wip

openpilot/clearpilot_devqueue_amain.txt

@@ -1,5 +1,15 @@
+-----
+Latest:
+- fix hiding path if disabled
+- fix suspend on override behavior - override doesnt happen on always on lateral.  need alternative check.
+- fix & test lane line narrow on lane change view
+- the acc cancel does nothing.
+- must simulate actual button presses.
+- add radar dist, model dist, radar speed, model speed to debug hud
+- fix always on lateral saying its on when actually fully engaged
 
 
+------
 - fix lane lines
 - fix always on lateral detection
 - position override under 25 mph suspends assist

panda/board/safety/safety_hyundai_canfd.h

@@ -21,21 +21,21 @@ const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
 const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
   {0x50, 0, 16},  // LKAS
   {0x1CF, 1, 8},  // CRUISE_BUTTON
-  {426, 1, 16},  // CRUISE_BUTTONS_ALT
+  {0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT
   {0x2A4, 0, 24}, // CAM_0x2A4
 };
 
 const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
   {0x110, 0, 32}, // LKAS_ALT
   {0x1CF, 1, 8},  // CRUISE_BUTTON
-  {426, 1, 16},  // CRUISE_BUTTONS_ALT
+  {0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT
   {0x362, 0, 32}, // CAM_0x362
 };
 
 const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
   {0x50, 0, 16},  // LKAS
   {0x1CF, 1, 8},  // CRUISE_BUTTON
-  {426, 1, 16},  // CRUISE_BUTTONS_ALT
+  {0x1AA, 1, 16},   // CRUISE_BUTTONS_ALT
   {0x2A4, 0, 24}, // CAM_0x2A4
   {0x51, 0, 32},  // ADRV_0x51
   {0x730, 1, 8},  // tester present for ADAS ECU disable
@@ -73,8 +73,8 @@ const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
 #define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus)                                                                            \
   {.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},   \
 
-#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus)                                                                            \
+// #define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus)                                                                            \
-  {.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},   \
+//   {.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},   \
 
 // SCC_CONTROL (from ADAS unit or camera)
 #define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus)                                                                                 \

selfdrive/car/hyundai/carcontroller.py

@@ -132,7 +132,10 @@ class CarController(CarControllerBase):
         can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
 
       # params_memory = Params("/dev/shm/params")
-      # if params_memory.get_bool("CPTLkasButtonAction"):
+      if params_memory.get_bool("CPTLkasButtonAction"):
+        if self.frame % 10 == 0:
+           for _ in range(20):
+              can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL))
         # can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         # can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, self.CP, self.CAN, CS.cruise_info, 50))
         # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
@@ -197,7 +200,6 @@ class CarController(CarControllerBase):
     can_sends = []
     if use_clu11:
       if CC.cruiseControl.cancel:
-        print("Cancel button  go")
         can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
         CS.lkas_trigger_result = 5
       elif CC.cruiseControl.resume:
@@ -210,17 +212,18 @@ class CarController(CarControllerBase):
     else:
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
         params_memory = Params("/dev/shm/params")
-        if params_memory.get_bool("CPTLkasButtonAction"):
+        # if params_memory.get_bool("CPTLkasButtonAction"):
-          params_memory.put_bool("CPTLkasButtonAction", False)
+        #   params_memory.put_bool("CPTLkasButtonAction", False)
-          CC.cruiseControl.cancel = True
+        #   CC.cruiseControl.cancel = True
-          print("Debug cancel executed")
+        #   print("Debug cancel executed")
         # cruise cancel
         if CC.cruiseControl.cancel:
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
             # pass
-            can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
+            # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
-            # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
+            for _ in range(20):
-            print("Yes2")
+              can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
+            print("Try Cancel Button Alt")
             self.last_button_frame = self.frame
             CS.lkas_trigger_result = 1
           else:

selfdrive/controls/controlsd.py

@@ -673,9 +673,9 @@ class Controls:
 
     if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
       CC.latActive = False
-      self.params_memory.put_int("no_lat_lane_change", 1)
+      self.params_memory.put_bool("no_lat_lane_change", True)
     else:
-      self.params_memory.put_int("no_lat_lane_change", 0)
+      self.params_memory.put_bool("no_lat_lane_change", False)
 
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame

selfdrive/ui/qt/onroad.cc

@@ -75,7 +75,7 @@ void OnroadWindow::updateState(const UIState &s) {
   nvg->updateState(s);
 
   QColor bgColor = bg_colors[s.status];
-  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
+  if (paramsMemory.getBool("no_lat_lane_change") == 1) {
     bgColor = bg_colors[STATUS_DISENGAGED];
   } 
 
@@ -355,9 +355,6 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   top_right_layout->setSpacing(0);
   top_right_layout->addLayout(buttons_layout);
 
-  pedal_icons = new PedalIcons(this);
-  // top_right_layout->addWidget(pedal_icons, 0, Qt::AlignRight);
-
   main_layout->addLayout(top_right_layout, 0);
   main_layout->setAlignment(top_right_layout, Qt::AlignTop | Qt::AlignRight);
 
@@ -530,13 +527,13 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
 //   }
 // }
 
-void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed) {
+void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176) {
   // Draw outer box + border to contain set speed and speed limit
   const int sign_margin = 12;
   const int us_sign_height = 186;
-  const int eu_sign_size = 176;
+  const int eu_sign_size = width;
 
-  const QSize default_size = {172, 204};
+  const QSize default_size = {width, 204};
   QSize set_speed_size = default_size;
   if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
   if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
@@ -560,9 +557,9 @@ void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QSt
   p.setFont(InterFont(90, QFont::Bold));
   p.setPen(colorSpeed);
   p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
-
 }
 
+
 void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
   QRect real_rect = p.fontMetrics().boundingRect(text);
   real_rect.moveCenter({x, y - real_rect.height() / 2});
@@ -622,19 +619,19 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // paint center lane path
   // QColor bg_colors[CHANGE_LANE_PATH_COLOR];
 
-  // int is_no_lat_lane_change = paramsMemory.getInt("no_lat_lane_change");
+  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
 
   QColor center_lane_color;
   
-  // if (is_no_lat_lane_change) {
+  if (is_no_lat_lane_change) {
-    // center_lane_color = bg_colors[CHANGE_LANE_PATH_COLOR];
+    center_lane_color = bg_colors[CHANGE_LANE_PATH_COLOR];
-  // } else {
+  } else {
     center_lane_color = bg_colors[CENTER_LANE_COLOR];
-  // }
+  }
 
   QLinearGradient path_gradient(0, height(), 0, 0);
 
-  // if (edgeColor != bg_colors[STATUS_DISENGAGED] || is_no_lat_lane_change) {
+  if (edgeColor != bg_colors[STATUS_DISENGAGED] || is_no_lat_lane_change) {
     if (scene.acceleration_path) {
       // The first half of track_vertices are the points for the right side of the path
       // and the indices match the positions of accel from uiPlan
@@ -684,7 +681,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
     painter.setBrush(path_gradient);
     painter.drawPolygon(scene.track_vertices);
-  // }
+  }
 
   // Paint path edges ,Use current background color
   if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
@@ -924,8 +921,6 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
 void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
   bottom_layout = new QHBoxLayout();
 
-  distance_btn = new DistanceButton(this);
-  // bottom_layout->addWidget(distance_btn);
 
   // QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
   // bottom_layout->addItem(spacer);
@@ -983,8 +978,6 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
   obstacleDistance = scene.obstacle_distance;
   obstacleDistanceStock = scene.obstacle_distance_stock;
 
-  onroadDistanceButton = scene.onroad_distance_button;
-
   roadNameUI = scene.road_name_ui;
 
   speedLimitController = scene.speed_limit_controller;
@@ -1042,91 +1035,10 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
     drawSLCConfirmation(p);
   }
 
-
-  // bool enableDistanceButton = onroadDistanceButton && !hideBottomIcons;
-  // distance_btn->setVisible(enableDistanceButton);
-  // if (enableDistanceButton) {
-  //   distance_btn->updateState();
-  //   bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft));
-  // }
-
-  // bool enablePedalIcons = scene.pedals_on_ui && !bigMapOpen;
-  // pedal_icons->setVisible(enablePedalIcons);
-  // if (enablePedalIcons) {
-  //   pedal_icons->updateState();
-  // }
-
   // recorder_btn->setVisible(scene.screen_recorder && !mapOpen);
   recorder_btn->setVisible(false);
 }
 
-DistanceButton::DistanceButton(QWidget *parent) : QPushButton(parent), scene(uiState()->scene) {
-  // setFixedSize(btn_size * 1.5, btn_size * 1.5);
-
-  // profile_data = {
-  //   {QPixmap("../frogpilot/assets/other_images/traffic.png"), "Traffic"},
-  //   {QPixmap("../frogpilot/assets/other_images/aggressive.png"), "Aggressive"},
-  //   {QPixmap("../frogpilot/assets/other_images/standard.png"), "Standard"},
-  //   {QPixmap("../frogpilot/assets/other_images/relaxed.png"), "Relaxed"}
-  // };
-
-  // profile_data_kaofui = {
-  //   {QPixmap("../frogpilot/assets/other_images/traffic_kaofui.png"), "Traffic"},
-  //   {QPixmap("../frogpilot/assets/other_images/aggressive_kaofui.png"), "Aggressive"},
-  //   {QPixmap("../frogpilot/assets/other_images/standard_kaofui.png"), "Standard"},
-  //   {QPixmap("../frogpilot/assets/other_images/relaxed_kaofui.png"), "Relaxed"}
-  // };
-
-  // transitionTimer.start();
-
-  // connect(this, &QPushButton::pressed, this, &DistanceButton::buttonPressed);
-  // connect(this, &QPushButton::released, this, &DistanceButton::buttonReleased);
-}
-
-void DistanceButton::buttonPressed() {
-  // paramsMemory.putBool("OnroadDistanceButtonPressed", true);
-}
-
-void DistanceButton::buttonReleased() {
-  // paramsMemory.putBool("OnroadDistanceButtonPressed", false);
-}
-
-void DistanceButton::updateState() {
-  // if (trafficModeActive != scene.traffic_mode_active || personality != static_cast<int>(scene.personality) && !trafficModeActive) {
-  //   transitionTimer.restart();
-  // }
-
-  // personality = static_cast<int>(scene.personality);
-  trafficModeActive = scene.traffic_mode_active;
-}
-
-void DistanceButton::paintEvent(QPaintEvent *event) {
-  // QPainter p(this);
-  // p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
-
-  // constexpr qreal fadeDuration = 1000.0;
-  // constexpr qreal textDuration = 3000.0;
-  // int elapsed = transitionTimer.elapsed();
-
-  // qreal textOpacity = qBound(0.0, 1.0 - ((elapsed - textDuration) / fadeDuration), 1.0);
-  // qreal imageOpacity = qBound(0.0, (elapsed - textDuration) / fadeDuration, 1.0);
-
-  // int profile = trafficModeActive ? 0 : personality + 1;
-  // auto &[profileImage, profileText] = scene.use_kaofui_icons ? profile_data_kaofui[profile] : profile_data[profile];
-
-  // if (textOpacity != 0.0) {
-  //   p.setOpacity(textOpacity);
-  //   p.setFont(InterFont(40, QFont::Bold));
-  //   p.setPen(Qt::white);
-  //   QRect textRect(-25, 0, width(), height() + 95);
-  //   p.drawText(textRect, Qt::AlignCenter, profileText);
-  // }
-
-  // if (imageOpacity != 0.0) {
-  //   drawIcon(p, QPoint((btn_size / 2) * 1.25, btn_size / 2 + 95), profileImage, Qt::transparent, imageOpacity);
-  // }
-}
-
 void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
   static QElapsedTimer timer;
   static bool isFiveSecondsPassed = false;
@@ -1241,43 +1153,6 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
   p.restore();
 }
 
-PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
-  setFixedSize(btn_size, btn_size);
-
-  brake_pedal_img = loadPixmap("../frogpilot/assets/other_images/brake_pedal.png", QSize(img_size, img_size));
-  gas_pedal_img = loadPixmap("../frogpilot/assets/other_images/gas_pedal.png", QSize(img_size, img_size));
-}
-
-void PedalIcons::updateState() {
-  // acceleration = scene.acceleration;
-
-  // accelerating = acceleration > 0.25;
-  // decelerating = acceleration < -0.25;
-
-  // if (accelerating || decelerating) {
-  //   update();
-  // }
-}
-
-void PedalIcons::paintEvent(QPaintEvent *event) {
-  // QPainter p(this);
-  // p.setRenderHint(QPainter::Antialiasing);
-
-  // int totalWidth = 2 * img_size;
-  // int startX = (width() - totalWidth) / 2;
-
-  // int brakeX = startX + img_size / 2;
-  // int gasX = startX + img_size;
-
-  // float brakeOpacity = scene.standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f;
-  // float gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f;
-
-  // p.setOpacity(brakeOpacity);
-  // p.drawPixmap(brakeX, (height() - img_size) / 2, brake_pedal_img);
-
-  // p.setOpacity(gasOpacity);
-  // p.drawPixmap(gasX, (height() - img_size) / 2, gas_pedal_img);
-}
 
 void AnnotatedCameraWidget::drawSLCConfirmation(QPainter &p) {
   p.save();

selfdrive/ui/qt/onroad.h

@@ -38,53 +38,6 @@ private:
   UIScene &scene;
 };
 
-class DistanceButton : public QPushButton {
-public:
-  explicit DistanceButton(QWidget *parent = nullptr);
-
-  void buttonPressed();
-  void buttonReleased();
-  void updateState();
-
-protected:
-  void paintEvent(QPaintEvent *event) override;
-
-private:
-  Params paramsMemory{"/dev/shm/params"};
-
-  UIScene &scene;
-
-  bool trafficModeActive;
-
-  // int personality;
-
-  QElapsedTimer transitionTimer;
-
-  QVector<std::pair<QPixmap, QString>> profile_data;
-  QVector<std::pair<QPixmap, QString>> profile_data_kaofui;
-};
-
-
-class PedalIcons : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit PedalIcons(QWidget *parent = 0);
-  void updateState();
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-
-  QPixmap brake_pedal_img;
-  QPixmap gas_pedal_img;
-
-  UIScene &scene;
-
-  bool accelerating;
-  bool decelerating;
-
-  float acceleration;
-};
 
 // container window for the NVG UI
 class AnnotatedCameraWidget : public CameraWidget {
@@ -97,7 +50,7 @@ public:
 
 private:
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
-  void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed);
+  void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 172);
 
   QVBoxLayout *main_layout;
   QPixmap dm_img;
@@ -135,8 +88,6 @@ private:
   Params paramsMemory{"/dev/shm/params"};
   UIScene &scene;
 
-  DistanceButton *distance_btn;
-  PedalIcons *pedal_icons;
   ScreenRecorder *recorder_btn;
 
   QHBoxLayout *bottom_layout;
@@ -146,7 +97,6 @@ private:
   bool blindSpotRight;
   bool experimentalMode;
   bool leadInfo;
-  bool onroadDistanceButton;
   bool roadNameUI;
   bool showAlwaysOnLateralStatusBar;
   bool showConditionalExperimentalStatusBar;

selfdrive/ui/ui.cc

@@ -116,7 +116,7 @@ void update_model(UIState *s,
 
   // update path
   float path;
-  if (paramsMemory.getInt("no_lat_lane_change")) {
+  if (paramsMemory.getBool("no_lat_lane_change")) {
     path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20;  // Release: better calc for EU users
   } else {
     path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users