diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 41d8156ca8..85b7c61e5a 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -115,7 +115,9 @@ jobs: - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - name: Homebrew cache uses: ./.github/workflows/auto-cache + if: false # disabling the cache for now because it is breaking macos builds... with: + save: false # No need save here if we manually save it later conditionally path: ~/Library/Caches/Homebrew key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | @@ -136,6 +138,7 @@ jobs: - name: Getting scons cache uses: ./.github/workflows/auto-cache with: + save: false # No need save here if we manually save it later conditionally path: /tmp/scons_cache key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml index 122755f2c4..4aafd4a4a4 100644 --- a/.github/workflows/sunnypilot-master-dev-prep.yaml +++ b/.github/workflows/sunnypilot-master-dev-prep.yaml @@ -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: $search_query, type:ISSUE, first:100) { nodes { ... on PullRequest { number @@ -149,7 +149,7 @@ jobs: } } } - }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc") + }' -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 diff --git a/cereal/custom.capnp b/cereal/custom.capnp index c87ac0d2e0..44b8bd69fa 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -149,6 +149,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 { vTarget @4 :Float32; aTarget @5 :Float32; events @6 :List(OnroadEventSP.Event); + e2eAlerts @7 :E2eAlerts; struct DynamicExperimentalControl { state @0 :DynamicExperimentalControlState; @@ -246,6 +247,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 { sccMap @2; speedLimitAssist @3; } + + struct E2eAlerts { + greenLightAlert @0 :Bool; + leadDepartAlert @1 :Bool; + } } struct OnroadEventSP @0xda96579883444c35 { @@ -291,6 +297,7 @@ struct OnroadEventSP @0xda96579883444c35 { speedLimitActive @20; speedLimitChanged @21; 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; diff --git a/common/params_keys.h b/common/params_keys.h index 0c893a93e3..f633c93bc5 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -148,20 +148,28 @@ inline static std::unordered_map 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 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 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"}}, }; diff --git a/docs/CARS.md b/docs/CARS.md index dbc1dbcd74..25f84b389e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -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|Hardware Needed
 |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[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2019-21|All|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector + Honda Clarity Proxy Board
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -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[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|N-Box 2018|All|openpilot available[1](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Odyssey 2021-25|All|openpilot available[1](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -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[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -259,7 +262,7 @@ A supported vehicle is one that just works when you install a comma device. All |Tesla[11](#footnotes)|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Tesla[11](#footnotes)|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Tesla[11](#footnotes)|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Tesla[11](#footnotes)|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Tesla[11](#footnotes)|Model Y (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 34f0283ce4..4c44e43281 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -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 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 7c7a563003..821767ee46 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -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': diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3751efc87a..3601ae310e 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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: diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index ca9c3fde66..917fb233f4 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -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 diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 6d4f922461..b8b00e2fb9 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -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: diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py index ab50810d89..cf0ab24e0b 100644 --- a/selfdrive/controls/tests/test_longcontrol.py +++ b/selfdrive/controls/tests/test_longcontrol.py @@ -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 diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index e0409957f5..57d53fdee3 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -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())) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index a13c873fbe..4bc75021f7 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -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) diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc index d95fe5fd80..540643bed5 100644 --- a/selfdrive/ui/qt/onroad/hud.cc +++ b/selfdrive/ui/qt/onroad/hud.cc @@ -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(); } diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 5c2680b299..12c09c53f2 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -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") diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc index ffd3ce1d8b..e9bd13485a 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc @@ -25,8 +25,8 @@ const QMap 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) { diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc index 7e3d18bd81..43e6067451 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc @@ -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()) { 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); } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h index 899a942dae..ce4acfc7cf 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h @@ -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 { diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc new file mode 100644 index 0000000000..f28d9e45e8 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc @@ -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)); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h new file mode 100644 index 0000000000..02335d1ce6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h @@ -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 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; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc new file mode 100644 index 0000000000..465047f178 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc @@ -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"); + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h new file mode 100644 index 0000000000..69b440c9d3 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h @@ -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; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc index 72e7a5c8cb..749bc9e3f3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc @@ -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::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot(); - 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(MadsSteeringMode::DISENGAGE))); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h index af624865c7..9cf62a0ffe 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h @@ -12,7 +12,16 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" -const std::vector 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, diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc index 0b66b83660..02ab810c57 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc @@ -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 = "" + STATUS_CHECK_COMPATIBILITY + ""; QString notLoadedText = "" + STATUS_NOT_LOADED + ""; QString loadedText = "" + STATUS_LOADED + ""; + 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; } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h index df80fbf097..9e872b11e9 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h @@ -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."); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc new file mode 100644 index 0000000000..894fbc2ec4 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc @@ -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)); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h new file mode 100644 index 0000000000..8442bd0d48 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h @@ -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; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc new file mode 100644 index 0000000000..914ce7a939 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc @@ -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> 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; +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h new file mode 100644 index 0000000000..6254073dfe --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h @@ -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 toggles; + + TorqueLateralControlCustomParams *torqueLateralControlCustomParams; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc index ae954d7539..ac004e8856 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc @@ -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::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot(); - 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; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h index 7b5e73fceb..88c4d401d0 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h @@ -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 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)."); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc index 5415e75ea9..c712442df3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc @@ -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"), diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc index 10ead53774..8e26494a93 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc @@ -49,6 +49,40 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) { "", false, }, + { + "GreenLightAlert", + tr("Green Traffic Light Alert (Beta)"), + QString("%1
" + "

%2


") + .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
" + "

%2


") + .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 diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc index df1bc3c002..510fc2d69c 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc @@ -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(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); +} diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h index 043536bf4c..16179b02a9 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h @@ -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; }; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc index b26d1b828a..3f853e3363 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc @@ -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(); } diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h index 03cb461385..e111ce2fb5 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h @@ -7,6 +7,7 @@ #pragma once +#include #include #include #include @@ -500,7 +501,7 @@ private: int getParamValueScaled() { const auto param_value = QString::fromStdString(params.get(key)); - return static_cast(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); diff --git a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc index b918938d11..b22684a295 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc +++ b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc @@ -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); diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc index fd7365821c..e4d5b41adb 100644 --- a/selfdrive/ui/sunnypilot/ui.cc +++ b/selfdrive/ui/sunnypilot/ui.cc @@ -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) { diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h index 393f997cbd..55dd43ad52 100644 --- a/selfdrive/ui/sunnypilot/ui.h +++ b/selfdrive/ui/sunnypilot/ui.h @@ -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); diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h index 768cc5d7a1..5bf1156648 100644 --- a/selfdrive/ui/sunnypilot/ui_scene.h +++ b/selfdrive/ui/sunnypilot/ui_scene.h @@ -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; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 4cad883f7d..6bca2b7f7f 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -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); diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py index 70b590a8b2..f9c4057bab 100644 --- a/sunnypilot/mads/helpers.py +++ b/sunnypilot/mads/helpers.py @@ -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") diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index b75bd8ccda..7eab55e6ea 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -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 diff --git a/sunnypilot/selfdrive/assets/images/green_light.png b/sunnypilot/selfdrive/assets/images/green_light.png new file mode 100644 index 0000000000..2da2c13a82 --- /dev/null +++ b/sunnypilot/selfdrive/assets/images/green_light.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3aa5ec9ac1daee6a549e62647d90bcaa66d2485f7df7f386ff902fcfb04c1716 +size 6583 diff --git a/sunnypilot/selfdrive/assets/images/lead_depart.png b/sunnypilot/selfdrive/assets/images/lead_depart.png new file mode 100644 index 0000000000..6030ee67cf --- /dev/null +++ b/sunnypilot/selfdrive/assets/images/lead_depart.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:087db35bd469e85aefe3b45636f11ab3e8b55ceb7bc94ea059cfd9a69c2f338f +size 8914 diff --git a/sunnypilot/selfdrive/assets/offroad/icon_display.png b/sunnypilot/selfdrive/assets/offroad/icon_display.png new file mode 100644 index 0000000000..547977f522 --- /dev/null +++ b/sunnypilot/selfdrive/assets/offroad/icon_display.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:614767308d435d165a9ab78e3eac22ee15697d94066df8200ef32afb33ef8d60 +size 5698 diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py index 7e6f300d73..97ce26429c 100644 --- a/sunnypilot/selfdrive/car/car_specific.py +++ b/sunnypilot/selfdrive/car/car_specific.py @@ -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 diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py index c1b5294e23..f598f8709e 100644 --- a/sunnypilot/selfdrive/car/interfaces.py +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -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]]: diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py new file mode 100644 index 0000000000..0135b2806c --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py @@ -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) diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py index 6e134276e5..39525b3b8e 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py @@ -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, diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py index 1965d50b51..609d2f78b6 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py @@ -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 diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py new file mode 100644 index 0000000000..f07a7292c1 --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py @@ -0,0 +1,34 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" + +from 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 diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py index ece2ff2419..4c2443f253 100644 --- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py @@ -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) diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py index 65a0175340..785fe9c8f0 100644 --- a/sunnypilot/selfdrive/controls/lib/param_store.py +++ b/sunnypilot/selfdrive/controls/lib/param_store.py @@ -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 diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py index bb03a9eb1c..302d8cd14d 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py @@ -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(): diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py index 3b2716265d..d2c7a4716d 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py @@ -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 diff --git a/sunnypilot/selfdrive/locationd/torqued_ext.py b/sunnypilot/selfdrive/locationd/torqued_ext.py new file mode 100644 index 0000000000..084a82e941 --- /dev/null +++ b/sunnypilot/selfdrive/locationd/torqued_ext.py @@ -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 diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py index 7700550c2d..e9f4b29bae 100644 --- a/sunnypilot/selfdrive/selfdrived/events.py +++ b/sunnypilot/selfdrive/selfdrived/events.py @@ -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), + }, } diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py index 25a77c367b..d1b38d656f 100755 --- a/sunnypilot/sunnylink/athena/sunnylinkd.py +++ b/sunnypilot/sunnylink/athena/sunnylinkd.py @@ -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) diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py index 91c0788795..585e460e9c 100644 --- a/sunnypilot/sunnylink/utils.py +++ b/sunnypilot/sunnylink/utils.py @@ -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: diff --git a/system/manager/process_config.py b/system/manager/process_config.py index b1a2fa6e13..c5f20e511b 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -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), diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd index eb2372ceed..c8b50b0791 100755 Binary files a/third_party/mapd_pfeiferj/mapd and b/third_party/mapd_pfeiferj/mapd differ diff --git a/uv.lock b/uv.lock index 25d2b626cf..b871cc8da4 100644 --- a/uv.lock +++ b/uv.lock @@ -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]