* Add enhanced HyundaiCAN extension
Introduced HyundaiCanEXT for improved object parsing and control integration, leveraging new fields like lead distance and relative speed in CarControlSP.
Refactored controlsd to utilize a modular design with ControlsdExt for additional sunnypilot specific functionality.
* self.cc_sp
* Refactor CarControlSP handling for improved state updates
* refactor
* bool
* Refactor controlsd SP communication logic
Update `publish_sp` method to include `CC_SP` parameter and refine SP SubMaster to exclude `radarState`. Remove custom lead vehicle state processing as it is no longer needed.
* remove in this pr
* bump
* start cleanup
* inherit instead
* even more!
* lint
* type hint
* use the same objects for submaster and pubmaster
* more
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Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Fixes an issue on the long planner since Tomb Raider models, where the models are now meant to output the acceleration target and the "should stop" instead of it being calculated. However, older models (particularly those running on modeld_v2 from SP) do not output this. Leading to a "coasting" situation instead of braking when only e2e is used which is totally wrong.
Introduced processing for custom yRel values using HyundaiFlagsSP when the enhanced SCC flag is enabled. Updated `radard` to handle `CarParamsSP` and make necessary adjustments for Hyundai vehicles with specific SCC configurations.
* Method abstracting radar tracks in interfaces.py This makes the code more maintainable for future implementations to this file
* Method abstracting radar tracks in interfaces.py This makes the code more maintainable for future implementations to this file
* Add type annotation to params in initialize_car_interface_sp
* rename
* just internal
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Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* reset curvature while disabled
* comment
* duplicate line
* fix possible iso violation because it was unlimited while disengaged
* rename so you can't accidentally use
* update refs
* 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>
* 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
* split nnlc and custom lat accel
* more
* not yet
* comment
* fix
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Co-authored-by: DevTekVE <devtekve@gmail.com>
* temp unavailable
* fix
* replay multiple
* clean up
* bump
* rename
* reason is in liveTracks
* more rename
* bump
* fix
* bump
* fix
* need to totally ignore it, or it will throw commIssues for radarErrors or not alive
* this is just simpler -- good thing kept struct
* rm
* bool fields
* liveTracks.valid is already set using errors
* fix
* clean up
* same but diff
* fix
* fix
* fix test
* clean up
* rm radarErrors
* whoops
* no struct
* Revert "no struct"
This reverts commit ed8ec02493673f850800344c73c969508fc38991.
* bump
* update
* always check radarState freq since it polls on modelV2 and sends at a fixed rate
* fine
* can just check this since valid is all_checks on liveTracks, and liveTracks.valid is len(errors) as well
full circle
* 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>
* carControlSP and move MADS to outside structs
* publish it
* apply to all car controller
* migrate sunnypilotParams
* migrate madsEnabled
* tldr
* convert to capnp
* unused
* wrong module
* fix name
* cancer is right (all tests should be passing now)
* bump opendbc
* 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
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Co-authored-by: DevTekVE <devtekve@gmail.com>
Discountchubbs