mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-16 18:13:45 +08:00
Compare commits
9 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 discountchubbs
|
a992d64eb6 | ||
|
discountchubbs
|
eff0854aad | ||
|
Kumar
|
2d859a8ca6 | ||
|
Nayan
|
2a16b0fbba | ||
|
Jason Wen
|
c6595fd99b | ||
|
github-actions[bot]
|
617fcd4084 | ||
|
Jason Wen
|
91a53aa161 | ||
|
Jason Wen
|
fc4699a747 | ||
|
Jason Wen
|
9e32dee281 |
+8
-7
@@ -1,10 +1,10 @@
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
# Supported Cars
|
||||
|
||||
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.
|
||||
|
||||
# 341 Supported Cars
|
||||
# 342 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
@@ -78,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
@@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
@@ -230,14 +230,15 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 8b9fd4a653...ae445c9b5e
@@ -351,6 +351,7 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
speedLimitChanged @21;
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
laneChangeRoadEdge @24;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -457,6 +458,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
|
||||
|
||||
struct ModelDataV2SP @0xa1680744031fdb2d {
|
||||
laneTurnDirection @0 :TurnDirection;
|
||||
leftLaneChangeEdgeBlock @1 :Bool;
|
||||
rightLaneChangeEdgeBlock @2 :Bool;
|
||||
|
||||
enum TurnDirection {
|
||||
none @0;
|
||||
|
||||
@@ -179,7 +179,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ScreenSaverEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"ScreenSaverTimeout", {PERSISTENT | BACKUP, INT, "300"}},
|
||||
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
@@ -273,6 +276,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
// Torque lateral control custom params
|
||||
{"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LateralJerkTorqueController", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
|
||||
|
||||
@@ -33,7 +33,7 @@ class DesireHelper:
|
||||
def get_lane_change_direction(CS):
|
||||
return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
|
||||
|
||||
def update(self, carstate, lateral_active, lane_change_prob):
|
||||
def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
|
||||
self.alc.update_params()
|
||||
self.lane_turn_controller.update_params()
|
||||
v_ego = carstate.vEgo
|
||||
@@ -64,8 +64,8 @@ class DesireHelper:
|
||||
((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
(carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
|
||||
|
||||
blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
(carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
|
||||
blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
|
||||
|
||||
self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
|
||||
|
||||
|
||||
@@ -23,7 +23,7 @@ def main():
|
||||
cloudlog.info("plannerd got CarParamsSP")
|
||||
|
||||
gps_location_service = get_gps_location_service(params)
|
||||
ignore_services = ["liveMapDataSP", gps_location_service]
|
||||
ignore_services = ["liveMapDataSP", "carStateSP", "selfdriveStateSP", gps_location_service]
|
||||
|
||||
ldw = LaneDepartureWarning()
|
||||
longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
|
||||
|
||||
@@ -29,6 +29,7 @@ from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
|
||||
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
@@ -213,6 +214,7 @@ def main(demo=False):
|
||||
prev_action = log.ModelDataV2.Action()
|
||||
|
||||
DH = DesireHelper()
|
||||
RELC = RoadEdgeLaneChangeController()
|
||||
|
||||
while True:
|
||||
# Keep receiving frames until we are at least 1 frame ahead of previous extra frame
|
||||
@@ -313,7 +315,8 @@ def main(demo=False):
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
|
||||
lane_change_prob = l_lane_change_prob + r_lane_change_prob
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
|
||||
left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
|
||||
size 1757355221
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:2b85e82079a2d31c5ce8616f2b429ccfcdcb8ebb5aefd72a62b8bd78aa9c7621
|
||||
size 15583592
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:659727c4d4839adc4992a254409a54259a8756a743f2d567bf5fdc6579f8009b
|
||||
size 60881999
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
|
||||
size 46265993
|
||||
@@ -26,7 +26,7 @@
|
||||
"severity": 1
|
||||
},
|
||||
"Offroad_CarUnrecognized": {
|
||||
"text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
|
||||
"text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please select your vehicle manually at https://www.sunnylink.ai/. Need help? Visit https://community.sunnypilot.ai/",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_Recalibration": {
|
||||
@@ -42,7 +42,7 @@
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ExcessiveActuation": {
|
||||
"text": "Excessive %1 actuation detected on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
|
||||
"text": "Excessive %1 actuation detected on your last drive. Please visit https://community.sunnypilot.ai/ and share your device's Dongle ID for troubleshooting.",
|
||||
"severity": 1,
|
||||
"_comment": "Set extra field to lateral or longitudinal."
|
||||
},
|
||||
|
||||
@@ -93,7 +93,7 @@ class SelfdriveD(CruiseHelper):
|
||||
# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
|
||||
self.car_state_sock = messaging.sub_sock('carState', timeout=20)
|
||||
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP']
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP', 'longitudinalPlanSP']
|
||||
if SIMULATION:
|
||||
ignore += ['driverCameraState', 'managerState']
|
||||
if REPLAY:
|
||||
@@ -327,9 +327,16 @@ class SelfdriveD(CruiseHelper):
|
||||
# Handle lane change
|
||||
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
|
||||
direction = self.sm['modelV2'].meta.laneChangeDirection
|
||||
mdv2sp = self.sm['modelDataV2SP']
|
||||
|
||||
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
|
||||
(CS.rightBlindspot and direction == LaneChangeDirection.right):
|
||||
self.events.add(EventName.laneChangeBlocked)
|
||||
|
||||
elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
|
||||
(mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
|
||||
|
||||
else:
|
||||
if direction == LaneChangeDirection.left:
|
||||
self.events.add(EventName.preLaneChangeLeft)
|
||||
|
||||
@@ -500,7 +500,7 @@ CONFIGS = [
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="dmonitoringd",
|
||||
pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
|
||||
pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState", "carControl"],
|
||||
subs=["driverMonitoringState"],
|
||||
ignore=["logMonoTime"],
|
||||
should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
|
||||
@@ -511,7 +511,7 @@ CONFIGS = [
|
||||
pubs=[
|
||||
"cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
|
||||
],
|
||||
subs=["liveLocationKalman", "livePose"],
|
||||
subs=["livePose"],
|
||||
ignore=["logMonoTime"],
|
||||
should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
|
||||
tolerance=NUMPY_TOLERANCE,
|
||||
|
||||
@@ -9,7 +9,7 @@ from enum import IntEnum
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
|
||||
from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
|
||||
|
||||
|
||||
@@ -61,10 +61,26 @@ class DisplayLayout(Widget):
|
||||
f"{value} s" if value < 60 else f"{int(value/60)} m"),
|
||||
inline=True
|
||||
)
|
||||
self._screensaver_toggle = toggle_item_sp(
|
||||
param="ScreenSaverEnabled",
|
||||
title=lambda: tr("Screen Saver"),
|
||||
description=lambda: tr("Show a screen saver when the device is offroad and idle, instead of turning the screen off."),
|
||||
)
|
||||
self._screensaver_timeout = option_item_sp(
|
||||
param="ScreenSaverTimeout",
|
||||
title=lambda: tr("Screen Saver Duration"),
|
||||
description=lambda: tr("How long the screen saver runs before the screen turns off."),
|
||||
min_value=60,
|
||||
max_value=600,
|
||||
value_change_step=60,
|
||||
label_callback=lambda value: f"{int(value/60)} m"
|
||||
)
|
||||
items = [
|
||||
self._onroad_brightness,
|
||||
self._onroad_brightness_timer,
|
||||
self._interactivity_timeout,
|
||||
self._screensaver_toggle,
|
||||
self._screensaver_timeout,
|
||||
]
|
||||
return items
|
||||
|
||||
@@ -87,6 +103,8 @@ class DisplayLayout(Widget):
|
||||
brightness_val = self._onroad_brightness.action_item.current_value
|
||||
self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
|
||||
|
||||
self._screensaver_timeout.set_visible(self._screensaver_toggle.action_item.get_state())
|
||||
|
||||
def _render(self, rect):
|
||||
self._scroller.render(rect)
|
||||
|
||||
|
||||
@@ -139,7 +139,8 @@ class SteeringLayout(Widget):
|
||||
self._nnlc_toggle.action_item.set_state(False)
|
||||
enforce_torque_enabled = False
|
||||
nnlc_enabled = False
|
||||
self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
|
||||
jerk_aware_enabled = ui_state.params.get_bool("LateralJerkTorqueController")
|
||||
self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled and not jerk_aware_enabled)
|
||||
self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
|
||||
self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
|
||||
|
||||
|
||||
+7
@@ -51,11 +51,18 @@ class LaneChangeSettingsLayout(Widget):
|
||||
description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
|
||||
"(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
|
||||
)
|
||||
self._road_edge_block = toggle_item_sp(
|
||||
param="RoadEdgeLaneChangeEnabled",
|
||||
title=lambda: tr("Block Lane Change: Road Edge Detection"),
|
||||
description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
|
||||
)
|
||||
|
||||
items = [
|
||||
self._lane_change_timer,
|
||||
LineSeparatorSP(40),
|
||||
self._bsm_delay,
|
||||
LineSeparatorSP(40),
|
||||
self._road_edge_block,
|
||||
]
|
||||
|
||||
return items
|
||||
|
||||
+10
@@ -40,6 +40,13 @@ class TorqueSettingsLayout(Widget):
|
||||
self.cached_torque_versions = json.load(f)
|
||||
|
||||
def _initialize_items(self):
|
||||
self._jerk_aware_toggle = toggle_item_sp(
|
||||
param="LateralJerkTorqueController",
|
||||
title=lambda: tr("Lateral Jerk Torque Controller"),
|
||||
description=lambda: tr("Looks ahead at planned steering to reduce sudden corrections, so the wheel moves " +
|
||||
"more smoothly through turns. Works with Self-Tune and custom tuning. " +
|
||||
"Thanks to @twilsonco for the implementation."),
|
||||
)
|
||||
self._torque_control_versions = ListItemSP(
|
||||
title=tr("Torque Control Tune Version"),
|
||||
description="Select the version of Torque Control Tune to use.",
|
||||
@@ -95,6 +102,7 @@ class TorqueSettingsLayout(Widget):
|
||||
)
|
||||
|
||||
items = [
|
||||
self._jerk_aware_toggle,
|
||||
self._torque_control_versions,
|
||||
self._self_tune_toggle,
|
||||
self._relaxed_tune_toggle,
|
||||
@@ -107,6 +115,8 @@ class TorqueSettingsLayout(Widget):
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
nnlc_enabled = ui_state.params.get_bool("NeuralNetworkLateralControl")
|
||||
self._jerk_aware_toggle.action_item.set_enabled(ui_state.is_offroad() and not nnlc_enabled)
|
||||
if not ui_state.params.get_bool("LiveTorqueParamsToggle"):
|
||||
ui_state.params.remove("LiveTorqueParamsRelaxedToggle")
|
||||
self._relaxed_tune_toggle.action_item.set_state(False)
|
||||
|
||||
@@ -12,6 +12,7 @@ from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
|
||||
from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.sunnypilot.widgets.screen_saver import ScreenSaverSP
|
||||
|
||||
OpenpilotState = log.SelfdriveState.OpenpilotState
|
||||
MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
|
||||
@@ -38,6 +39,9 @@ class UIStateSP:
|
||||
|
||||
self.sunnylink_state = SunnylinkState()
|
||||
|
||||
self.screensaver = ScreenSaverSP(params=self.params)
|
||||
self.screensaver_enabled: bool = False
|
||||
|
||||
self.active_bundle = None
|
||||
self.blindspot: bool = False
|
||||
self.chevron_metrics = None
|
||||
@@ -170,6 +174,7 @@ class UIStateSP:
|
||||
self.turn_signals = self.params.get_bool("ShowTurnSignals")
|
||||
self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
|
||||
self.always_offroad = self.params.get_bool("OffroadMode")
|
||||
self.screensaver_enabled = self.params.get_bool("ScreenSaverEnabled")
|
||||
|
||||
if not self._sp_initialized:
|
||||
self._sp_initialized = True
|
||||
@@ -184,10 +189,15 @@ class UIStateSP:
|
||||
self.params.put_bool("EnforceTorqueControl", False, block=True)
|
||||
self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
|
||||
|
||||
if self.params.get_bool("LateralJerkTorqueController") and self.params.get_bool("NeuralNetworkLateralControl"):
|
||||
self.params.put_bool("LateralJerkTorqueController", False, block=True)
|
||||
self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
|
||||
|
||||
# Angle steering: no torque-based lateral controls
|
||||
if CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
self.params.remove("EnforceTorqueControl")
|
||||
self.params.remove("NeuralNetworkLateralControl")
|
||||
self.params.remove("LateralJerkTorqueController")
|
||||
|
||||
# Alpha longitudinal: clear if not available
|
||||
if not CP.alphaLongitudinalAvailable:
|
||||
@@ -200,6 +210,7 @@ class UIStateSP:
|
||||
# No CarParams: clear all car-dependent params as safety default
|
||||
self.params.remove("EnforceTorqueControl")
|
||||
self.params.remove("NeuralNetworkLateralControl")
|
||||
self.params.remove("LateralJerkTorqueController")
|
||||
self.params.remove("AlphaLongitudinalEnabled")
|
||||
|
||||
# No longitudinal control: no experimental mode or DEC
|
||||
@@ -224,10 +235,26 @@ class UIStateSP:
|
||||
|
||||
|
||||
class DeviceSP:
|
||||
def __init__(self):
|
||||
self._blocked_by_screensaver: bool = False
|
||||
|
||||
def _set_awake(self, on: bool, _ui_state=None):
|
||||
self._blocked_by_screensaver = False
|
||||
|
||||
if _ui_state.boot_offroad_mode == 1 and not on:
|
||||
_ui_state.params.put_bool("OffroadMode", True)
|
||||
|
||||
if not on and _ui_state.screensaver_enabled:
|
||||
if _ui_state.screensaver.was_dismissed:
|
||||
if gui_app.get_active_widget() == _ui_state.screensaver:
|
||||
gui_app.pop_widget()
|
||||
elif _ui_state.screensaver.is_active:
|
||||
self._blocked_by_screensaver = True
|
||||
else:
|
||||
_ui_state.screensaver.initialize()
|
||||
gui_app.push_widget(_ui_state.screensaver)
|
||||
self._blocked_by_screensaver = True
|
||||
|
||||
@staticmethod
|
||||
def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
|
||||
if not awake or not _ui_state.started:
|
||||
|
||||
@@ -340,6 +340,8 @@ class Device(DeviceSP):
|
||||
def _set_awake(self, on: bool, _ui_state=None):
|
||||
if on != self._awake:
|
||||
super()._set_awake(on, _ui_state or ui_state)
|
||||
if self._blocked_by_screensaver:
|
||||
return
|
||||
self._awake = on
|
||||
cloudlog.debug(f"setting display power {int(on)}")
|
||||
HARDWARE.set_display_power(on)
|
||||
|
||||
@@ -49,6 +49,7 @@ from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, mak
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"
|
||||
|
||||
@@ -367,6 +368,7 @@ def main(demo=False):
|
||||
|
||||
DH = DesireHelper()
|
||||
meta_constants = load_meta_constants()
|
||||
RELC = RoadEdgeLaneChangeController()
|
||||
|
||||
while True:
|
||||
# Keep receiving frames until we are at least 1 frame ahead of previous extra frame
|
||||
@@ -479,7 +481,8 @@ def main(demo=False):
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
|
||||
lane_change_prob = l_lane_change_prob + r_lane_change_prob
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
|
||||
left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
|
||||
|
||||
@@ -73,10 +73,16 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
|
||||
if params is None:
|
||||
params = Params()
|
||||
|
||||
if params.get_bool("LateralJerkTorqueController") and params.get_bool("NeuralNetworkLateralControl"):
|
||||
cloudlog.warning("LateralJerkTorqueController and NeuralNetworkLateralControl both enabled, disabling both")
|
||||
params.put_bool("LateralJerkTorqueController", False, block=True)
|
||||
params.put_bool("NeuralNetworkLateralControl", False, block=True)
|
||||
|
||||
if CP.steerControlType == structs.CarParams.SteerControlType.angle:
|
||||
cloudlog.warning("SteerControlType is angle, cleaning up params")
|
||||
params.remove("NeuralNetworkLateralControl")
|
||||
params.remove("EnforceTorqueControl")
|
||||
params.remove("LateralJerkTorqueController")
|
||||
|
||||
if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
|
||||
cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
Copyright (c) 2021-, rav4kumar, 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.
|
||||
|
||||
@@ -33,6 +33,7 @@ class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueExtOverri
|
||||
self._output_torque = output_torque
|
||||
|
||||
self.update_calculations(CS, VM, desired_lateral_accel)
|
||||
self.update_jerk_aware_torque_control(CS, roll_compensation, gravity_adjusted_lateral_accel)
|
||||
self.update_neural_network_feedforward(CS, params, calibrated_pose)
|
||||
|
||||
return self._pid_log, self._output_torque
|
||||
|
||||
@@ -132,3 +132,10 @@ class LatControlTorqueExtBase:
|
||||
self.lat_accel_friction_factor = 1.0
|
||||
self.lateral_jerk_setpoint = self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
|
||||
self.lateral_jerk_measurement = self.lat_jerk_friction_factor * self.actual_lateral_jerk
|
||||
|
||||
def update_output_torque(self, CS):
|
||||
freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
|
||||
self._output_torque = self._pid.update(self._pid_log.error,
|
||||
feedforward=self._ff,
|
||||
speed=CS.vEgo,
|
||||
freeze_integrator=freeze_integrator)
|
||||
|
||||
@@ -0,0 +1,45 @@
|
||||
"""
|
||||
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 opendbc.car.lateral import FRICTION_THRESHOLD
|
||||
from opendbc.sunnypilot.car.interfaces import LatControlInputs
|
||||
from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
|
||||
from openpilot.common.params import Params
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
|
||||
|
||||
|
||||
class LatControlTorqueJerkAware(LatControlTorqueExtBase):
|
||||
def __init__(self, lac_torque, CP, CP_SP, CI):
|
||||
super().__init__(lac_torque, CP, CP_SP, CI)
|
||||
self.params = Params()
|
||||
self._jerk_aware_enabled = self.params.get_bool("LateralJerkTorqueController")
|
||||
|
||||
def update_limits(self):
|
||||
if not self._jerk_aware_enabled:
|
||||
return
|
||||
self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
|
||||
|
||||
def update_jerk_aware_torque_control(self, CS, roll_compensation, gravity_adjusted_lateral_accel):
|
||||
if not self._jerk_aware_enabled:
|
||||
return
|
||||
|
||||
torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(
|
||||
LatControlInputs(self._setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=False
|
||||
)
|
||||
torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(
|
||||
LatControlInputs(self._measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=False
|
||||
)
|
||||
|
||||
self._pid_log.error = float(torque_from_setpoint - torque_from_measurement) # ty: ignore[invalid-assignment]
|
||||
self._ff = self.torque_from_lateral_accel_in_torque_space(
|
||||
LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True
|
||||
)
|
||||
|
||||
friction_input = self.update_friction_input(self._desired_lateral_accel, self._actual_lateral_accel)
|
||||
self._ff += get_friction_in_torque_space(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
|
||||
|
||||
self.update_output_torque(CS)
|
||||
@@ -14,7 +14,8 @@ from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_t
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase, sign
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import sign
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_jerk_aware import LatControlTorqueJerkAware
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
|
||||
|
||||
@@ -31,7 +32,7 @@ def roll_pitch_adjust(roll, pitch):
|
||||
return roll * math.cos(pitch)
|
||||
|
||||
|
||||
class NeuralNetworkLateralControl(LatControlTorqueExtBase):
|
||||
class NeuralNetworkLateralControl(LatControlTorqueJerkAware):
|
||||
def __init__(self, lac_torque, CP, CP_SP, CI):
|
||||
super().__init__(lac_torque, CP, CP_SP, CI)
|
||||
self.params = Params()
|
||||
@@ -65,6 +66,7 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
|
||||
return self.enabled and self.model_valid and self.has_nn_model
|
||||
|
||||
def update_limits(self):
|
||||
super().update_limits()
|
||||
if not self._nnlc_enabled:
|
||||
return
|
||||
|
||||
@@ -85,13 +87,6 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
|
||||
self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
|
||||
FRICTION_THRESHOLD, self.torque_params)
|
||||
|
||||
def update_output_torque(self, CS):
|
||||
freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
|
||||
self._output_torque = self._pid.update(self._pid_log.error,
|
||||
feedforward=self._ff,
|
||||
speed=CS.vEgo,
|
||||
freeze_integrator=freeze_integrator)
|
||||
|
||||
def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
|
||||
if not self._nnlc_enabled:
|
||||
return
|
||||
|
||||
@@ -0,0 +1,98 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, 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 openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.common.params import Params
|
||||
|
||||
NEARSIDE_PROB = 0.2
|
||||
EDGE_PROB = 0.35
|
||||
EDGE_REACTION_TIME = 1.0
|
||||
EDGE_CLEAR_TIME = 0.3
|
||||
MIN_SPEED = 20 * CV.MPH_TO_MS
|
||||
VEHICLE_EDGE_MARGIN = 1.08
|
||||
EDGE_CLEARANCE = 3.7
|
||||
|
||||
|
||||
class RoadEdgeLaneChangeController:
|
||||
def __init__(self):
|
||||
self.params = Params()
|
||||
self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
|
||||
self.param_read_counter = 0
|
||||
self.left_edge_detected = False
|
||||
self.right_edge_detected = False
|
||||
self.left_edge_timer = 0.0
|
||||
self.right_edge_timer = 0.0
|
||||
self.left_clear_timer = 0.0
|
||||
self.right_clear_timer = 0.0
|
||||
|
||||
def read_params(self) -> None:
|
||||
self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
|
||||
|
||||
def update_params(self) -> None:
|
||||
if self.param_read_counter % 50 == 0:
|
||||
self.read_params()
|
||||
self.param_read_counter += 1
|
||||
|
||||
def reset(self) -> None:
|
||||
self.left_edge_detected = False
|
||||
self.right_edge_detected = False
|
||||
self.left_edge_timer = 0.0
|
||||
self.right_edge_timer = 0.0
|
||||
self.left_clear_timer = 0.0
|
||||
self.right_clear_timer = 0.0
|
||||
|
||||
def update(self, road_edge_stds, lane_line_probs, v_ego: float, road_edges=None) -> None:
|
||||
self.update_params()
|
||||
|
||||
if not self.enabled or v_ego < MIN_SPEED:
|
||||
self.reset()
|
||||
return
|
||||
|
||||
left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
|
||||
right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
|
||||
left_lane_prob = lane_line_probs[0]
|
||||
right_lane_prob = lane_line_probs[3]
|
||||
|
||||
if road_edges is not None and len(road_edges) == 2 and len(road_edges[0].y) > 0 and len(road_edges[1].y) > 0:
|
||||
left_clearance = abs(road_edges[0].y[0]) - VEHICLE_EDGE_MARGIN
|
||||
right_clearance = abs(road_edges[1].y[0]) - VEHICLE_EDGE_MARGIN
|
||||
else:
|
||||
left_clearance = 0.0
|
||||
right_clearance = 0.0
|
||||
|
||||
left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and left_clearance < EDGE_CLEARANCE
|
||||
right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and right_clearance < EDGE_CLEARANCE
|
||||
|
||||
if left_cond:
|
||||
self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
|
||||
self.left_clear_timer = 0.0
|
||||
if self.left_edge_timer > EDGE_REACTION_TIME:
|
||||
self.left_edge_detected = True
|
||||
else:
|
||||
self.left_clear_timer += DT_MDL
|
||||
if self.left_clear_timer > EDGE_CLEAR_TIME:
|
||||
self.left_edge_timer = 0.0
|
||||
self.left_edge_detected = False
|
||||
|
||||
if right_cond:
|
||||
self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
|
||||
self.right_clear_timer = 0.0
|
||||
if self.right_edge_timer > EDGE_REACTION_TIME:
|
||||
self.right_edge_detected = True
|
||||
else:
|
||||
self.right_clear_timer += DT_MDL
|
||||
if self.right_clear_timer > EDGE_CLEAR_TIME:
|
||||
self.right_edge_timer = 0.0
|
||||
self.right_edge_detected = False
|
||||
|
||||
def update_and_fill(self, modelv2, mdv2sp, v_ego):
|
||||
self.update(modelv2.roadEdgeStds, modelv2.laneLineProbs, v_ego, modelv2.roadEdges)
|
||||
mdv2sp.leftLaneChangeEdgeBlock = self.left_edge_detected
|
||||
mdv2sp.rightLaneChangeEdgeBlock = self.right_edge_detected
|
||||
return self.left_edge_detected, self.right_edge_detected
|
||||
@@ -2,10 +2,11 @@ import pytest
|
||||
from openpilot.cereal import log, custom
|
||||
from openpilot.common.params import Params
|
||||
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
|
||||
|
||||
|
||||
TurnDirection = custom.ModelDataV2SP.TurnDirection
|
||||
|
||||
|
||||
@@ -109,5 +110,17 @@ def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, e
|
||||
dh = DesireHelper()
|
||||
dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
|
||||
for _ in range(10):
|
||||
dh.update(carstate, lateral_active, lane_change_prob)
|
||||
assert dh.desire == expected_desire # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
|
||||
dh.update(carstate, lateral_active, lane_change_prob,
|
||||
left_edge_detected=False, right_edge_detected=False)
|
||||
assert dh.desire == expected_desire
|
||||
|
||||
|
||||
def test_edge_blocks_lane_change(set_lane_turn_params):
|
||||
dh = DesireHelper()
|
||||
dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
|
||||
carstate = DummyCarState(vEgo=15, leftBlinker=True, steeringPressed=True, steeringTorque=1)
|
||||
for _ in range(10):
|
||||
dh.update(carstate, True, 1.0, left_edge_detected=True, right_edge_detected=False)
|
||||
assert dh.lane_change_state == LaneChangeState.preLaneChange
|
||||
assert dh.lane_change_direction == LaneChangeDirection.left
|
||||
assert dh.desire == log.Desire.none
|
||||
|
||||
@@ -0,0 +1,108 @@
|
||||
"""
|
||||
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 openpilot.cereal import log, messaging
|
||||
from opendbc.car.structs import car
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.selfdrive.car.helpers import convert_to_capnp
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from openpilot.selfdrive.locationd.helpers import Pose
|
||||
from openpilot.common.mock.generators import generate_livePose
|
||||
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
|
||||
|
||||
def _make_controller(enhanced=False, nnlc=False):
|
||||
params = Params()
|
||||
params.put_bool("EnforceTorqueControl", True, block=True)
|
||||
params.put_bool("LateralJerkTorqueController", enhanced, block=True)
|
||||
params.put_bool("NeuralNetworkLateralControl", nnlc, block=True)
|
||||
|
||||
car_name = HONDA.HONDA_CIVIC
|
||||
CarInterface = interfaces[car_name]
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
|
||||
CI = CarInterface(CP, CP_SP)
|
||||
sunnypilot_interfaces.setup_interfaces(CI, params)
|
||||
CP_SP = convert_to_capnp(CP_SP)
|
||||
VM = VehicleModel(CP)
|
||||
controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
|
||||
return controller, VM, CP
|
||||
|
||||
|
||||
def _make_model_v2():
|
||||
model = messaging.new_message('modelV2')
|
||||
position = log.XYZTData.new_message()
|
||||
position.x = [float(x) for x in 30.0 * np.array(ModelConstants.T_IDXS)]
|
||||
model.modelV2.position = position
|
||||
orientation = log.XYZTData.new_message()
|
||||
orientation.x = [0.0 for _ in ModelConstants.T_IDXS]
|
||||
orientation.y = [0.0 for _ in ModelConstants.T_IDXS]
|
||||
model.modelV2.orientation = orientation
|
||||
velocity = log.XYZTData.new_message()
|
||||
velocity.x = [30.0 for _ in ModelConstants.T_IDXS]
|
||||
model.modelV2.velocity = velocity
|
||||
acceleration = log.XYZTData.new_message()
|
||||
acceleration.x = [0.0 for _ in ModelConstants.T_IDXS]
|
||||
acceleration.y = [0.0 for _ in ModelConstants.T_IDXS]
|
||||
model.modelV2.acceleration = acceleration
|
||||
return model
|
||||
|
||||
|
||||
def _run_update(controller, VM):
|
||||
CS = car.CarState.new_message()
|
||||
CS.vEgo = 30
|
||||
CS.steeringPressed = False
|
||||
lp = generate_livePose()
|
||||
pose = Pose.from_live_pose(lp.livePose)
|
||||
params = log.LiveParametersData.new_message()
|
||||
model_v2 = _make_model_v2().modelV2
|
||||
controller.extension.update_model_v2(model_v2)
|
||||
controller.extension.update_lateral_lag(0.2)
|
||||
return controller.update(True, CS, VM, params, False, 0.5, pose, False, 0.2)
|
||||
|
||||
|
||||
class TestLatControlTorqueExt:
|
||||
def test_init_enhanced_only(self):
|
||||
controller, VM, _ = _make_controller(enhanced=True, nnlc=False)
|
||||
assert controller.extension._jerk_aware_enabled
|
||||
assert not controller.extension.enabled # NNLC disabled
|
||||
|
||||
def test_init_nnlc_only(self):
|
||||
controller, VM, _ = _make_controller(enhanced=False, nnlc=True)
|
||||
assert not controller.extension._jerk_aware_enabled
|
||||
assert controller.extension.enabled
|
||||
|
||||
def test_init_neither(self):
|
||||
controller, VM, _ = _make_controller(enhanced=False, nnlc=False)
|
||||
assert not controller.extension._jerk_aware_enabled
|
||||
assert not controller.extension.enabled
|
||||
|
||||
def test_init_both_no_crash(self):
|
||||
controller, VM, _ = _make_controller(enhanced=True, nnlc=True)
|
||||
assert not controller.extension._jerk_aware_enabled
|
||||
assert not controller.extension.enabled
|
||||
|
||||
def test_update_enhanced_only(self):
|
||||
controller, VM, _ = _make_controller(enhanced=True, nnlc=False)
|
||||
output_torque, _, pid_log = _run_update(controller, VM)
|
||||
assert pid_log.active
|
||||
|
||||
def test_update_neither(self):
|
||||
controller, VM, _ = _make_controller(enhanced=False, nnlc=False)
|
||||
output_torque, _, pid_log = _run_update(controller, VM)
|
||||
assert pid_log.active
|
||||
|
||||
def test_update_both_no_crash(self):
|
||||
controller, VM, _ = _make_controller(enhanced=True, nnlc=True)
|
||||
output_torque, _, pid_log = _run_update(controller, VM)
|
||||
assert pid_log.active
|
||||
@@ -0,0 +1,169 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, 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 pytest
|
||||
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
|
||||
RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
|
||||
VEHICLE_EDGE_MARGIN, EDGE_CLEARANCE,
|
||||
)
|
||||
|
||||
V_HIGH = MIN_SPEED + 2.0
|
||||
V_LOW = MIN_SPEED - 1.0
|
||||
|
||||
|
||||
class MockEdge:
|
||||
def __init__(self, y_val):
|
||||
self.y = [y_val] * 33
|
||||
|
||||
|
||||
def edges(left_y, right_y):
|
||||
return [MockEdge(left_y), MockEdge(right_y)]
|
||||
|
||||
|
||||
CLOSE_EDGES = edges(-2.0, 1.5)
|
||||
FAR_EDGES = edges(-10.0, 10.0)
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def relc(mocker):
|
||||
mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
|
||||
controller = RoadEdgeLaneChangeController()
|
||||
controller.enabled = True
|
||||
return controller
|
||||
|
||||
|
||||
def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH, road_edges=CLOSE_EDGES):
|
||||
for _ in range(int(seconds / DT_MDL) + 1):
|
||||
controller.update(road_edge_stds, lane_line_probs, v_ego, road_edges)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
|
||||
([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
|
||||
([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
|
||||
])
|
||||
def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
|
||||
drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
|
||||
assert getattr(relc, attr)
|
||||
|
||||
|
||||
def test_edge_detection_requires_time(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_both_edges_detected(relc):
|
||||
drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
assert relc.right_edge_detected
|
||||
|
||||
|
||||
def test_noise_doesnt_clear(relc):
|
||||
edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
|
||||
clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
|
||||
|
||||
drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.update(*clear, V_HIGH, CLOSE_EDGES)
|
||||
relc.update(*edge, V_HIGH, CLOSE_EDGES)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
|
||||
def test_clears_after_window(relc):
|
||||
edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
|
||||
clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
|
||||
|
||||
drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
|
||||
assert not relc.left_edge_detected
|
||||
assert relc.left_edge_timer == 0.0
|
||||
|
||||
|
||||
def test_low_speed_skips(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
|
||||
assert not relc.left_edge_detected
|
||||
assert relc.left_edge_timer == 0.0
|
||||
|
||||
|
||||
def test_speed_drop_resets(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW, CLOSE_EDGES)
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_param_off_resets(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.params.get_bool.return_value = False
|
||||
relc.read_params()
|
||||
relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH, CLOSE_EDGES)
|
||||
assert not relc.left_edge_detected
|
||||
assert not relc.right_edge_detected
|
||||
|
||||
|
||||
def test_lane_line_prevents_detection(relc):
|
||||
drive(relc, [0.0, 0.9], [0.8, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_one_side_blocks_other_allows(relc):
|
||||
drive(relc, [0.9, 0.0], [0.8, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.right_edge_detected
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_disabled_no_detection(relc):
|
||||
relc.enabled = False
|
||||
relc.params.get_bool.return_value = False
|
||||
drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
|
||||
assert not relc.left_edge_detected
|
||||
assert not relc.right_edge_detected
|
||||
|
||||
|
||||
def test_far_edge_no_block(relc):
|
||||
drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1, road_edges=FAR_EDGES)
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_close_edge_blocks(relc):
|
||||
drive(relc, [0.9, 0.0], [0.05, 0.8, 0.8, 0.05], EDGE_REACTION_TIME + 0.1,
|
||||
road_edges=edges(-8.0, 1.5))
|
||||
assert relc.right_edge_detected
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_wide_road_no_lines_no_block(relc):
|
||||
drive(relc, [0.0, 0.0], [0.05, 0.4, 0.4, 0.05], EDGE_REACTION_TIME + 0.1,
|
||||
road_edges=edges(-8.0, 8.0))
|
||||
assert not relc.left_edge_detected
|
||||
assert not relc.right_edge_detected
|
||||
|
||||
|
||||
def test_narrow_road_both_block(relc):
|
||||
drive(relc, [0.0, 0.0], [0.02, 0.4, 0.4, 0.02], EDGE_REACTION_TIME + 0.1,
|
||||
road_edges=edges(-2.5, 2.5))
|
||||
assert relc.left_edge_detected
|
||||
assert relc.right_edge_detected
|
||||
|
||||
|
||||
def test_clearance_boundary(relc):
|
||||
boundary = VEHICLE_EDGE_MARGIN + EDGE_CLEARANCE # 4.78m
|
||||
drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
|
||||
road_edges=edges(-(boundary - 0.1), 10.0))
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.reset()
|
||||
|
||||
drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
|
||||
road_edges=edges(-(boundary + 0.1), 10.0))
|
||||
assert not relc.left_edge_detected
|
||||
@@ -244,4 +244,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
AlertStatus.normal, AlertSize.none,
|
||||
Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
|
||||
},
|
||||
|
||||
EventNameSP.laneChangeRoadEdge: {
|
||||
ET.WARNING: Alert(
|
||||
"Lane Change Unavailable: Road Edge",
|
||||
"",
|
||||
AlertStatus.userPrompt, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
|
||||
},
|
||||
}
|
||||
|
||||
@@ -323,6 +323,32 @@
|
||||
"equals": true
|
||||
},
|
||||
"items": [
|
||||
{
|
||||
"key": "LateralJerkTorqueController",
|
||||
"widget": "toggle",
|
||||
"title": "Lateral Jerk Torque Controller",
|
||||
"description": "Looks ahead at planned steering to reduce sudden corrections, so the wheel moves more smoothly through turns. Works with Self-Tune and custom tuning. Thanks to @twilsonco for the implementation.",
|
||||
"visibility": [
|
||||
{
|
||||
"type": "not",
|
||||
"condition": {
|
||||
"type": "capability",
|
||||
"field": "steer_control_type",
|
||||
"equals": "angle"
|
||||
}
|
||||
}
|
||||
],
|
||||
"enablement": [
|
||||
{
|
||||
"type": "offroad_only"
|
||||
},
|
||||
{
|
||||
"type": "param",
|
||||
"key": "NeuralNetworkLateralControl",
|
||||
"equals": false
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "LiveTorqueParamsToggle",
|
||||
"widget": "toggle",
|
||||
@@ -519,6 +545,12 @@
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "RoadEdgeLaneChangeEnabled",
|
||||
"widget": "toggle",
|
||||
"title": "Block Lane Change: Road Edge Detection",
|
||||
"description": "Blocks lane change when the model sees a road edge on the side you signal."
|
||||
},
|
||||
{
|
||||
"key": "AutoLaneChangeBsmDelay",
|
||||
"widget": "toggle",
|
||||
@@ -1260,6 +1292,67 @@
|
||||
"label": "2 m"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ScreenSaverEnabled",
|
||||
"widget": "toggle",
|
||||
"title": "Screen Saver",
|
||||
"description": "Show a screen saver when the device is offroad and idle, instead of turning the screen off."
|
||||
},
|
||||
{
|
||||
"key": "ScreenSaverTimeout",
|
||||
"widget": "multiple_button",
|
||||
"title": "Screen Saver Duration",
|
||||
"description": "How long the screen saver runs before the screen turns off.",
|
||||
"options": [
|
||||
{
|
||||
"value": 60,
|
||||
"label": "1 m"
|
||||
},
|
||||
{
|
||||
"value": 120,
|
||||
"label": "2 m"
|
||||
},
|
||||
{
|
||||
"value": 180,
|
||||
"label": "3 m"
|
||||
},
|
||||
{
|
||||
"value": 240,
|
||||
"label": "4 m"
|
||||
},
|
||||
{
|
||||
"value": 300,
|
||||
"label": "5 m"
|
||||
},
|
||||
{
|
||||
"value": 360,
|
||||
"label": "6 m"
|
||||
},
|
||||
{
|
||||
"value": 420,
|
||||
"label": "7 m"
|
||||
},
|
||||
{
|
||||
"value": 480,
|
||||
"label": "8 m"
|
||||
},
|
||||
{
|
||||
"value": 540,
|
||||
"label": "9 m"
|
||||
},
|
||||
{
|
||||
"value": 600,
|
||||
"label": "10 m"
|
||||
}
|
||||
],
|
||||
"enablement": [
|
||||
{
|
||||
"type": "param",
|
||||
"key": "ScreenSaverEnabled",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -2037,6 +2130,11 @@
|
||||
"type": "param",
|
||||
"key": "EnforceTorqueControl",
|
||||
"equals": false
|
||||
},
|
||||
{
|
||||
"type": "param",
|
||||
"key": "LateralJerkTorqueController",
|
||||
"equals": false
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
@@ -128,3 +128,36 @@ sections:
|
||||
label: 1 m
|
||||
- value: 120
|
||||
label: 2 m
|
||||
- key: ScreenSaverEnabled
|
||||
widget: toggle
|
||||
title: Screen Saver
|
||||
description: Show a screen saver when the device is offroad and idle, instead of turning the screen off.
|
||||
- key: ScreenSaverTimeout
|
||||
widget: multiple_button
|
||||
title: Screen Saver Duration
|
||||
description: How long the screen saver runs before the screen turns off.
|
||||
options:
|
||||
- value: 60
|
||||
label: 1 m
|
||||
- value: 120
|
||||
label: 2 m
|
||||
- value: 180
|
||||
label: 3 m
|
||||
- value: 240
|
||||
label: 4 m
|
||||
- value: 300
|
||||
label: 5 m
|
||||
- value: 360
|
||||
label: 6 m
|
||||
- value: 420
|
||||
label: 7 m
|
||||
- value: 480
|
||||
label: 8 m
|
||||
- value: 540
|
||||
label: 9 m
|
||||
- value: 600
|
||||
label: 10 m
|
||||
enablement:
|
||||
- type: param
|
||||
key: ScreenSaverEnabled
|
||||
equals: true
|
||||
|
||||
@@ -73,6 +73,9 @@ sections:
|
||||
- type: param
|
||||
key: EnforceTorqueControl
|
||||
equals: false
|
||||
- type: param
|
||||
key: LateralJerkTorqueController
|
||||
equals: false
|
||||
- id: camera
|
||||
title: Camera
|
||||
description: Camera position and calibration
|
||||
|
||||
@@ -127,6 +127,21 @@ sections:
|
||||
key: EnforceTorqueControl
|
||||
equals: true
|
||||
items:
|
||||
- key: LateralJerkTorqueController
|
||||
widget: toggle
|
||||
title: Lateral Jerk Torque Controller
|
||||
description: Looks ahead at planned steering to reduce sudden corrections, so the wheel moves more smoothly through turns. Works with Self-Tune and custom tuning. Thanks to @twilsonco for the implementation.
|
||||
visibility:
|
||||
- type: not
|
||||
condition:
|
||||
type: capability
|
||||
field: steer_control_type
|
||||
equals: angle
|
||||
enablement:
|
||||
- $ref: '#/macros/offroad'
|
||||
- type: param
|
||||
key: NeuralNetworkLateralControl
|
||||
equals: false
|
||||
- key: LiveTorqueParamsToggle
|
||||
widget: toggle
|
||||
title: Self-Tune
|
||||
@@ -242,6 +257,10 @@ sections:
|
||||
label: 2 seconds
|
||||
- value: 5
|
||||
label: 3 seconds
|
||||
- key: RoadEdgeLaneChangeEnabled
|
||||
widget: toggle
|
||||
title: 'Block Lane Change: Road Edge Detection'
|
||||
description: Blocks lane change when the model sees a road edge on the side you signal.
|
||||
- key: AutoLaneChangeBsmDelay
|
||||
widget: toggle
|
||||
title: 'Auto Lane Change: Delay with Blind Spot'
|
||||
|
||||
@@ -257,20 +257,26 @@ class TestKnownPanels:
|
||||
assert "mads_settings" in sub_ids
|
||||
|
||||
def test_mutual_exclusion_torque_nnlc(self, schema):
|
||||
"""EnforceTorqueControl and NNLC must reference each other in enablement."""
|
||||
torque = nnlc = None
|
||||
"""EnforceTorqueControl, EnhancedLatAccel, and NNLC must reference each other in enablement."""
|
||||
torque = nnlc = enhanced = None
|
||||
for panel in schema["panels"]:
|
||||
for item in _iter_panel_items(panel):
|
||||
if item["key"] == "EnforceTorqueControl":
|
||||
torque = item
|
||||
elif item["key"] == "NeuralNetworkLateralControl":
|
||||
nnlc = item
|
||||
elif item["key"] == "LateralJerkTorqueController":
|
||||
enhanced = item
|
||||
assert torque is not None, "EnforceTorqueControl item missing"
|
||||
assert nnlc is not None, "NeuralNetworkLateralControl item missing"
|
||||
assert enhanced is not None, "LateralJerkTorqueController item missing"
|
||||
torque_enable_keys = {r.get("key") for r in torque.get("enablement", []) if r.get("type") == "param"}
|
||||
assert "NeuralNetworkLateralControl" in torque_enable_keys
|
||||
nnlc_enable_keys = {r.get("key") for r in nnlc.get("enablement", []) if r.get("type") == "param"}
|
||||
assert "EnforceTorqueControl" in nnlc_enable_keys
|
||||
assert "LateralJerkTorqueController" in nnlc_enable_keys
|
||||
enhanced_enable_keys = {r.get("key") for r in enhanced.get("enablement", []) if r.get("type") == "param"}
|
||||
assert "NeuralNetworkLateralControl" in enhanced_enable_keys
|
||||
|
||||
|
||||
class TestKnownVehicleSettings:
|
||||
|
||||
@@ -88,7 +88,7 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
|
||||
return use_sunnylink_uploader(params)
|
||||
|
||||
def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
|
||||
"""Check if the active model runner is SNPE."""
|
||||
"""Check if the active model runner is tinygrad."""
|
||||
return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
|
||||
|
||||
def is_stock_model(started, params, CP: car.CarParams) -> bool:
|
||||
|
||||
@@ -0,0 +1,118 @@
|
||||
"""
|
||||
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 os
|
||||
import time
|
||||
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.common.hardware import HARDWARE
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
|
||||
|
||||
class ScreenSaverSP(Widget):
|
||||
def __init__(self, params: Params | None = None):
|
||||
super().__init__()
|
||||
self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
|
||||
self._params = params or Params()
|
||||
self._is_mici = HARDWARE.get_device_type() == 'mici' or (HARDWARE.get_device_type() == "pc" and os.getenv("BIG") != "1")
|
||||
|
||||
self.x = 0.0
|
||||
self.y = 100.0
|
||||
self.vx = 120.0 if self._is_mici else 300.0
|
||||
self.vy = 70.0 if self._is_mici else 200.0
|
||||
self._hue = 150
|
||||
self.color = rl.color_from_hsv(self._hue, 1, 1)
|
||||
|
||||
self.text = "sunnypilot"
|
||||
self.font_size = 50 if self._is_mici else 200
|
||||
self._start_time = None
|
||||
self._dismiss = False
|
||||
self._screensaver_timeout = 300
|
||||
self._hit_last_frame = False
|
||||
|
||||
@property
|
||||
def is_active(self) -> bool:
|
||||
return self._start_time is not None and not self._dismiss
|
||||
|
||||
@property
|
||||
def was_dismissed(self) -> bool:
|
||||
return self._dismiss
|
||||
|
||||
def initialize(self):
|
||||
self._screensaver_timeout = self._params.get("ScreenSaverTimeout", return_default=True)
|
||||
if self._start_time is None:
|
||||
self._start_time = time.monotonic()
|
||||
self._dismiss = False
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
self._dismiss = False
|
||||
self._start_time = None
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos):
|
||||
self._dismiss = True
|
||||
self._start_time = None
|
||||
gui_app.pop_widget()
|
||||
return super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
self.font = gui_app.font(FontWeight.AUDIOWIDE)
|
||||
text_size = measure_text_cached(self.font, self.text, self.font_size, 0)
|
||||
self.logo_width = text_size.x
|
||||
self.logo_height = text_size.y
|
||||
|
||||
if self._start_time and time.monotonic() - self._start_time > self._screensaver_timeout:
|
||||
self._dismiss = True
|
||||
self._start_time = None
|
||||
|
||||
dt = rl.get_frame_time()
|
||||
|
||||
self.x += self.vx * dt
|
||||
self.y += self.vy * dt
|
||||
|
||||
hit_x = hit_y = False
|
||||
if self.x + self.logo_width > self.rect.width:
|
||||
self.vx *= -1
|
||||
self.x = self.rect.width - self.logo_width
|
||||
hit_x = True
|
||||
elif self.x < 0:
|
||||
self.vx *= -1
|
||||
self.x = 0
|
||||
hit_x = True
|
||||
|
||||
if self.y + self.logo_height > self.rect.height:
|
||||
self.vy *= -1
|
||||
self.y = self.rect.height - self.logo_height
|
||||
hit_y = True
|
||||
elif self.y < 0:
|
||||
self.vy *= -1
|
||||
self.y = 0
|
||||
hit_y = True
|
||||
|
||||
hit = hit_x or hit_y
|
||||
if hit and not self._hit_last_frame:
|
||||
while self._hue_dist((new_hue := rl.get_random_value(0, 360)), self._hue) < 120:
|
||||
pass
|
||||
self._hue = new_hue
|
||||
self.color = rl.color_from_hsv(self._hue, 1, 1)
|
||||
self._hit_last_frame = hit
|
||||
|
||||
@staticmethod
|
||||
def _hue_dist(a, b):
|
||||
d = abs(a - b)
|
||||
return min(d, 360 - d)
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
self.set_rect(rect)
|
||||
rl.clear_background(rl.BLACK)
|
||||
rl.draw_text_ex(self.font, self.text, rl.Vector2(int(self.x), int(self.y)), self.font_size, 0, self.color)
|
||||
return -1
|
||||
Reference in New Issue
Block a user