* init alc controller
* only for sunny
* rebase fix
* ui
* add ui preview
* Update common/params_keys.h
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update selfdrive/ui/sunnypilot/SConscript
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* review sugg
* code review
* renaming
* move around
* style
* fix types and params exceptions handling
* take out magic numbers
* more
* rename
* shorter
* make sure reset happens at the end of every DH loop
* split into multiple updates
* just 3 seconds
* use default states
* oops
* more readable
* oops
* some space and lines
* run in DH loop directly
* adjust ui preview
* nudgeless should process immediately
* check option instead
* more explicit
* even more explicit
* tests
* brake pedal release should not allow auto lane change (caught by test)
* unnecessary
* no continuous auto lane change
* Revert "unnecessary"
This reverts commit 93d135b54a.
* more tests
* less
* less less
* update again
* more cleanup
* better
* AutoLaneChangeState -> AutoLaneChangeMode
* update
* lint
* unused
* test all states
* license
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Add AES encryption and utility methods
This commit introduces a new AESCipher class that can be used for AES encryption with support for both AES-128 and AES-256. It also adds a set of utility functions, including methods for RSA to AES key derivation, file decryption and compression, and encryption and decompression. These changes provide fundamental cryptographic functionalities for data security within the system.
* Revised backup management system with new structures
This update introduces important revisions to the backup management system. A new struct named 'BackupManagerSP' has been integrated into the 'custom.capnp' file, replacing 'CustomReserved6'. This new struct includes several variables that help keep track of backup and restore status, progress and related messages.
Additional code modifications were made in 'base.py' and 'api.py' to include a 'json' parameter in the 'api_get' method. Lastly, 'manager.py' has been updated with functions to manage device configuration backups to and from sunnylink.
The changes promote better handling and management of data backup and restoration processes. The update is specifically designed to ensure that the backup information is well integrated into the system, with properly tracked status and progress.
* Refactor `allKeys` to filter by parameter key type
Updated the `allKeys` method to support filtering by `ParamKeyType`, allowing more specific key retrieval. Added a default value for backward compatibility and updated related bindings and keys to reflect this change.
* Improve Backup and Restore mechanisms
The commit refactors and improves several aspects of the backup and restore mechanisms in the `BackupManagerSP` class.
These improvements include removing redundant status tracking variables and replacing them with unified ones, updating the messaging system to handle all changes correctly, and including an enumeration `OperationType` to keep track of the type of operation currently being processed.
This commit also applies stricter conditions for restore operations, such that it only restores parameters that are currently marked as backupable, and skips those that are not. This is a preventive measure against potential issues when restoring parameters that are no longer relevant or could conflict with current versions.
Also, the encryption and decryption methods were updated to use AES-256 for more security. These changes have increased the robustness and reliability of the backup and restoration processes.
* copyright
* Add backup_manager process to offroad sunnypilot tasks
The backup_manager process is introduced to handle backups during offroad mode when SunnyLink is ready. This ensures proper backup management functionality integrated into the system.
* Simplify backup endpoint construction in restore method
Replaced conditional expression with a more concise and readable `or` operation for constructing the backup endpoint. This makes the code cleaner and easier to maintain while preserving functionality.
* Added support for backing up and restoring sunnypilot settings
An update to the sunnypilot functionality now provides two new features that allow users to backup and restore their sunnypilot settings. The changes include the addition of UI controls for initiating backup and restore operations, and the creation of a system-wide state management function for tracking these operations. This enhancement significantly improves the user experience by providing a safety net for user settings in case of software failures, bugs, or unintended changes.
* Refactor type hints to use PEP 604 syntax for clarity
Replaced `Optional` and `Dict` type hints with `|` and `dict` syntax for improved readability and compliance with Python 3.10+. Updated related imports and adjusted list comprehension for cleaner code.
* Update import path for hardware module in utils.py
Replaced the import path for the `Paths` module to align with the new directory structure under `openpilot`. This ensures compatibility with recent project reorganization and avoids import errors.
* Improve RSA key handling and fix backup status comparison
Added explicit RSA key type checks to handle invalid key formats. Enhanced type safety in `manager.py` by ensuring the backup status comparison returns a boolean. These changes improve robustness and error handling in backups.
* format
* more
* Improve backup and restore flow with progress tracking and fixes
Added proper progress tracking and cleanup logic during restore operations. Enhanced restore experience by resetting progress after completion and introducing confirmation dialogs for errors and completion. Updated API compatibility with a version query parameter for backups.
* Enable backup button only when restore process is complete
Previously, the backup button could be enabled during a restore operation, which might cause unintended behavior. This update introduces a check to ensure the backup button remains disabled while a restore process is active. This improves user experience and prevents potential conflicts.
* Fix restore button state handling during restore process
Ensure the restore button is disabled consistently when a restore is in progress. This prevents user interaction issues and aligns the button state with the restore operation status.
* "Refactor restore logic and improve button state handling"
Replaced `is_restoring` with `restore_request_pending` for clarity and better state management. Adjusted button behavior to immediately disable upon user action, ensuring improved UX and preventing repeat inputs. Refined restore completion flow for better consistency and reliability.
* Refine restore process logic for SunnyLink settings.
Introduced `restore_request_started` to improve handling of restore states and ensure accurate UI updates during the process. Adjusted case handling to enhance clarity and maintain proper behavior when restoring settings, especially during ongoing or completed requests.
* revert
* move around
* fix enabled states for different statuses
* add prompt to notify backup is complete
* same states as restore
* disable buttons if sunnylink is off
* can use the same texts
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* init
* more init
* keep it alive
* fixes
* more fixes
* more fix
* new submodule for nn data
* bump submodule
* update path to submodule
* spacing???
* update submodule path
* update submodule path
* bump
* dump
* bump
* introduce params
* Add Neural Network Lateral Control toggle to developer panel
This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.
* decouple even more
* static
* codespell
* remove debug
* in structs
* fix import
* convert to capnp
* fixes
* debug
* only initialize if NNLC is enabled or allow to enable
* oops
* fix initialization
* only allow engage if nnlc is off
* fix toggle param
* fix tests
* lint
* fix more test
* capnp test
* try this out
* validate if it's not None
* make it 33 to match
* align
* share the same friction input calculation
* return stock values if not enabled
* unused
* split base and child
* space
* rename
* NeuralNetworkFeedForwardModel
* less
* just use file name
* try this
* more explicit
* rename
* move it
* child class for additional controllers
* rename
* time to split out custom lateral acceleration
* move around
* space
* fix
* TODO-SP
* TODO-SP
* update regardless, it's an extension now
* update name and expose toggle
* ui: sunnypilot Panel -> Steering Panel
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
* merge
* move to steering panel
* no need for this
* live params in a thread
* no live for now
* new structs
* more ui
* more flexible
* more ui
* no longer needed
* another ui
* cereal changes
* bump opendbc
* simplify checks
* all in one place
* split Enhanced Lat Accel
* handle unrecognized platform
* test for fingerprinting
* fix fingerprint
* NNLC: Mock data for unrecognized cars
* fix fingerprints
* test to verify model loading
* bump neural_network_data
* use pytest
* use different one for now
* fix ui preview alignments
* typing
* more type
* show a platform
* show match
* init params for tests
* ok ruff
* make sure to loop through tests
* ok again ruff
* ok we need this lol
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* init
* more init
* keep it alive
* fixes
* more fixes
* more fix
* new submodule for nn data
* bump submodule
* update path to submodule
* spacing???
* update submodule path
* update submodule path
* bump
* dump
* bump
* introduce params
* Add Neural Network Lateral Control toggle to developer panel
This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.
* decouple even more
* static
* codespell
* remove debug
* in structs
* fix import
* convert to capnp
* fixes
* debug
* only initialize if NNLC is enabled or allow to enable
* oops
* fix initialization
* only allow engage if nnlc is off
* fix toggle param
* fix tests
* lint
* fix more test
* capnp test
* try this out
* validate if it's not None
* make it 33 to match
* align
* share the same friction input calculation
* return stock values if not enabled
* unused
* split base and child
* space
* rename
* NeuralNetworkFeedForwardModel
* less
* just use file name
* try this
* more explicit
* rename
* move it
* child class for additional controllers
* rename
* time to split out custom lateral acceleration
* move around
* space
* fix
* TODO-SP
* TODO-SP
* update regardless, it's an extension now
* update name and expose toggle
* ui: sunnypilot Panel -> Steering Panel
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
* merge
* move to steering panel
* no need for this
* live params in a thread
* no live for now
* new structs
* more ui
* more flexible
* more ui
* no longer needed
* another ui
* cereal changes
* bump opendbc
* simplify checks
* all in one place
* split Enhanced Lat Accel
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Refactor sunnylink panel code for clarity and initialization fixes.
Replaced explicit pointer types with `auto` for cleaner code and added proper initialization for the `offroad` boolean member. Simplified toggle logic by consolidating description updates for enabling/disabling sunnylink. These changes improve code readability and maintainability.
* Add Sunnylink sponsor and GitHub pairing functionality
This update introduces a feature to manage sponsorship-based roles and GitHub account pairing for Sunnylink. It includes new sponsor popups, sponsor-specific widgets, QR code logic, and backend API integrations. Additionally, new models and services support sponsor tier management and user-role synchronization.
* Translation files
* Param keys
* Add setup functions for SunnyLink sponsor and pair buttons
Introduce `setup_settings_sunnylink_sponsor_button` and `setup_settings_sunnylink_pair_button` to handle specific SunnyLink UI interactions. These functions streamline button clicks for sponsor and pairing actions within SunnyLink settings.
* Add new SunnyLink test cases for sponsor and pair buttons
Added `settings_sunnylink_sponsor_button` and `settings_sunnylink_pair_button` to the UI test case dictionary. This extends the SunnyLink test coverage to include sponsor and pairing functionalities.
* No need to import sunnylink from here, and it causes just circular dependency
* Enhance SunnylinkPanel functionality in off-road settings
This commit enhances the functionality of the SunnylinkPanel in the off-road settings of the SunnyPilot user interface. A paramWatcher is added to the SunnylinkPanel to observe "SunnylinkEnabled" parameter changes. Update functionalities are enhanced to handle showing and hiding of components based on various circumstances, such as whether the system is 'on-road' or 'off-road', and whether Sunnylink is enabled or not. The stopSunnylink and startSunnylink functions were also added to start or stop processes accordingly when Sunnylink is enabled or disabled. Additionally, the ui.h file is updated to efficiently handle Sunnylink roles and device users.
* Refactor SunnylinkPanel initialization and handling.
Reorganized SunnylinkPanel to improve structure and clarity by separating sunnylink client initialization and list widget setup. Enabled automatic sunnylink startup when the feature is enabled. Added minor formatting fixes for label display consistency.
* Add missing include for <optional> in ui.h
Including <optional> ensures compatibility with standard C++ features and prevents potential compilation errors. This addition aligns with best practices for maintaining robust and clean code.
* Updated setup_settings_sunnylink_sponsor_button and setup_settings_sunnylink_pair_button function signatures
Added an optional 'scroll' parameter to the setup_settings_sunnylink_sponsor_button and setup_settings_sunnylink_pair_button functions in the test_ui module. The modifications were made to allow for more flexible function usage by potentially enabling scroll operations during the execution of these UI setup steps.
* Enable Sunnylink initialization on panel show event
Begin Sunnylink connection automatically when the panel is displayed, ensuring the feature is active if enabled. Additionally, update the sponsor button text formatting for more concise styling.
* Translations
* Added checks for new UI files in PRs
The git workflow script `ui_preview.yaml` has been modified. The script now checks if the master branch contains a file corresponding to a UI file present in the PR. If a UI file in the PR does not have a match on the master branch, it is marked as new. These enhancements improve the comparison of UI changes between the master and PR branches, particularly with the identification of new UI files.
* cleanup
* duh
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Changed the DEFAULT_MODEL constant and updated the associated model hash to reflect the new default. This ensures consistency between the code and the new model configuration.
* QFrame
* symlink for OP
* symlink dat
* search with user input
* single list is fine
* bump opendbc
* set actual fingerprint
* more precision search
* different prompt in onroad/offroad
* confirm/cancel
* set while initializing
* tldr
* show demo car
* old qt
* need that param too
* use toList
* Need to be str
* Encoding
* generate `car.CarParams.brand` in json
* start cleanup
* generate no car docs platforms
* add brand to parser
* include all dashcamOnly platforms
* pass all fields to a platform in json
* introduce `getPlatformBundle`
* extract platform from CarPlatformBundle directly
* Fix name
* do not include dashcamOnly yet
* slight cleanup
* bump opendbc
* it's a json now
* split set platform
* move loadPlatformList to sp util
* add year list to bundle
* bros
* missed header
* invoke platform selector on show event
* 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>
* gate pairing device if system time is invalid
* update translations
* Check for internet connectivity
* Update selfdrive/ui/qt/widgets/prime.cc
* Update selfdrive/ui/qt/widgets/prime.cc
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
discountchubbs