Files
sunnypilot/common/params_keys.h
Kumar 34bbdf4d7f Controls: Automatic lane change (#653)
* 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>
2025-03-24 22:26:48 -04:00

171 lines
7.6 KiB
C++

#pragma once
#include <string>
#include <unordered_map>
inline static std::unordered_map<std::string, uint32_t> keys = {
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
{"AdbEnabled", PERSISTENT},
{"AlwaysOnDM", PERSISTENT},
{"ApiCache_Device", PERSISTENT},
{"ApiCache_FirehoseStats", PERSISTENT},
{"AssistNowToken", PERSISTENT},
{"AthenadPid", PERSISTENT},
{"AthenadUploadQueue", PERSISTENT},
{"AthenadRecentlyViewedRoutes", PERSISTENT},
{"BootCount", PERSISTENT},
{"CalibrationParams", PERSISTENT},
{"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
{"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
{"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CarParamsCache", CLEAR_ON_MANAGER_START},
{"CarParamsPersistent", PERSISTENT},
{"CarParamsPrevRoute", PERSISTENT},
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CurrentBootlog", PERSISTENT},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"DisablePowerDown", PERSISTENT | BACKUP},
{"DisableUpdates", PERSISTENT | BACKUP},
{"DisengageOnAccelerator", PERSISTENT | BACKUP},
{"DongleId", PERSISTENT},
{"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START},
{"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
{"ExperimentalMode", PERSISTENT | BACKUP},
{"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ForcePowerDown", PERSISTENT},
{"GitBranch", PERSISTENT},
{"GitCommit", PERSISTENT},
{"GitCommitDate", PERSISTENT},
{"GitDiff", PERSISTENT},
{"GithubSshKeys", PERSISTENT | BACKUP},
{"GithubUsername", PERSISTENT | BACKUP},
{"GitRemote", PERSISTENT},
{"GsmApn", PERSISTENT | BACKUP},
{"GsmMetered", PERSISTENT | BACKUP},
{"GsmRoaming", PERSISTENT | BACKUP},
{"HardwareSerial", PERSISTENT},
{"HasAcceptedTerms", PERSISTENT},
{"InstallDate", PERSISTENT},
{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
{"IsEngaged", PERSISTENT},
{"IsLdwEnabled", PERSISTENT | BACKUP},
{"IsMetric", PERSISTENT | BACKUP},
{"IsOffroad", CLEAR_ON_MANAGER_START},
{"IsOnroad", PERSISTENT},
{"IsRhdDetected", PERSISTENT},
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"IsTestedBranch", CLEAR_ON_MANAGER_START},
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"LanguageSetting", PERSISTENT | BACKUP},
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
{"LastGPSPosition", PERSISTENT},
{"LastManagerExitReason", CLEAR_ON_MANAGER_START},
{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
{"LastUpdateException", CLEAR_ON_MANAGER_START},
{"LastUpdateTime", PERSISTENT},
{"LiveParameters", PERSISTENT},
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
{"LocationFilterInitialState", PERSISTENT},
{"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"LongitudinalPersonality", PERSISTENT | BACKUP},
{"NetworkMetered", PERSISTENT},
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
{"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"PandaSignatures", CLEAR_ON_MANAGER_START},
{"PrimeType", PERSISTENT},
{"RecordFront", PERSISTENT | BACKUP},
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
{"SecOCKey", PERSISTENT | DONT_LOG}, // Candidate for | BACKUP
{"RouteCount", PERSISTENT},
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"SshEnabled", PERSISTENT | BACKUP},
{"TermsVersion", PERSISTENT},
{"TrainingVersion", PERSISTENT},
{"UbloxAvailable", PERSISTENT},
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
{"UpdaterAvailableBranches", PERSISTENT},
{"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
{"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
{"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
{"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
{"UpdaterState", CLEAR_ON_MANAGER_START},
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
{"UpdaterLastFetchTime", PERSISTENT},
{"Version", PERSISTENT},
// --- sunnypilot params --- //
{"ApiCache_DriveStats", PERSISTENT},
{"AutoLaneChangeBsmDelay", PERSISTENT},
{"AutoLaneChangeTimer", PERSISTENT},
{"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CarParamsSPCache", CLEAR_ON_MANAGER_START},
{"CarParamsSPPersistent", PERSISTENT},
{"CarPlatformBundle", PERSISTENT},
{"EnableGithubRunner", PERSISTENT | BACKUP},
{"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
{"OffroadMode", CLEAR_ON_MANAGER_START},
{"OffroadMode_Status", CLEAR_ON_MANAGER_START},
{"QuietMode", PERSISTENT | BACKUP},
// MADS params
{"Mads", PERSISTENT | BACKUP},
{"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
{"MadsSteeringMode", PERSISTENT | BACKUP},
{"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
// Model Manager params
{"ModelManager_ActiveBundle", PERSISTENT},
{"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"ModelManager_ModelsCache", PERSISTENT | BACKUP},
// Neural Network Lateral Control
{"NeuralNetworkLateralControl", PERSISTENT | BACKUP},
// sunnylink params
{"EnableSunnylinkUploader", PERSISTENT | BACKUP},
{"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
{"SunnylinkCache_Roles", PERSISTENT},
{"SunnylinkCache_Users", PERSISTENT},
{"SunnylinkDongleId", PERSISTENT},
{"SunnylinkdPid", PERSISTENT},
{"SunnylinkEnabled", PERSISTENT},
// Backup Manager params
{"BackupManager_CreateBackup", PERSISTENT},
{"BackupManager_RestoreVersion", PERSISTENT},
// sunnypilot car specific params
{"HyundaiRadarTracks", PERSISTENT},
{"HyundaiRadarTracksConfirmed", PERSISTENT},
{"HyundaiRadarTracksPersistent", PERSISTENT},
{"HyundaiRadarTracksToggle", PERSISTENT},
{"DynamicExperimentalControl", PERSISTENT},
};