wip

selfdrive/car/hyundai/carstate.py

@@ -285,6 +285,8 @@ class CarState(CarStateBase):
     # test if this blocks trying to engage while pressin brakes
     if self.main_buttons[-1] != 0 and ret.brakePressed and self.main_enabled == False:
       self.main_buttons[-1] = 0
+    # Suprisingly this works.  Test with op long and submit.
+      
       # But enable always on lateral if self.main_enabled = false
       # I think this may require an override variable?
       # It looks like always on lat is only set when cruise control is enabled

selfdrive/car/hyundai/hyundaicanfd.py

@@ -169,9 +169,10 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
 
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
-
+# Disabled blinker messages
 def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
   ret = []
+  return ret
 
   values = {
   }

selfdrive/frogpilot/frogpilot_process.py

@@ -65,9 +65,6 @@ def frogpilot_thread():
 
   CP = None
 
-  automatic_updates = params.get_bool("AutomaticUpdates")
-  first_run = True
-  model_list_empty = params.get("AvailableModelsNames", encoding='utf-8') is None
   time_validated = system_time_valid()
 
   pm = messaging.PubMaster(['frogpilotPlan'])
@@ -93,37 +90,15 @@ def frogpilot_thread():
                                   sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
         frogpilot_planner.publish(sm, pm)
 
-    if params_memory.get("ModelToDownload", encoding='utf-8') is not None and github_pinged():
-      download_model()
-
-    if params_memory.get_bool("FrogPilotTogglesUpdated"):
-      automatic_updates = params.get_bool("AutomaticUpdates")
-
-      if not params.get_bool("ModelSelector"):
-        params.put("Model", DEFAULT_MODEL)
-        params.put("ModelName", DEFAULT_MODEL_NAME)
-
-      if started:
-        frogpilot_planner.update_frogpilot_params()
-      else:
-        frogpilot_functions.backup_toggles()
-
     if not time_validated:
       time_validated = system_time_valid()
       if not time_validated:
         continue
 
-    if datetime.datetime.now().second == 0 or first_run or model_list_empty or params_memory.get_bool("ManualUpdateInitiated"):
-      if not started or model_list_empty:
-        time_checks(automatic_updates, deviceState, params)
-        model_list_empty = params.get("AvailableModelsNames", encoding='utf-8') is None
-
-      theme_manager.update_holiday()
-
-      first_run = False
-
     time.sleep(DT_MDL)
 
+
+
 def main():
   frogpilot_thread()
 

selfdrive/manager/process_config.py

@@ -100,7 +100,7 @@ procs = [
 
   # FrogPilot processes
   PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run),
-  # PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
+  PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
   PythonProcess("mapd", "selfdrive.frogpilot.navigation.mapd", always_run),
 ]
 

selfdrive/monitoring/driver_monitor.py

@@ -30,12 +30,12 @@ class DRIVER_MONITOR_SETTINGS():
     # Goals: 
     # - Temp only if daytime and privledged
     # - Continuously lower speed if in crit state
-    self._AWARENESS_TIME = 50. # passive wheeltouch total timeout
-    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 30.
-    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 10.
-    self._DISTRACTED_TIME = 50. # active monitoring total timeout
-    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 30.
-    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 10.
+    self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
+    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 20.
+    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 14.
+    self._DISTRACTED_TIME = 30. # active monitoring total timeout
+    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 24.
+    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 14.
 
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65

selfdrive/ui/ui.h

@@ -36,7 +36,7 @@ typedef enum UIStatus {
 const float CENTER_LANE_ALPHA = 0.75;
 const float OTHER_LANE_ALPHA = 0.75;
 
-const int CENTER_LANE_WIDTH = 75;
+const int CENTER_LANE_WIDTH = 70;
 const int OTHER_LANE_WIDTH = 16;
 
 // Clearpilot custom colors
@@ -44,7 +44,7 @@ const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
   [STATUS_OVERRIDE] = QColor(94, 112, 255, 0xd1), // When you nudge the steering wheel while engaged
   [STATUS_ENGAGED] = QColor(94, 112, 255, 0xd1), // Bright Blue
-  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(143, 204, 235, 0xd1), // Lighter Blue
+  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0, 0, 255, 0xd1), // True Blue
   [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xd1), // ? unused? 
   [STATUS_EXPERIMENTAL_ACTIVE] = QColor(201, 41, 204, 0xd1), // Magenta
   [CENTER_LANE_COLOR] = QColor(150, 150, 150, 0xd1), // Gray