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Merge branch 'min-feat/on-off-road' into full

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This commit is contained in:
Rick Lan
2025-05-27 12:23:54 +08:00
parent 1c6a0b8b61 bd09c5be36
commit 757e2bd9cf
4 changed files with 25 additions and 1 deletions
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1
common/params_keys.h
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@@ -128,4 +128,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"dp_device_model_list", PERSISTENT},
{"dp_lat_lca_speed", PERSISTENT},
{"dp_lat_lca_auto_sec", PERSISTENT},
{"dp_device_go_off_road", CLEAR_ON_MANAGER_START},
};

1
selfdrive/ui/qt/offroad/settings.h
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@@ -92,6 +92,7 @@ private:
QLabel *onroadLbl;
LabelControl *versionLbl;
ButtonControl *installBtn;
ButtonControl *onOffRoadBtn;
ButtonControl *downloadBtn;
ButtonControl *targetBranchBtn;

18
selfdrive/ui/qt/offroad/software_settings.cc
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@@ -29,6 +29,16 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
versionLbl = new LabelControl(tr("Current Version"), "");
addItem(versionLbl);
// on/off road mode switch
onOffRoadBtn = new ButtonControl(tr("Onroad/Offroad Mode"), tr("Go Offroad"));
connect(onOffRoadBtn, &ButtonControl::clicked, [&]() {
if (ConfirmationDialog::confirm(tr("Are you sure you want to switch mode?"), tr("CONFIRM"), this)) {
bool val = params.getBool("dp_device_go_off_road");
params.putBool("dp_device_go_off_road", !val);
}
});
addItem(onOffRoadBtn);
// download update btn
downloadBtn = new ButtonControl(tr("Download"), tr("CHECK"));
connect(downloadBtn, &ButtonControl::clicked, [=]() {
@@ -111,6 +121,7 @@ void SoftwarePanel::updateLabels() {
fs_watch->addParam("UpdateFailedCount");
fs_watch->addParam("UpdaterState");
fs_watch->addParam("UpdateAvailable");
fs_watch->addParam("dp_device_go_off_road");
if (!isVisible()) {
return;
@@ -120,6 +131,13 @@ void SoftwarePanel::updateLabels() {
onroadLbl->setVisible(is_onroad);
downloadBtn->setVisible(!is_onroad);
// on/off road text change
if (params.getBool("dp_device_go_off_road")) {
onOffRoadBtn->setText(tr("Go Onroad"));
} else {
onOffRoadBtn->setText(tr("Go Offroad"));
}
// download update
QString updater_state = QString::fromStdString(params.get("UpdaterState"));
bool failed = std::atoi(params.get("UpdateFailedCount").c_str()) > 0;

6
system/hardware/hardwared.py
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@@ -204,6 +204,8 @@ def hardware_thread(end_event, hw_queue) -> None:
fan_controller = None
dp_device_go_off_road = False
while not end_event.is_set():
sm.update(PANDA_STATES_TIMEOUT)
@@ -333,7 +335,9 @@ def hardware_thread(end_event, hw_queue) -> None:
pass
# Handle offroad/onroad transition
should_start = all(onroad_conditions.values())
if count % 6 == 0:
dp_device_go_off_road = params.get_bool("dp_device_go_off_road")
should_start = not dp_device_go_off_road and all(onroad_conditions.values())
if started_ts is None:
should_start = should_start and all(startup_conditions.values())