, 0])
|
||||
|
||||
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
|
||||
@@ -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),
|
||||
},
|
||||
}
|
||||
|
||||
@@ -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)
|
||||
|
||||
@@ -60,14 +60,20 @@ 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:
|
||||
|
||||
@@ -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),
|
||||
|
||||
|
||||
Vendored
BIN
Binary file not shown.
@@ -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]
|
||||
|
||||
Reference in New Issue
Block a user