wip

clearpilot_devqueue_amain.txt

@@ -1,5 +1,38 @@
+
+- Test if activation fix works for op long, submit to frog maintain
+- no lateral on turn signal - only enforce if model curvature > 10 degrees, hands on wheel, or wheel override (maybe curve not necessary?)
+
+- disable all turn signal output commands - they are causing issues
+
+- test "create_acc_cancel" on canfd on cc engaged on boot
+
+- work on /data/userspace/qtwaylandbuild/qt5 and see if we can get it to include webview
+- try extract boot image, maybe we can replace the boot logo
+
 - Test and fix activation on button + brakes
 
+- Create clearpilot process.  manages behaviors.
+
+- experiment with reduced jerk values
+
+- if thermal warning on dash, do ghost on a beach with sun image until cooled down
+
+- test toggle stop all canbus output
+
+- make functions
+--- get_curvature
+--- get_wheel_angle
+--- get_distance_to_left_lane
+--- get_distance_to_right_lane
+--- distance traveled for lane change
+
+behaviors:
+- lane change wrong way reenable lateral
+- blinker signal wheel angle minor enable lateral
+- wheel angle sharp only engage lateral if over lane edge unless hands not on wheel
+
+- debug mode activated bu lkas
+
 - If possible, debug what happened to frogpilot process on may 4th
 - See where disk free is going with NCDU and add smarter log rotation
   - Maybe this has logs where it could show what happened to frogpilot process?
@@ -14,6 +47,9 @@
 - set up dash cam recordings
 - disable dash cam and record in real logger mode if debug mode is entered
 
+- Integrate here maps api for traffic data
+  - maybe even speed limit data? and location data?
+
 - write a debug function for python that cats data to a screen terminal and optionally a log file
 - if cruise already engaged when boot, just enable lateral
 - reengage lateral if changing lanes and changing the wrong way
@@ -28,3 +64,7 @@
 - change disk used on sidebar to disk free / percent used
 - show distance to lead on dash
 - warn if lead is going more than 30 under my speed or 20 if auto mode is off
+
+- mark os version different than release, forcing a os reinstall
+- no prompt on os reinstall 
+

clearpilot_settings.txt

@@ -12,31 +12,49 @@ Today:
 - Can I get a web ui running?
 
 Settings Design:
-Main:
+Main: Basic curated settings:
+- Enable openpilot
+- Enable dashcam
+- Driving assist when cruise control not engaged
+- Reduce speed on curves
+- Hold speed for auto speed limit
+- Speed limit offset
+- Lane change assist on / off (off = pause on lane change)
+- LKAS button behavior
+- Reset all other settings to defaults
+- Require steering wheel Always / At Night / Never
 Driving:
 - Openpilot - On (D), off (all stock)
-- Lane Change Assist: None (D), Nudge, Nudgeless
-- Always On Lat: OP, Stock, Off. OP: Pause below X mph
+- Lane Change Assist: None, No lateral, Nudge, Nudgeless
+- Op Long / Button Spam Long / Stock Long
+- Always On Lat: OP, Stock, Off. OP: Pause below X mph, OP: Except when wheel not turning
 - Auto Stock Lat: Cruise Off + Wheel, Off
 - Reduce speed on curves: On (D) / Off
 - (V2) Hold speed on lane change: On / Off
-- Resume from stop on cruise: On (D) / Off
 - Auto Speed Offsets - (make display green when speed matches mph)
+- Resume from stop on cruise: On (D) / Off
 - Increase Speed with lead when Auto
 - Speed up / down - toggle match speed to limit
-Controls:
-- (V2) LKAS button: 
-    - Standard behavior is tap for screen on / off.
-    - Options:
-    - Tap: for on / off, on / wireframe / off, on / weather / off, op lat, stock lat, no lat, match speed, toggle auto speed
-    - Hold: Same ^
-- Info buttons:
-    - (Depends on what i can input / output on info bus)
+- LKAS button behavior tap / hold
+    - screen on / off
+    - cycle info screens
+    - extended info overlay on/off
 Display:
 - Display - On, On when engaged, Wireframe with passenger, Off with passenger, Off
 - Engagement indicator: Border, small label, icon
 - Parked: Weather, trip stats / map, static image, off
-- Boot Icon: Comma, clearpilot, pacman, car make, custom, off
+- Boot Icon: Comma, clearpilot, pacman, car make, custom, off'
+- Info in overlay or large status bar
+- Info screens (enable in transit, stopped):
+- Colors for lines on display
+--- Settings: Hold time (time to reset), default screen
+--- Weather (hourly forecast, radar) 
+--- World map
+--- Drive info (curvature, speed, speed to lead, etc)
+--- System info (temp, space, system load, connectivity)
+--- Debug info (data read from canbus, button states)
+--- Generic logo
+--- Screen off
 Safety & Alerts:
 - Attention Monitor: Strict, (D) Relaxed Daytime / No Lead / Low Traffic, Relaxed (Privledged), Off (Privledged)
 - ATN: Strict on unrecognized driver
@@ -49,26 +67,67 @@ Safety & Alerts:
 - Lead Departure Warning
 - Over Speed Warning
 - Weather alerts
+- Enable / Disable UI elements
+--- MPH
+--- Location
+--- GPS, Wifi connectivity on
+--- GPS, Wifi connectivity off
+--- Experimental MPH
+--- Distance to lead
+--- Speed for lead
+--- Current speed limit
 Car:
 - Auto set climate
 - Auto close sunroof / windows
 - Auto open sunroof shield night / close day
 - Auto set "SMART"
 - Auto set UI MPH
+Recording:
+- Record routes
+- Record dashcam
+- Show dashcam recording blinking
+- Record passenger camera (requires blinking)
+- Record passenger audio (requires mic, requires notice)
+- Serve on wifi
+- Upload on wifi
 System:
 - (V2) Enable OpenPilot - Always, on recognized driver, off
 - (V2) Register recognized driver (requires a bt dongle)
 - (V2) Settings lockout pin
-- (V2) Dash Cam - Off, retention days, upload endpoint, record gps
 - (V2) Metered Wifi Network
 - (V2) High BW Wifi Network
 - (V2) Hotspot (select secondary wifi)
+- Clearpilot base (set a url / access token for server control)
+--- Provides:
+--- Settings backup / restore
+--- Settings lockout
+--- File overrides (beat the monitor)
+--- Current location / image
+--- Dashcam recordings
+--- Route history
+--- SSH tunnel
+--- Debugger console
 - Wifi Settings
-- SSH Access
+-- No bandwidth limit networks
+-- Bandwidth limited networks
+-- Hotspot device / network (requires external dongle)
+- Bluetooth setting (requires external dongle)
+-- Pair a keypad
+-- Emulate a device for tasker automations
+- SSH Access (get rid of the github model)
+- Device Shutdown Timer
+- Override temp warnings
+Tools:
+- Reset calibration
+- Update software
+- Switch branches
+- Reboot clearpilot
+- Reset clearpilot
+- Uninstall clearpilot
 - Canbus tools
     - Record Canbus
     - Show I/O State (overrides driving UI while engaged)
     - Test Output
-- Reset calibration
-- Reset device
-- Device Shutdown Timer
+- Test OP Canbus functionality (blinkers, disengage, etc)
+Advanced:
+- Selected frogpilot settings

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