* limit max curvature with lateral accel too
* not a guideline
* roll compensation in curv clip
* improve clipping and alerting
* typo
* clean up
* no float
* get ready
* good idea
* good
* redundant
* TODO
* test
* do max curvature clip last
* flip
---------
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
* sp flags
* pass CP_SP to card and car interfaces
* CP_SP in radar interface
* bump opendbc
* use dataclass like old times
* bump opendbc
* write to params for controls
* fix test models
* fix
* need to use copy instead
* fix data type
* add service
* more
* fix
* Revert "fix"
This reverts commit 74723d7fb2.
* Revert "fix data type"
This reverts commit 02355f44df.
* missed
* more
* no more lagging
* Reapply "fix data type"
This reverts commit dbf1b8583f.
* Reapply "fix"
This reverts commit 9cbce9968a.
* Revert "Reapply "fix""
This reverts commit 1871919b63.
* Revert "Reapply "fix data type""
This reverts commit 5e95752fd5.
* no longer
* Revert "no longer"
This reverts commit 66ee1ba151.
* Reapply "Reapply "fix data type""
This reverts commit 670a384333.
* Reapply "Reapply "fix""
This reverts commit 42f09f955c.
* only for car params sp
* rename
* fix more test
* no need for process replay
* pass stock car params to sp set car params
* pass stock car params to sp set car params
* deprecate CarParams.sunnypilotFlags to CarParamsSP.flags
* missed arg
* fix tests
* tests fixed
* need to pass this too
* must generate cp_sp!
* fix typing
* must be initialized prior can comm callback!
* no more cancer (@devtekve)
* remove more cancer
* Refactor `get_non_essential_params_sp` to simplify arguments (#612)
* Refactor 'get_non_essential_params_sp' function calls in tests
In both `test_latcontrol.py` and `process_replay.py`, simplified the function calls to 'get_non_essential_params_sp'. Removed an unnecessary call to 'get_non_essential_params'. This change makes the code cleaner and more efficient by reducing redundancy in the function calls. This modification also ensures consistency across different code files.
* Refactor get_non_essential_params_sp to take car_params.
Simplify parameters by modifying `get_non_essential_params_sp` to use `car_params` as input. Adjust related calls in test files and process replay to match the updated method signature. This improves code clarity and reduces redundancy.
* bump opendbc
* Refactor parameter handling for `get_params_sp`.
Removed unnecessary reassignment of `car_params` in calls to `get_params_sp`, ensuring a cleaner and more streamlined code structure. This change improves code clarity and eliminates redundant operations. All relevant assertions and behavior remain unaffected.
* bumping opedbc
* bump opendbc
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* init dec
* Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
* Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
* fix static test
* ff
* fix static test
* unitee testt
* Refactor test_dynamic_controller and fix formatting issues
Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency.
* Refactor test indentation for dynamic controller tests
Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code.
* Migrated to pytest using claude
* Integrate radar parameter into dynamic controller's pytest tests
Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases.
* Disabling unittest file to allow checks on the pipeline to succeed.
Pending to remove this, but leaving it to validate the move to pytest is okay before merging
* Replace unittest with pytest for dynamic controller tests
Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage.
* new line...
* Refactor and modularize DynamicExperimentalController logic
Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports.
* Add missing import for messaging in helpers.py
The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code.
* Format
* Formatting
* rebase fix
* Refactor MpcSource definition and update references.
Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality.
* Format
* Refactor DEC into a dedicated longitudinal planner class
Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity.
* **Refactor DEC module structure for better organization**
Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes.
* static test
* static
* had moved to car_state
* cleanup
* some more
* static method
* move around
* more cleanup
* stuff
* into their own
* rename
* check live param
* sync with stock
* type hint
* unused
* smoother trans
* window time
* fix type hint
* pass sm.frame from plannerd
* more fixes
* more
* more explicit
* fix test
* Revert "fix test"
This reverts commit 635b15f2bc.
* Revert "pass sm.frame from plannerd"
This reverts commit a8deaa69b8.
* use internal frame
* update name
* never used
* this is why it was never using DEC
* more logs
* slight cleanup
* remove to fail test
* update name
* more
* rename
* move around
* explicit type hints
* move to constants py
* Revert "explicit type hints"
This reverts commit c205497b
* more
* don't set to exp mode initial if DEC is active
* use walrus for None
* Revert "use walrus for None"
This reverts commit 5f2396d490.
* fix wrong typing and variable name
* use walrus (needs cleanup)
* fix tests
* revert smooht lead for now
* dec: how good is FirstOrderFilter?
* Update dec.py
* dec: faster ?
* Revert "dec: faster ?"
This reverts commit 40259cd22a.
* Revert "Update dec.py"
This reverts commit 3f29ccbd99.
* Revert "dec: how good is FirstOrderFilter?"
This reverts commit 01e06df542.
* Update slow-down logic and constants for improved behavior
Adjust the slowdown scaling factor and anomaly handling to refine behavior without abrupt resets. Modify constants to increase window size and adjust probabilities and distances for smoother adaptation. Update version to reflect the new changes.
* Fix lead detection fallback for weighted average check.
Add a fallback value of -1 when computing the weighted average to prevent errors caused by invalid or None values. This ensures robust lead detection and avoids potential crashes or undefined behavior.
* visuals for DEC
* try this
* add opacity
* should be active and dimmer
* even dimmer
* Update dec.py
* Update constants.py
* use another method for drawing
* migrate to sp only
* fix
* init
---------
Co-authored-by: rav4kumar <meetkumardesai@gmail.com>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Misc fixes
* don't check allow_throttle slowdown for e2e
* Removed unused variable
* believe this clip is still necessary
* Update process replay refs
---------
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
* long planner: use vehicle model w/ avg steer offset for limit accel in turns
* remove unused CP in limit_accel_in_turns
* revert use of vehicle model, keeping angle offset in limit accel in turns
* only the offset fix, check valid, and fix process replay
* update refs (valid two frames later)
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* Reapply "move car.capnp to opendbc" (#33725)
This reverts commit 9d52a5b485.
* why can't i repro?!
* Revert "why can't i repro?!"
This reverts commit 0435d218f790faf7b7aaed27d05ab9ee67b087e6.
* does this cause card to try and read it?
* better place
* wtf
* Reapply "why can't i repro?!"
This reverts commit d24fd5a0abf454f47d5591e3b39039fdc4d0251c.
* also here
* Deprecate controlsState state fields
* sim works
* update refs
* one more
* these too
* update sim
old-commit-hash: 3924ac587b735d1e735af4cb77faf6ccf053f656
* Move vCruise to card
* cleanup drive_helpers
* works in sim
* update refs
* update that
* too slow :(
old-commit-hash: 2f3256ed8baa3d7a5c4d1befe9148dbfecb37246
* personality-alerts
* Update events.py
* Update car.capnp
* no AudibleAlert
* shorter
* no VisualAlert
* one liner
* smaller
* normal
* what am I doing wrong?
* it works, but is it messy?
* arg all
* lil more
* update that
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 35da93fa95
Jason Wen