mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-04-07 15:03:56 +08:00
Merge branch 'master' into clippy
This commit is contained in:
royjr
@@ -3,3 +3,4 @@ REGIST
|
||||
PullRequest
|
||||
cancelled
|
||||
FOF
|
||||
NoO
|
||||
|
||||
@@ -79,7 +79,7 @@ jobs:
|
||||
is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
|
||||
echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
|
||||
|
||||
stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
|
||||
stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
|
||||
echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
|
||||
echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
1080
CHANGELOG.md
Normal file
1080
CHANGELOG.md
Normal file
File diff suppressed because it is too large
Load Diff
@@ -154,6 +154,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"LastGPSPositionLLK", {PERSISTENT, STRING}},
|
||||
{"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
|
||||
|
||||
@@ -15,6 +15,8 @@
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
class SwaglogState {
|
||||
public:
|
||||
SwaglogState() {
|
||||
@@ -56,7 +58,7 @@ public:
|
||||
if (char* daemon_name = getenv("MANAGER_DAEMON")) {
|
||||
ctx_j["daemon"] = daemon_name;
|
||||
}
|
||||
ctx_j["version"] = COMMA_VERSION;
|
||||
ctx_j["version"] = SUNNYPILOT_VERSION;
|
||||
ctx_j["dirty"] = !getenv("CLEAN");
|
||||
ctx_j["device"] = Hardware::get_name();
|
||||
}
|
||||
|
||||
@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
|
||||
|
||||
class TestMarkdown:
|
||||
def test_all_release_notes(self):
|
||||
with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
|
||||
with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
|
||||
release_notes = f.read().split("\n\n")
|
||||
assert len(release_notes) > 10
|
||||
|
||||
|
||||
@@ -9,6 +9,8 @@
|
||||
#include "system/hardware/hw.h"
|
||||
#include "third_party/json11/json11.hpp"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
std::string daemon_name = "testy";
|
||||
std::string dongle_id = "test_dongle_id";
|
||||
int LINE_NO = 0;
|
||||
@@ -53,7 +55,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
|
||||
REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
|
||||
REQUIRE(ctx["dirty"].bool_value() == true);
|
||||
|
||||
REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
|
||||
REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
|
||||
|
||||
std::string device = Hardware::get_name();
|
||||
REQUIRE(ctx["device"].string_value() == device);
|
||||
|
||||
30
docs/CARS.md
30
docs/CARS.md
@@ -4,7 +4,7 @@
|
||||
|
||||
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.
|
||||
|
||||
# 337 Supported Cars
|
||||
# 339 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|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
@@ -21,7 +21,10 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
|
||||
@@ -236,20 +239,20 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<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"></img></a>|
|
||||
|SEAT|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
@@ -308,7 +311,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|
||||
Submodule opendbc_repo updated: b8a00bddda...efe4ff137f
@@ -39,7 +39,7 @@ cd $BUILD_DIR
|
||||
rm -f panda/board/obj/panda.bin.signed
|
||||
rm -f panda/board/obj/panda_h7.bin.signed
|
||||
|
||||
VERSION=$(cat common/version.h | awk -F[\"-] '{print $2}')
|
||||
VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-] '{print $2}')
|
||||
echo "[-] committing version $VERSION T=$SECONDS"
|
||||
git add -f .
|
||||
git commit -a -m "openpilot v$VERSION release"
|
||||
|
||||
@@ -49,7 +49,7 @@ rm -f panda/board/obj/panda.bin.signed
|
||||
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
|
||||
GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
|
||||
DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
|
||||
VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
|
||||
VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
|
||||
|
||||
echo -n "$GIT_HASH" > git_src_commit
|
||||
echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
|
||||
|
||||
@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
|
||||
fi
|
||||
|
||||
# "Tagging"
|
||||
echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
|
||||
echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
|
||||
|
||||
## set git identity
|
||||
#source $DIR/identity.sh
|
||||
@@ -55,7 +55,7 @@ git add -f .
|
||||
# include source commit hash and build date in commit
|
||||
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
|
||||
DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
|
||||
SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
|
||||
SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
|
||||
|
||||
# Commit with detailed message
|
||||
git commit -a -m "sunnypilot v$VERSION
|
||||
|
||||
@@ -88,6 +88,7 @@ class Car:
|
||||
self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
|
||||
|
||||
is_release = self.params.get_bool("IsReleaseBranch")
|
||||
is_release_sp = self.params.get_bool("IsReleaseSpBranch")
|
||||
|
||||
if CI is None:
|
||||
# wait for one pandaState and one CAN packet
|
||||
@@ -110,7 +111,7 @@ class Car:
|
||||
init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
|
||||
fixed_fingerprint, init_params_list_sp)
|
||||
fixed_fingerprint, init_params_list_sp, is_release_sp)
|
||||
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
|
||||
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
|
||||
self.CP = self.CI.CP
|
||||
|
||||
@@ -151,7 +151,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
|
||||
cls.CarInterface = interfaces[cls.platform]
|
||||
cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
|
||||
cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False)
|
||||
cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
|
||||
assert cls.CP
|
||||
assert cls.CP_SP
|
||||
assert cls.CP.carFingerprint == cls.platform
|
||||
|
||||
@@ -99,7 +99,6 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
|
||||
self.LaC.extension.update_model_v2(self.sm['modelV2'])
|
||||
|
||||
self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
|
||||
self.LaC.extension.update_lateral_lag(self.lat_delay)
|
||||
|
||||
long_plan = self.sm['longitudinalPlan']
|
||||
@@ -234,6 +233,9 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
while not evt.is_set():
|
||||
self.get_params_sp()
|
||||
|
||||
if self.CP.lateralTuning.which() == 'torque':
|
||||
self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
|
||||
|
||||
time.sleep(0.1)
|
||||
|
||||
def run(self):
|
||||
|
||||
@@ -51,12 +51,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
|
||||
|
||||
|
||||
class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
self.CP = CP
|
||||
self.mpc = LongitudinalMpc(dt=dt)
|
||||
# TODO remove mpc modes when TR released
|
||||
self.mpc.mode = 'acc'
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
|
||||
self.fcw = False
|
||||
self.dt = dt
|
||||
self.allow_throttle = True
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from cereal import car, custom
|
||||
from openpilot.common.gps import get_gps_location_service
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import Priority, config_realtime_process
|
||||
@@ -17,10 +17,14 @@ def main():
|
||||
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
||||
cloudlog.info("plannerd got CarParams: %s", CP.brand)
|
||||
|
||||
cloudlog.info("plannerd is waiting for CarParamsSP")
|
||||
CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
|
||||
cloudlog.info("plannerd got CarParamsSP")
|
||||
|
||||
gps_location_service = get_gps_location_service(params)
|
||||
|
||||
ldw = LaneDepartureWarning()
|
||||
longitudinal_planner = LongitudinalPlanner(CP)
|
||||
longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
|
||||
'liveMapDataSP', 'carStateSP', gps_location_service],
|
||||
|
||||
@@ -51,7 +51,9 @@ class Plant:
|
||||
from opendbc.car.honda.values import CAR
|
||||
from opendbc.car.honda.interface import CarInterface
|
||||
|
||||
self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
|
||||
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
|
||||
self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
|
||||
|
||||
@property
|
||||
def current_time(self):
|
||||
|
||||
@@ -32,11 +32,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
|
||||
experimentalLongitudinalToggle = new ParamControl(
|
||||
"AlphaLongitudinalEnabled",
|
||||
tr("openpilot Longitudinal Control (Alpha)"),
|
||||
tr("sunnypilot Longitudinal Control (Alpha)"),
|
||||
QString("<b>%1</b><br><br>%2")
|
||||
.arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
|
||||
.arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
|
||||
"Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
|
||||
.arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
|
||||
.arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
|
||||
"Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
|
||||
""
|
||||
);
|
||||
experimentalLongitudinalToggle->setConfirmation(true, false);
|
||||
|
||||
@@ -12,7 +12,7 @@ public:
|
||||
explicit DeveloperPanel(SettingsWindow *parent);
|
||||
void showEvent(QShowEvent *event) override;
|
||||
|
||||
private:
|
||||
protected:
|
||||
Params params;
|
||||
ParamControl* adbToggle;
|
||||
ParamControl* joystickToggle;
|
||||
|
||||
@@ -188,7 +188,7 @@ void TogglesPanel::updateToggles() {
|
||||
const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
|
||||
|
||||
QString long_desc = unavailable + " " + \
|
||||
tr("openpilot longitudinal control may come in a future update.");
|
||||
tr("sunnypilot longitudinal control may come in a future update.");
|
||||
if (CP.getAlphaLongitudinalAvailable()) {
|
||||
if (is_release) {
|
||||
long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
|
||||
|
||||
@@ -60,7 +60,7 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
|
||||
|
||||
void DeveloperPanelSP::updateToggles(bool offroad) {
|
||||
bool disable_updates = params.getBool("DisableUpdates");
|
||||
bool is_release = params.getBool("IsReleaseBranch");
|
||||
bool is_release = params.getBool("IsReleaseBranch") || params.getBool("IsReleaseSpBranch");
|
||||
bool is_tested = params.getBool("IsTestedBranch");
|
||||
bool is_development = params.getBool("IsDevelopmentBranch");
|
||||
|
||||
@@ -79,6 +79,9 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
|
||||
enableGithubRunner->setVisible(!is_release);
|
||||
errorLogBtn->setVisible(!is_release);
|
||||
showAdvancedControls->setEnabled(true);
|
||||
|
||||
joystickToggle->setVisible(!is_release);
|
||||
longManeuverToggle->setVisible(!is_release);
|
||||
}
|
||||
|
||||
void DeveloperPanelSP::showEvent(QShowEvent *event) {
|
||||
|
||||
@@ -7,6 +7,8 @@
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/util.h"
|
||||
|
||||
SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
|
||||
subPanelFrame = new QFrame();
|
||||
QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
|
||||
@@ -103,13 +105,13 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
|
||||
}
|
||||
|
||||
void SpeedLimitSettings::refresh() {
|
||||
bool is_release = params.getBool("IsReleaseSpBranch");
|
||||
bool is_metric_param = params.getBool("IsMetric");
|
||||
SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
|
||||
SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
|
||||
QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
|
||||
|
||||
bool has_longitudinal_control;
|
||||
bool intelligent_cruise_button_management_available;
|
||||
bool sla_available;
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
|
||||
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
|
||||
@@ -120,17 +122,24 @@ void SpeedLimitSettings::refresh() {
|
||||
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
|
||||
cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
|
||||
|
||||
has_longitudinal_control = hasLongitudinalControl(CP);
|
||||
intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
|
||||
bool has_longitudinal_control = hasLongitudinalControl(CP);
|
||||
bool has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
|
||||
|
||||
if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
|
||||
if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
|
||||
params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
|
||||
}
|
||||
/*
|
||||
* Speed Limit Assist is available when:
|
||||
* - has_longitudinal_control or has_icbm, and
|
||||
* - is not a release branch or not a disallowed brand, and
|
||||
* - is not always disallowed
|
||||
*/
|
||||
bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
|
||||
bool sla_always_disallow = CP.getBrand() == "rivian";
|
||||
sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release && !sla_always_disallow;
|
||||
|
||||
if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
|
||||
params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
|
||||
}
|
||||
} else {
|
||||
has_longitudinal_control = false;
|
||||
intelligent_cruise_button_management_available = false;
|
||||
sla_available = false;
|
||||
}
|
||||
|
||||
speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
|
||||
@@ -150,13 +159,14 @@ void SpeedLimitSettings::refresh() {
|
||||
speed_limit_offset->showDescription();
|
||||
}
|
||||
|
||||
if (has_longitudinal_control || intelligent_cruise_button_management_available) {
|
||||
if (sla_available) {
|
||||
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
|
||||
} else {
|
||||
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
|
||||
{SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
|
||||
}
|
||||
|
||||
speed_limit_mode_settings->refresh();
|
||||
speed_limit_mode_settings->showDescription();
|
||||
speed_limit_offset->showDescription();
|
||||
}
|
||||
|
||||
@@ -35,6 +35,7 @@ private:
|
||||
SpeedLimitPolicy *speedLimitPolicyScreen;
|
||||
ButtonParamControlSP *speed_limit_offset_settings;
|
||||
OptionControlSP *speed_limit_offset;
|
||||
bool icbm_available = false;
|
||||
|
||||
static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
|
||||
QString none_str = tr("⦿ None: No Offset");
|
||||
|
||||
@@ -7,6 +7,8 @@
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/util.h"
|
||||
|
||||
LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
|
||||
setStyleSheet(R"(
|
||||
#back_btn {
|
||||
@@ -36,11 +38,13 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
|
||||
intelligentCruiseButtonManagement = new ParamControlSP(
|
||||
"IntelligentCruiseButtonManagement",
|
||||
tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
|
||||
tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
|
||||
"",
|
||||
"",
|
||||
this
|
||||
);
|
||||
intelligentCruiseButtonManagement->setConfirmation(true, false);
|
||||
QObject::connect(intelligentCruiseButtonManagement, &ParamControlSP::toggleFlipped, this, [=](bool) {
|
||||
refresh(offroad);
|
||||
});
|
||||
list->addItem(intelligentCruiseButtonManagement);
|
||||
|
||||
dynamicExperimentalControl = new ParamControlSP(
|
||||
@@ -100,6 +104,8 @@ void LongitudinalPanel::hideEvent(QHideEvent *event) {
|
||||
}
|
||||
|
||||
void LongitudinalPanel::refresh(bool _offroad) {
|
||||
const QString icbm_description = tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.");
|
||||
|
||||
auto cp_bytes = params.get("CarParamsPersistent");
|
||||
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
|
||||
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
|
||||
@@ -112,26 +118,61 @@ void LongitudinalPanel::refresh(bool _offroad) {
|
||||
|
||||
has_longitudinal_control = hasLongitudinalControl(CP);
|
||||
is_pcm_cruise = CP.getPcmCruise();
|
||||
intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
|
||||
has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
|
||||
|
||||
if (!intelligent_cruise_button_management_available || has_longitudinal_control) {
|
||||
if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
|
||||
intelligentCruiseButtonManagement->setEnabled(offroad);
|
||||
intelligentCruiseButtonManagement->setDescription(icbm_description);
|
||||
} else {
|
||||
params.remove("IntelligentCruiseButtonManagement");
|
||||
intelligentCruiseButtonManagement->setEnabled(false);
|
||||
|
||||
const QString icbm_unavaialble = tr("Intelligent Cruise Button Management is currently unavailable on this platform.");
|
||||
|
||||
QString long_desc = icbm_unavaialble;
|
||||
if (has_longitudinal_control) {
|
||||
if (CP.getAlphaLongitudinalAvailable()) {
|
||||
long_desc = icbm_unavaialble + " " + tr("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
|
||||
} else {
|
||||
long_desc = icbm_unavaialble + " " + tr("sunnypilot Longitudinal Control is the default longitudinal control for this platform.");
|
||||
}
|
||||
}
|
||||
|
||||
intelligentCruiseButtonManagement->setDescription("<b>" + long_desc + "</b><br><br>" + icbm_description);
|
||||
intelligentCruiseButtonManagement->showDescription();
|
||||
}
|
||||
|
||||
if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
|
||||
if (has_longitudinal_control || has_icbm) {
|
||||
// enable Custom ACC Increments when long is available and is not PCM cruise
|
||||
customAccIncrement->setEnabled(((has_longitudinal_control && !is_pcm_cruise) || has_icbm) && offroad);
|
||||
dynamicExperimentalControl->setEnabled(has_longitudinal_control);
|
||||
SmartCruiseControlVision->setEnabled(true);
|
||||
SmartCruiseControlMap->setEnabled(true);
|
||||
} else {
|
||||
params.remove("CustomAccIncrementsEnabled");
|
||||
params.remove("DynamicExperimentalControl");
|
||||
params.remove("SmartCruiseControlVision");
|
||||
params.remove("SmartCruiseControlMap");
|
||||
customAccIncrement->setEnabled(false);
|
||||
dynamicExperimentalControl->setEnabled(false);
|
||||
SmartCruiseControlVision->setEnabled(false);
|
||||
SmartCruiseControlMap->setEnabled(false);
|
||||
}
|
||||
|
||||
intelligentCruiseButtonManagement->refresh();
|
||||
customAccIncrement->refresh();
|
||||
dynamicExperimentalControl->refresh();
|
||||
SmartCruiseControlVision->refresh();
|
||||
SmartCruiseControlMap->refresh();
|
||||
} else {
|
||||
has_longitudinal_control = false;
|
||||
is_pcm_cruise = false;
|
||||
intelligent_cruise_button_management_available = false;
|
||||
has_icbm = false;
|
||||
intelligentCruiseButtonManagement->setDescription("<b>" + tr("Start the vehicle to check vehicle compatibility.") + "</br><b><b>" + icbm_description);
|
||||
}
|
||||
|
||||
QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
|
||||
QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
|
||||
QString accNoLongDescription = tr("This feature can only be used with sunnypilot longitudinal control enabled.");
|
||||
QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
|
||||
QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");
|
||||
|
||||
@@ -139,8 +180,8 @@ void LongitudinalPanel::refresh(bool _offroad) {
|
||||
customAccIncrement->setDescription(onroadOnlyDescription);
|
||||
customAccIncrement->showDescription();
|
||||
} else {
|
||||
if (has_longitudinal_control || intelligent_cruise_button_management_available) {
|
||||
if (is_pcm_cruise) {
|
||||
if (has_longitudinal_control || has_icbm) {
|
||||
if (has_longitudinal_control && is_pcm_cruise) {
|
||||
customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
|
||||
customAccIncrement->showDescription();
|
||||
} else {
|
||||
@@ -150,21 +191,8 @@ void LongitudinalPanel::refresh(bool _offroad) {
|
||||
customAccIncrement->toggleFlipped(false);
|
||||
customAccIncrement->setDescription(accNoLongDescription);
|
||||
customAccIncrement->showDescription();
|
||||
intelligentCruiseButtonManagement->toggleFlipped(false);
|
||||
}
|
||||
}
|
||||
|
||||
bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
|
||||
intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
|
||||
|
||||
// enable toggle when long is available and is not PCM cruise
|
||||
bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
|
||||
customAccIncrement->setEnabled(cai_allowed && !offroad);
|
||||
customAccIncrement->refresh();
|
||||
|
||||
dynamicExperimentalControl->setEnabled(has_longitudinal_control);
|
||||
SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
|
||||
SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);
|
||||
|
||||
offroad = _offroad;
|
||||
}
|
||||
|
||||
@@ -25,7 +25,7 @@ private:
|
||||
Params params;
|
||||
bool has_longitudinal_control = false;
|
||||
bool is_pcm_cruise = false;
|
||||
bool intelligent_cruise_button_management_available = false;;
|
||||
bool has_icbm = false;
|
||||
bool offroad = false;
|
||||
|
||||
QStackedLayout *main_layout = nullptr;
|
||||
|
||||
@@ -33,7 +33,7 @@ private:
|
||||
|
||||
static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
|
||||
if (!_has_longitudinal_control) {
|
||||
return tr("This feature can only be used with openpilot longitudinal control enabled.");
|
||||
return tr("This feature can only be used with sunnypilot longitudinal control enabled.");
|
||||
}
|
||||
|
||||
if (!_offroad) {
|
||||
@@ -57,7 +57,7 @@ private:
|
||||
}
|
||||
|
||||
return QString("%1<br><br>%2<br>%3<br>%4<br>")
|
||||
.arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
|
||||
.arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with sunnypilot longitudinal control."))
|
||||
.arg(off_str)
|
||||
.arg(dynamic_str)
|
||||
.arg(predictive_str);
|
||||
|
||||
@@ -119,7 +119,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
|
||||
// Visuals: Display Metrics below Chevron
|
||||
std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
|
||||
chevron_info_settings = new ButtonParamControlSP(
|
||||
"ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
|
||||
"ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control)."),
|
||||
"",
|
||||
chevron_info_settings_texts,
|
||||
200);
|
||||
@@ -159,8 +159,8 @@ void VisualsPanel::refreshLongitudinalStatus() {
|
||||
}
|
||||
|
||||
if (chevron_info_settings) {
|
||||
QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).");
|
||||
QString chevronNoLongDescription = tr("This feature requires openpilot longitudinal control to be available.");
|
||||
QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control).");
|
||||
QString chevronNoLongDescription = tr("This feature requires sunnypilot longitudinal control to be available.");
|
||||
|
||||
if (has_longitudinal_control) {
|
||||
chevron_info_settings->setDescription(chevronEnabledDescription);
|
||||
|
||||
@@ -67,9 +67,9 @@ void HudRendererSP::updateState(const UIState &s) {
|
||||
smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
|
||||
smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
|
||||
smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
|
||||
greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
|
||||
leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
|
||||
}
|
||||
greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
|
||||
leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
|
||||
|
||||
if (sm.updated("liveMapDataSP")) {
|
||||
roadNameStr = QString::fromStdString(lmd.getRoadName());
|
||||
@@ -138,7 +138,7 @@ void HudRendererSP::updateState(const UIState &s) {
|
||||
steeringTorqueEps = car_state.getSteeringTorqueEps();
|
||||
|
||||
isStandstill = car_state.getStandstill();
|
||||
if (not s.scene.started) standstillElapsedTime = 0.0;
|
||||
if (!s.scene.started) standstillElapsedTime = 0.0;
|
||||
|
||||
// override stock current speed values
|
||||
float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
|
||||
@@ -246,7 +246,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
|
||||
drawRoadName(p, surface_rect);
|
||||
|
||||
// Green Light & Lead Depart Alerts
|
||||
if (greenLightAlert or leadDepartAlert) {
|
||||
if (greenLightAlert || leadDepartAlert) {
|
||||
e2eAlertDisplayTimer = 3 * UI_FREQ;
|
||||
// reset onroad sleep timer for e2e alerts
|
||||
uiStateSP()->reset_onroad_sleep_timer();
|
||||
@@ -278,7 +278,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
|
||||
// No Alerts displayed
|
||||
else {
|
||||
e2eAlertFrame = 0;
|
||||
if (not isStandstill) standstillElapsedTime = 0.0;
|
||||
if (!isStandstill) standstillElapsedTime = 0.0;
|
||||
}
|
||||
|
||||
// Blinker
|
||||
@@ -748,7 +748,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
|
||||
// Alert Circle
|
||||
QPoint center = alertRect.center();
|
||||
QColor frameColor;
|
||||
if (not alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
|
||||
if (!alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
|
||||
else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
|
||||
p.setPen(QPen(frameColor, 15));
|
||||
p.setBrush(QColor(0, 0, 0, 190));
|
||||
@@ -758,7 +758,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
|
||||
QColor txtColor;
|
||||
QFont font;
|
||||
int alert_bottom_adjustment;
|
||||
if (not alert_alt_text.isEmpty()) {
|
||||
if (!alert_alt_text.isEmpty()) {
|
||||
font = InterFont(100, QFont::Bold);
|
||||
alert_bottom_adjustment = 5;
|
||||
txtColor = QColor(255, 255, 255, 255);
|
||||
@@ -775,7 +775,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
|
||||
textRect.moveBottom(alertRect.bottom() - alertRect.height() / alert_bottom_adjustment);
|
||||
p.drawText(textRect, Qt::AlignCenter, alert_text);
|
||||
|
||||
if (not alert_alt_text.isEmpty()) {
|
||||
if (!alert_alt_text.isEmpty()) {
|
||||
// Alert Alternate Text
|
||||
p.setFont(InterFont(80, QFont::Bold));
|
||||
p.setPen(QColor(255, 175, 3, 240));
|
||||
@@ -804,7 +804,7 @@ void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
|
||||
|
||||
void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
|
||||
const bool hazard = leftBlinkerOn && rightBlinkerOn;
|
||||
int blinkerStatus = hazard ? 2 : (leftBlinkerOn or rightBlinkerOn) ? 1 : 0;
|
||||
int blinkerStatus = hazard ? 2 : (leftBlinkerOn || rightBlinkerOn) ? 1 : 0;
|
||||
|
||||
if (!leftBlinkerOn && !rightBlinkerOn) {
|
||||
blinkerFrameCounter = 0;
|
||||
|
||||
@@ -97,7 +97,7 @@ private:
|
||||
int speedLimitAssistFrame;
|
||||
QPixmap plus_arrow_up_img;
|
||||
QPixmap minus_arrow_down_img;
|
||||
int e2e_alert_size = 300;
|
||||
int e2e_alert_size = 250;
|
||||
QPixmap green_light_alert_img;
|
||||
bool greenLightAlert;
|
||||
int e2eAlertFrame;
|
||||
|
||||
@@ -122,3 +122,7 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
|
||||
return std::nullopt;
|
||||
}
|
||||
}
|
||||
|
||||
bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
|
||||
return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
|
||||
}
|
||||
|
||||
@@ -23,3 +23,4 @@ std::optional<QString> getParamIgnoringDefault(const std::string ¶m_name, co
|
||||
QMap<QString, QVariantMap> loadPlatformList();
|
||||
QStringList searchFromList(const QString &query, const QStringList &list);
|
||||
std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
|
||||
bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);
|
||||
|
||||
@@ -390,7 +390,7 @@ class ButtonParamControlSP : public MultiButtonControlSP {
|
||||
Q_OBJECT
|
||||
public:
|
||||
ButtonParamControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
|
||||
const std::vector<QString> &button_texts, const int minimum_button_width = 380, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
|
||||
button_texts, minimum_button_width, inline_layout, advancedControl) {
|
||||
key = param.toStdString();
|
||||
int value = atoi(params.get(key).c_str());
|
||||
|
||||
@@ -18,7 +18,7 @@ if __name__ == "__main__":
|
||||
while True:
|
||||
print("setting alert update")
|
||||
params.put_bool("UpdateAvailable", True)
|
||||
r = open(os.path.join(BASEDIR, "RELEASES.md")).read()
|
||||
r = open(os.path.join(BASEDIR, "CHANGELOG.md")).read()
|
||||
r = r[:r.find('\n\n')] # Slice latest release notes
|
||||
params.put("UpdaterNewReleaseNotes", r + "\n")
|
||||
|
||||
|
||||
@@ -188,7 +188,7 @@ def setup_offroad_alert(click, pm: PubMaster, scroll=None):
|
||||
|
||||
def setup_update_available(click, pm: PubMaster, scroll=None):
|
||||
Params().put_bool("UpdateAvailable", True)
|
||||
release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
|
||||
release_notes_path = os.path.join(BASEDIR, "CHANGELOG.md")
|
||||
with open(release_notes_path) as file:
|
||||
release_notes = file.read().split('\n\n', 1)[0]
|
||||
Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
|
||||
|
||||
1
sunnypilot/common/version.h
Normal file
1
sunnypilot/common/version.h
Normal file
@@ -0,0 +1 @@
|
||||
#define SUNNYPILOT_VERSION "2025.002.000"
|
||||
@@ -116,7 +116,7 @@ class ModelCache:
|
||||
|
||||
class ModelFetcher:
|
||||
"""Handles fetching and caching of model data from remote source"""
|
||||
MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
|
||||
MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"
|
||||
|
||||
def __init__(self, params: Params):
|
||||
self.params = params
|
||||
|
||||
@@ -37,7 +37,7 @@ class CarSpecificEventsSP:
|
||||
# TODO-SP: add 1 m/s hysteresis
|
||||
if CS.vEgo >= self.CP.minEnableSpeed:
|
||||
self.low_speed_alert = False
|
||||
if CS.gearShifter != GearShifter.drive:
|
||||
if self.CP.minEnableSpeed >= 14.5 and CS.gearShifter != GearShifter.drive:
|
||||
self.low_speed_alert = True
|
||||
if self.low_speed_alert:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
@@ -11,7 +11,7 @@ from opendbc.car.interfaces import CarInterfaceBase
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_speed_limit_assist_availability
|
||||
|
||||
import openpilot.system.sentry as sentry
|
||||
|
||||
@@ -87,8 +87,7 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
|
||||
params.remove("SmartCruiseControlVision")
|
||||
params.remove("SmartCruiseControlMap")
|
||||
|
||||
if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
|
||||
params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
|
||||
set_speed_limit_assist_availability(CP, CP_SP, params)
|
||||
|
||||
|
||||
def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
|
||||
|
||||
@@ -13,80 +13,156 @@ from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
|
||||
GREEN_LIGHT_X_THRESHOLD = 30
|
||||
LEAD_DEPART_DIST_THRESHOLD = 1.0
|
||||
TRIGGER_TIMER_THRESHOLD = 0.3
|
||||
|
||||
|
||||
class E2EStates:
|
||||
INACTIVE = 0
|
||||
ARMED = 1
|
||||
CONSUMED = 2
|
||||
|
||||
|
||||
class E2EAlertsHelper:
|
||||
def __init__(self):
|
||||
self._params = Params()
|
||||
self.frame = -1
|
||||
self.green_light_state = E2EStates.INACTIVE
|
||||
self.prev_green_light_state = E2EStates.INACTIVE
|
||||
self.lead_depart_state = E2EStates.INACTIVE
|
||||
self.prev_lead_depart_state = E2EStates.INACTIVE
|
||||
|
||||
self.green_light_alert = False
|
||||
self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
|
||||
self.lead_depart_alert = False
|
||||
self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
|
||||
|
||||
self.alert_allowed = False
|
||||
self.green_light_alert_count = 0
|
||||
self.green_light_trigger_timer = 0
|
||||
self.lead_depart_trigger_timer = 0
|
||||
self.last_lead_distance = -1
|
||||
self.last_moving_frame = -1
|
||||
|
||||
self.allowed = False
|
||||
self.last_allowed = False
|
||||
self.has_lead = False
|
||||
|
||||
self.lead_depart_arm_timer = 0
|
||||
self.lead_depart_confirmed_lead = False
|
||||
self.lead_depart_armed = False
|
||||
|
||||
def _read_params(self) -> None:
|
||||
if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
|
||||
self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
|
||||
self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
|
||||
|
||||
def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
|
||||
self._read_params()
|
||||
|
||||
def update_alert_trigger(self, sm: messaging.SubMaster):
|
||||
CS = sm['carState']
|
||||
CC = sm['carControl']
|
||||
|
||||
model_x = sm['modelV2'].position.x
|
||||
max_idx = len(model_x) - 1
|
||||
has_lead = sm['radarState'].leadOne.status
|
||||
self.has_lead = sm['radarState'].leadOne.status
|
||||
lead_dRel = sm['radarState'].leadOne.dRel
|
||||
|
||||
standstill = CS.standstill
|
||||
moving = not standstill and CS.vEgo > 0.1
|
||||
_allowed = standstill and not CS.gasPressed and not CC.enabled
|
||||
|
||||
if moving:
|
||||
self.last_moving_frame = self.frame
|
||||
recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
|
||||
|
||||
if standstill and not recent_moving:
|
||||
self.alert_allowed = True
|
||||
elif not standstill:
|
||||
self.alert_allowed = False
|
||||
self.green_light_alert_count = 0
|
||||
self.last_lead_distance = -1
|
||||
self.allowed = not moving and not CS.gasPressed and not CC.enabled and not recent_moving
|
||||
|
||||
# Green Light Alert
|
||||
_green_light_alert = False
|
||||
if self.green_light_alert_enabled and _allowed and not has_lead and model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
|
||||
if self.alert_allowed:
|
||||
self.green_light_alert_count += 1
|
||||
green_light_trigger = False
|
||||
if self.green_light_state == E2EStates.ARMED:
|
||||
if model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
|
||||
self.green_light_trigger_timer += 1
|
||||
else:
|
||||
self.green_light_alert_count = 0
|
||||
self.green_light_trigger_timer = 0
|
||||
|
||||
if self.green_light_alert_count > 2 and self.alert_allowed:
|
||||
_green_light_alert = True
|
||||
self.alert_allowed = False
|
||||
else:
|
||||
self.green_light_alert_count = 0
|
||||
|
||||
self.green_light_alert = _green_light_alert
|
||||
if self.green_light_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
|
||||
green_light_trigger = True
|
||||
elif self.green_light_state != E2EStates.ARMED:
|
||||
self.green_light_trigger_timer = 0
|
||||
|
||||
# Lead Departure Alert
|
||||
_lead_depart_alert = False
|
||||
if self.lead_depart_alert_enabled and _allowed and has_lead:
|
||||
close_lead_valid = self.has_lead and lead_dRel < 8.0
|
||||
if self.allowed and not self.last_allowed and close_lead_valid:
|
||||
self.lead_depart_confirmed_lead = True
|
||||
elif not self.allowed:
|
||||
self.lead_depart_confirmed_lead = False
|
||||
|
||||
if self.allowed and self.lead_depart_confirmed_lead and close_lead_valid:
|
||||
self.lead_depart_arm_timer += 1
|
||||
|
||||
if self.lead_depart_arm_timer * DT_MDL >= 1.0:
|
||||
self.lead_depart_armed = True
|
||||
else:
|
||||
self.lead_depart_arm_timer = 0
|
||||
self.lead_depart_armed = False
|
||||
|
||||
lead_depart_trigger = False
|
||||
if self.lead_depart_state == E2EStates.ARMED:
|
||||
if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
|
||||
self.last_lead_distance = lead_dRel
|
||||
|
||||
if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > 1.0) and self.alert_allowed:
|
||||
_lead_depart_alert = True
|
||||
self.alert_allowed = False
|
||||
if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > LEAD_DEPART_DIST_THRESHOLD):
|
||||
self.lead_depart_trigger_timer += 1
|
||||
else:
|
||||
self.lead_depart_trigger_timer = 0
|
||||
|
||||
self.lead_depart_alert = _lead_depart_alert
|
||||
if self.lead_depart_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
|
||||
lead_depart_trigger = True
|
||||
elif self.lead_depart_state != E2EStates.ARMED:
|
||||
self.last_lead_distance = -1
|
||||
self.lead_depart_trigger_timer = 0
|
||||
|
||||
self.last_allowed = self.allowed
|
||||
|
||||
return green_light_trigger, lead_depart_trigger
|
||||
|
||||
@staticmethod
|
||||
def update_state_machine(state: int, enabled: bool, allowed: bool, triggered: bool) -> tuple[int, bool]:
|
||||
if state != E2EStates.INACTIVE:
|
||||
if not allowed or not enabled:
|
||||
state = E2EStates.INACTIVE
|
||||
|
||||
else:
|
||||
if state == E2EStates.ARMED:
|
||||
if triggered:
|
||||
state = E2EStates.CONSUMED
|
||||
|
||||
elif state == E2EStates.CONSUMED:
|
||||
pass
|
||||
|
||||
elif state == E2EStates.INACTIVE:
|
||||
if allowed and enabled:
|
||||
state = E2EStates.ARMED
|
||||
|
||||
return state, triggered
|
||||
|
||||
def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
|
||||
self._read_params()
|
||||
|
||||
green_light_trigger, lead_depart_trigger = self.update_alert_trigger(sm)
|
||||
|
||||
self.prev_green_light_state = self.green_light_state
|
||||
self.prev_lead_depart_state = self.lead_depart_state
|
||||
|
||||
self.green_light_state, self.green_light_alert = self.update_state_machine(
|
||||
self.green_light_state,
|
||||
self.green_light_alert_enabled,
|
||||
self.allowed and not self.has_lead,
|
||||
green_light_trigger
|
||||
)
|
||||
|
||||
self.lead_depart_state, self.lead_depart_alert = self.update_state_machine(
|
||||
self.lead_depart_state,
|
||||
self.lead_depart_alert_enabled,
|
||||
self.allowed and self.lead_depart_armed,
|
||||
lead_depart_trigger
|
||||
)
|
||||
|
||||
if self.green_light_alert or self.lead_depart_alert:
|
||||
events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
|
||||
|
||||
@@ -22,13 +22,13 @@ LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
|
||||
|
||||
|
||||
class LongitudinalPlannerSP:
|
||||
def __init__(self, CP: structs.CarParams, mpc):
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
|
||||
self.events_sp = EventsSP()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
self.dec = DynamicExperimentalController(CP, mpc)
|
||||
self.scc = SmartCruiseControl()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
self.sla = SpeedLimitAssist(CP)
|
||||
self.sla = SpeedLimitAssist(CP, CP_SP)
|
||||
self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
|
||||
self.source = LongitudinalPlanSource.cruise
|
||||
self.e2e_alerts_helper = E2EAlertsHelper()
|
||||
|
||||
@@ -5,7 +5,10 @@ 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 cereal import custom, car
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
|
||||
|
||||
|
||||
def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
|
||||
@@ -17,3 +20,25 @@ def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_
|
||||
req_minus = v_cruise_cluster_conv > target_set_speed_conv
|
||||
|
||||
return req_plus, req_minus
|
||||
|
||||
|
||||
def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> bool:
|
||||
if params is None:
|
||||
params = Params()
|
||||
|
||||
is_release = params.get_bool("IsReleaseSpBranch")
|
||||
disallow_in_release = CP.brand == "tesla" and is_release
|
||||
always_disallow = CP.brand == "rivian"
|
||||
allowed = True
|
||||
|
||||
if disallow_in_release or always_disallow:
|
||||
allowed = False
|
||||
|
||||
if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
|
||||
allowed = False
|
||||
|
||||
if not allowed:
|
||||
if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
|
||||
params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
|
||||
|
||||
return allowed
|
||||
|
||||
@@ -10,13 +10,13 @@ from cereal import custom, car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventNameSP = custom.OnroadEventSP.EventName
|
||||
@@ -27,14 +27,18 @@ ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
|
||||
ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
|
||||
|
||||
DISABLED_GUARD_PERIOD = 0.5 # secs.
|
||||
PRE_ACTIVE_GUARD_PERIOD = 15 # secs. Time to wait after activation before considering temp deactivation signal.
|
||||
# secs. Time to wait after activation before considering temp deactivation signal.
|
||||
PRE_ACTIVE_GUARD_PERIOD = {
|
||||
True: 15,
|
||||
False: 5,
|
||||
}
|
||||
SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1 # secs. Time to wait after speed limit change before switching to preActive.
|
||||
|
||||
LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers to provide.
|
||||
LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
|
||||
LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers.
|
||||
LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state.
|
||||
V_CRUISE_UNSET = 255
|
||||
V_CRUISE_UNSET = 255.
|
||||
|
||||
CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
|
||||
CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
|
||||
@@ -48,13 +52,15 @@ class SpeedLimitAssist:
|
||||
a_ego: float
|
||||
v_offset: float
|
||||
|
||||
def __init__(self, CP):
|
||||
def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP):
|
||||
self.params = Params()
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
self.frame = -1
|
||||
self.long_engaged_timer = 0
|
||||
self.pre_active_timer = 0
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
|
||||
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
|
||||
self.long_enabled = False
|
||||
self.long_enabled_prev = False
|
||||
@@ -109,6 +115,16 @@ class SpeedLimitAssist:
|
||||
def target_set_speed_confirmed(self) -> bool:
|
||||
return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)
|
||||
|
||||
@property
|
||||
def v_cruise_cluster_below_confirm_speed_threshold(self) -> bool:
|
||||
return bool(self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
|
||||
|
||||
def update_active_event(self, events_sp: EventsSP) -> None:
|
||||
if self.v_cruise_cluster_below_confirm_speed_threshold:
|
||||
events_sp.add(EventNameSP.speedLimitChanged)
|
||||
else:
|
||||
events_sp.add(EventNameSP.speedLimitActive)
|
||||
|
||||
def get_v_target_from_control(self) -> float:
|
||||
if self._has_speed_limit:
|
||||
if self.pcm_op_long and self.is_enabled:
|
||||
@@ -126,6 +142,7 @@ class SpeedLimitAssist:
|
||||
def update_params(self) -> None:
|
||||
if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
|
||||
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
|
||||
|
||||
def update_car_state(self, CS: car.CarState) -> None:
|
||||
@@ -175,7 +192,7 @@ class SpeedLimitAssist:
|
||||
@property
|
||||
def apply_confirm_speed_threshold(self) -> bool:
|
||||
# below CST: always require user confirmation
|
||||
if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]:
|
||||
if self.v_cruise_cluster_below_confirm_speed_threshold:
|
||||
return True
|
||||
|
||||
# at/above CST:
|
||||
@@ -231,7 +248,7 @@ class SpeedLimitAssist:
|
||||
self.state = SpeedLimitAssistState.inactive
|
||||
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
|
||||
self.state = SpeedLimitAssistState.adapting
|
||||
|
||||
@@ -241,7 +258,7 @@ class SpeedLimitAssist:
|
||||
self.state = SpeedLimitAssistState.inactive
|
||||
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
|
||||
self.state = SpeedLimitAssistState.active
|
||||
|
||||
@@ -251,7 +268,7 @@ class SpeedLimitAssist:
|
||||
self._update_confirmed_state()
|
||||
elif self.speed_limit_changed:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
|
||||
# PRE_ACTIVE
|
||||
elif self.state == SpeedLimitAssistState.preActive:
|
||||
@@ -277,7 +294,7 @@ class SpeedLimitAssist:
|
||||
self._update_confirmed_state()
|
||||
elif self._has_speed_limit:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
else:
|
||||
self.state = SpeedLimitAssistState.pending
|
||||
|
||||
@@ -303,7 +320,7 @@ class SpeedLimitAssist:
|
||||
|
||||
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
|
||||
# PRE_ACTIVE
|
||||
elif self.state == SpeedLimitAssistState.preActive:
|
||||
@@ -317,7 +334,7 @@ class SpeedLimitAssist:
|
||||
elif self.state == SpeedLimitAssistState.inactive:
|
||||
if self.speed_limit_changed:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
elif self._update_non_pcm_long_confirmed_state():
|
||||
self.state = SpeedLimitAssistState.active
|
||||
|
||||
@@ -333,7 +350,7 @@ class SpeedLimitAssist:
|
||||
self.state = SpeedLimitAssistState.active
|
||||
elif self._has_speed_limit:
|
||||
self.state = SpeedLimitAssistState.preActive
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
|
||||
else:
|
||||
self.state = SpeedLimitAssistState.inactive
|
||||
|
||||
@@ -351,15 +368,15 @@ class SpeedLimitAssist:
|
||||
|
||||
if self.is_active:
|
||||
if self._state_prev not in ACTIVE_STATES:
|
||||
events_sp.add(EventNameSP.speedLimitActive)
|
||||
self.update_active_event(events_sp)
|
||||
|
||||
# only notify if we acquire a valid speed limit
|
||||
# do not check has_speed_limit here
|
||||
elif self._speed_limit != self.speed_limit_prev:
|
||||
if self.speed_limit_prev <= 0:
|
||||
events_sp.add(EventNameSP.speedLimitActive)
|
||||
self.update_active_event(events_sp)
|
||||
elif self.speed_limit_prev > 0 and self._speed_limit > 0:
|
||||
events_sp.add(EventNameSP.speedLimitChanged)
|
||||
self.update_active_event(events_sp)
|
||||
|
||||
def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
|
||||
speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:
|
||||
|
||||
@@ -4,17 +4,22 @@ 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 cereal import custom
|
||||
|
||||
import pytest
|
||||
|
||||
from cereal import custom
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.rivian.values import CAR as RIVIAN
|
||||
from opendbc.car.tesla.values import CAR as TESLA
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
|
||||
PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
@@ -30,16 +35,30 @@ SPEED_LIMITS = {
|
||||
'freeway': 80 * CV.MPH_TO_MS, # 80 mph
|
||||
}
|
||||
|
||||
DEFAULT_CAR = TOYOTA.TOYOTA_RAV4_TSS2
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def car_name(request):
|
||||
return getattr(request, "param", DEFAULT_CAR)
|
||||
|
||||
|
||||
@pytest.fixture(autouse=True)
|
||||
def set_car_name_on_instance(request, car_name):
|
||||
instance = getattr(request, "instance", None)
|
||||
if instance:
|
||||
instance.car_name = car_name
|
||||
|
||||
|
||||
class TestSpeedLimitAssist:
|
||||
|
||||
def setup_method(self):
|
||||
def setup_method(self, method):
|
||||
self.params = Params()
|
||||
self.reset_custom_params()
|
||||
self.events_sp = EventsSP()
|
||||
CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
|
||||
self.sla = SpeedLimitAssist(CI.CP)
|
||||
self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
|
||||
CI = self._setup_platform(self.car_name)
|
||||
self.sla = SpeedLimitAssist(CI.CP, CI.CP_SP)
|
||||
self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
|
||||
self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1] # use 80 MPH for now
|
||||
self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
|
||||
|
||||
@@ -51,10 +70,12 @@ class TestSpeedLimitAssist:
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
|
||||
CI = CarInterface(CP, CP_SP)
|
||||
CI.CP.openpilotLongitudinalControl = True # always assume it's openpilot longitudinal
|
||||
sunnypilot_interfaces.setup_interfaces(CI, self.params)
|
||||
return CI
|
||||
|
||||
def reset_custom_params(self):
|
||||
self.params.put("IsReleaseSpBranch", True)
|
||||
self.params.put("SpeedLimitMode", int(Mode.assist))
|
||||
self.params.put_bool("IsMetric", False)
|
||||
self.params.put("SpeedLimitOffsetType", 0)
|
||||
@@ -84,6 +105,22 @@ class TestSpeedLimitAssist:
|
||||
assert not self.sla.is_active
|
||||
assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
|
||||
|
||||
@pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1_GEN1, TESLA.TESLA_MODEL_Y], indirect=True)
|
||||
def test_disallowed_brands(self, car_name):
|
||||
"""
|
||||
Speed Limit Assist is disabled for the following brands and conditions:
|
||||
- All Tesla and is a release branch;
|
||||
- All Rivian
|
||||
"""
|
||||
assert not self.sla.enabled
|
||||
|
||||
# stay disallowed even when the param may have changed from somewhere else
|
||||
self.params.put("SpeedLimitMode", int(Mode.assist))
|
||||
for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL)):
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'],
|
||||
SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert not self.sla.enabled
|
||||
|
||||
def test_disabled(self):
|
||||
self.params.put("SpeedLimitMode", int(Mode.off))
|
||||
for _ in range(int(10. / DT_MDL)):
|
||||
@@ -114,7 +151,7 @@ class TestSpeedLimitAssist:
|
||||
self.sla.state = SpeedLimitAssistState.preActive
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
|
||||
for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
|
||||
for _ in range(int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)):
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
assert self.sla.state == SpeedLimitAssistState.inactive
|
||||
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import pytest
|
||||
import platform
|
||||
import json
|
||||
import random
|
||||
import time
|
||||
@@ -12,6 +13,10 @@ from openpilot.common.transformations.coordinates import ecef2geodetic
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
|
||||
|
||||
if platform.system() == 'Darwin':
|
||||
pytest.skip("Skipping locationd test on macOS due to unsupported msgq.", allow_module_level=True)
|
||||
|
||||
|
||||
class TestLocationdProc:
|
||||
LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
|
||||
'accelerometer', 'gyroscope', 'magnetometer']
|
||||
|
||||
@@ -4,7 +4,6 @@ from openpilot.common.constants import CV
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
|
||||
NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
|
||||
|
||||
|
||||
AlertSize = log.SelfdriveState.AlertSize
|
||||
@@ -34,6 +33,9 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
|
||||
speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
|
||||
speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
|
||||
speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
|
||||
alert_1_str = ""
|
||||
alert_2_str = ""
|
||||
alert_size = AlertSize.none
|
||||
|
||||
if CP.openpilotLongitudinalControl and CP.pcmCruise:
|
||||
# PCM long
|
||||
@@ -41,24 +43,15 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
|
||||
pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
|
||||
pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
|
||||
speed_unit = "km/h" if metric else "mph"
|
||||
|
||||
alert_1_str = "Speed Limit Assist: Activation Required"
|
||||
alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
|
||||
else:
|
||||
# Non PCM long
|
||||
v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS
|
||||
|
||||
req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric)
|
||||
arrow_str = ""
|
||||
if req_plus:
|
||||
arrow_str = "RES/+"
|
||||
elif req_minus:
|
||||
arrow_str = "SET/-"
|
||||
|
||||
alert_2_str = f"Operate the {arrow_str} cruise control button to activate"
|
||||
alert_size = AlertSize.mid
|
||||
|
||||
return Alert(
|
||||
"Speed Limit Assist: Activation Required",
|
||||
alert_1_str,
|
||||
alert_2_str,
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
AlertStatus.normal, alert_size,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
|
||||
|
||||
|
||||
|
||||
@@ -11,6 +11,8 @@
|
||||
#include "common/swaglog.h"
|
||||
#include "common/version.h"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
// ***** log metadata *****
|
||||
kj::Array<capnp::word> logger_build_init_data() {
|
||||
uint64_t wall_time = nanos_since_epoch();
|
||||
@@ -19,7 +21,7 @@ kj::Array<capnp::word> logger_build_init_data() {
|
||||
auto init = msg.initEvent().initInitData();
|
||||
|
||||
init.setWallTimeNanos(wall_time);
|
||||
init.setVersion(COMMA_VERSION);
|
||||
init.setVersion(SUNNYPILOT_VERSION);
|
||||
init.setDirty(!getenv("CLEAN"));
|
||||
init.setDeviceType(Hardware::get_device_type());
|
||||
|
||||
|
||||
@@ -67,6 +67,7 @@ def manager_init() -> None:
|
||||
params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
|
||||
params.put_bool("IsTestedBranch", build_metadata.tested_channel)
|
||||
params.put_bool("IsReleaseBranch", build_metadata.release_channel)
|
||||
params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel)
|
||||
params.put("HardwareSerial", serial)
|
||||
|
||||
# set dongle id
|
||||
|
||||
@@ -82,7 +82,7 @@ def set_consistent_flag(consistent: bool) -> None:
|
||||
|
||||
def parse_release_notes(basedir: str) -> bytes:
|
||||
try:
|
||||
with open(os.path.join(basedir, "RELEASES.md"), "rb") as f:
|
||||
with open(os.path.join(basedir, "CHANGELOG.md"), "rb") as f:
|
||||
r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes
|
||||
try:
|
||||
return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8")
|
||||
@@ -294,7 +294,7 @@ class Updater:
|
||||
try:
|
||||
branch = self.get_branch(basedir)
|
||||
commit = self.get_commit_hash(basedir)[:7]
|
||||
with open(os.path.join(basedir, "common", "version.h")) as f:
|
||||
with open(os.path.join(basedir, "sunnypilot", "common", "version.h")) as f:
|
||||
version = f.read().split('"')[1]
|
||||
|
||||
commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
|
||||
|
||||
@@ -10,11 +10,11 @@ from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
|
||||
|
||||
RELEASE_SP_BRANCHES = ['release-c3', 'release']
|
||||
RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
|
||||
TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
|
||||
MASTER_SP_BRANCHES = ['master']
|
||||
RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
|
||||
TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
|
||||
RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly']
|
||||
TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
|
||||
|
||||
SP_BRANCH_MIGRATIONS = {
|
||||
("tici", "staging-c3-new"): "staging-tici",
|
||||
@@ -33,13 +33,13 @@ terms_version: str = "2"
|
||||
|
||||
|
||||
def get_version(path: str = BASEDIR) -> str:
|
||||
with open(os.path.join(path, "common", "version.h")) as _versionf:
|
||||
with open(os.path.join(path, "sunnypilot", "common", "version.h")) as _versionf:
|
||||
version = _versionf.read().split('"')[1]
|
||||
return version
|
||||
|
||||
|
||||
def get_release_notes(path: str = BASEDIR) -> str:
|
||||
with open(os.path.join(path, "RELEASES.md")) as f:
|
||||
with open(os.path.join(path, "CHANGELOG.md")) as f:
|
||||
return f.read().split('\n\n', 1)[0]
|
||||
|
||||
|
||||
@@ -96,7 +96,9 @@ class OpenpilotMetadata:
|
||||
@property
|
||||
def sunnypilot_remote(self) -> bool:
|
||||
return self.git_normalized_origin in ("github.com/sunnypilot/sunnypilot",
|
||||
"github.com/sunnypilot/openpilot")
|
||||
"github.com/sunnypilot/openpilot",
|
||||
"github.com/sunnyhaibin/sunnypilot",
|
||||
"github.com/sunnyhaibin/openpilot")
|
||||
|
||||
@property
|
||||
def git_normalized_origin(self) -> str:
|
||||
@@ -120,6 +122,10 @@ class BuildMetadata:
|
||||
def release_channel(self) -> bool:
|
||||
return self.channel in RELEASE_BRANCHES
|
||||
|
||||
@property
|
||||
def release_sp_channel(self) -> bool:
|
||||
return self.channel in RELEASE_SP_BRANCHES
|
||||
|
||||
@property
|
||||
def canonical(self) -> str:
|
||||
return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}"
|
||||
@@ -146,7 +152,7 @@ class BuildMetadata:
|
||||
return "staging"
|
||||
elif self.master_channel:
|
||||
return "master"
|
||||
elif self.release_channel:
|
||||
elif self.release_channel or self.release_sp_channel:
|
||||
return "release"
|
||||
else:
|
||||
return "feature"
|
||||
|
||||
@@ -14,6 +14,8 @@
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
namespace CommaApi2 {
|
||||
|
||||
// Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
|
||||
@@ -141,7 +143,7 @@ std::string httpGet(const std::string &url, long *response_code) {
|
||||
|
||||
// Handle headers
|
||||
struct curl_slist *headers = nullptr;
|
||||
headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
|
||||
headers = curl_slist_append(headers, "User-Agent: openpilot-" SUNNYPILOT_VERSION);
|
||||
if (!token.empty()) {
|
||||
headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
|
||||
}
|
||||
|
||||
@@ -10,6 +10,8 @@
|
||||
#include "common/util.h"
|
||||
#include "common/version.h"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
namespace {
|
||||
|
||||
const int BORDER_SIZE = 3;
|
||||
@@ -119,7 +121,7 @@ void ConsoleUI::initWindows() {
|
||||
|
||||
// set the title bar
|
||||
wbkgd(w[Win::Title], A_REVERSE);
|
||||
mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", COMMA_VERSION);
|
||||
mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", SUNNYPILOT_VERSION);
|
||||
|
||||
// show windows on the real screen
|
||||
refresh();
|
||||
|
||||
Reference in New Issue
Block a user