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Longitudinal: Refactor Experimental Mode toggle with distance button hold (#409) 

* init

* deprecated

* in controlsd directly

* update

* unused

* combine

* only once

* fix

* better

* cleanup

* more

* Update CHANGELOGS.md
This commit is contained in:
Jason Wen 2024-08-13 12:16:40 -08:00 committed by GitHub
parent 5b674d2231
commit b2cdfc09ae
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13 changed files with 30 additions and 40 deletions
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3
CHANGELOGS.md
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@ -40,6 +40,9 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
* Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
* FIXED: Driving Personality:
* Maniac mode now correctly enforced when selected
* FIXED: Experimental Model Distance Button Hold
* Experimental Model toggle with distance button hold no longer changes Personality
* Personality setting remains consistent when switching between Chill and Experimental Mode
* UI Updates
* Display Metrics Below Chevron
* NEW❗: Time to Lead Car

2
selfdrive/car/chrysler/interface.py
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@ -135,7 +135,7 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,

2
selfdrive/car/ford/interface.py
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@ -105,7 +105,7 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,

5
selfdrive/car/gm/interface.py
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@ -204,8 +204,6 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
distance_button = 0
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
self.CS.button_events = [
@ -214,7 +212,6 @@ class CarInterface(CarInterfaceBase):
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
{1: ButtonType.gapAdjustCruise})
]
distance_button = self.CS.distance_button
self.CS.button_events = [
*self.CS.button_events,
@ -251,7 +248,7 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret = self.get_sp_common_state(ret, gap_button=bool(distance_button))
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,

2
selfdrive/car/honda/interface.py
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@ -300,7 +300,7 @@ class CarInterface(CarInterfaceBase):
elif not ret.cruiseState.enabled:
self.CS.accEnabled = False
ret = self.get_sp_common_state(ret, gap_button=(self.CS.cruise_setting == 3))
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,

2
selfdrive/car/hyundai/interface.py
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@ -261,7 +261,7 @@ class CarInterface(CarInterfaceBase):
self.get_sp_cancel_cruise_state()
ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
ret = self.get_sp_common_state(ret, gap_button=(self.CS.cruise_buttons[-1] == 3))
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,

20
selfdrive/car/interfaces.py
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@ -244,8 +244,6 @@ class CarInterfaceBase(ABC):
self.cruise_cancelled_btn = True
self.prev_acc_mads_combo = False
self.mads_event_lock = True
self.gap_button_counter = 0
self.experimental_mode_hold = False
self.last_mads_init = 0.
self.madsEnabledInit = False
self.madsEnabledInitPrev = False
@ -616,7 +614,7 @@ class CarInterfaceBase(ABC):
else:
return mads_enabled
def get_sp_common_state(self, cs_out, gear_allowed=True, gap_button=False):
def get_sp_common_state(self, cs_out, gear_allowed=True):
cs_out.cruiseState.enabled = self.CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
if not self.enable_mads:
@ -625,9 +623,6 @@ class CarInterfaceBase(ABC):
elif not cs_out.cruiseState.enabled and self.CS.out.cruiseState.enabled:
self.CS.madsEnabled = False
if self.CP.openpilotLongitudinalControl:
self.toggle_exp_mode(gap_button) # TODO-SP: use buttonEvents to handle this, then remove gap_button
lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric)
cs_out.belowLaneChangeSpeed = cs_out.vEgo < lane_change_speed_min and self.CS.params_list.below_speed_pause
@ -655,19 +650,6 @@ class CarInterfaceBase(ABC):
return cs_out
# TODO: SP: use upstream's buttonEvents counter checks from controlsd
def toggle_exp_mode(self, gap_pressed):
if gap_pressed:
if not self.experimental_mode_hold:
self.gap_button_counter += 1
if self.gap_button_counter > 50:
self.gap_button_counter = 0
self.experimental_mode_hold = True
self.param_s.put_bool_nonblocking("ExperimentalMode", not self.CS.params_list.experimental_mode)
else:
self.gap_button_counter = 0
self.experimental_mode_hold = False
def create_sp_events(self, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
enable_from_brake=False, enable_pressed_long=False,
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):

2
selfdrive/car/mazda/interface.py
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@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,

2
selfdrive/car/nissan/interface.py
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@ -50,7 +50,7 @@ class CarInterface(CarInterfaceBase):
self.get_sp_cancel_cruise_state()
ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,

5
selfdrive/car/toyota/interface.py
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@ -208,11 +208,8 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
distance_button = 0
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
distance_button = self.CS.distance_button
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
@ -238,7 +235,7 @@ class CarInterface(CarInterfaceBase):
if not self.CP.pcmCruise:
ret.cruiseState.enabled = self.CS.accEnabled
ret = self.get_sp_common_state(ret, gap_button=bool(distance_button))
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,

2
selfdrive/car/volkswagen/interface.py
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@ -140,7 +140,7 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret = self.get_sp_common_state(ret, gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,

17
selfdrive/controls/controlsd.py
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@ -20,7 +20,7 @@ from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature
from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature, CRUISE_LONG_PRESS
from openpilot.selfdrive.controls.lib.events import Events, ET
from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@ -179,6 +179,7 @@ class Controls:
self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
self.process_not_running = False
self.experimental_mode_update = False
self.custom_model_metadata = CustomModelMetadata(params=self.params, init_only=True)
self.model_use_lateral_planner = self.custom_model_metadata.valid and \
@ -717,11 +718,21 @@ class Controls:
cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
setattr(actuators, p, 0.0)
# toggle experimental mode once on distance button hold
if self.CP.openpilotLongitudinalControl:
if self.v_cruise_helper.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS and \
not self.experimental_mode_update:
self.experimental_mode = not self.experimental_mode
self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode)
self.experimental_mode_update = True
# decrement personality on distance button press
if self.CP.openpilotLongitudinalControl:
if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
self.personality = (self.personality - 1) % 3
self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
if not self.experimental_mode_update:
self.personality = (self.personality - 1) % 3
self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
self.experimental_mode_update = False
return CC, lac_log

6
selfdrive/controls/lib/drive_helpers.py
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@ -75,7 +75,7 @@ class VCruiseHelper:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
self.v_cruise_kph_last = 0
self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0}
self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
self.is_metric_prev = None
@ -101,10 +101,10 @@ class VCruiseHelper:
self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_acc)
self._update_v_cruise_slc(long_plan_sp)
self.v_cruise_cluster_kph = self.v_cruise_kph
self.update_button_timers(CS, enabled)
else:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
self.update_button_timers(CS, enabled)
else:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
@ -137,7 +137,7 @@ class VCruiseHelper:
long_press = True
break
if button_type is None:
if button_type is None or button_type == ButtonType.gapAdjustCruise:
return
resume_button = ButtonType.accelCruise