wip

openpilot/.vscode/settings.json

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+{
+  "files.exclude": {
+    "third_party": true
+  },
+  "search.exclude": {
+    "third_party": true
+  }
+}

openpilot/clearpiliot_devqueue_zbacklog.txt

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+
+- disable changing lanes notices (tiny indicator is fine)
+- speed limit display / over speed display
+- hack the buttons so we can press them
+- auto set speed limit
+- conditional experimenal mode
+- auto set hvac
+- fix gps data
+- disable cc on start if already enabled 
+- chirp on stoplight
+- resume when lead moving away
+- hold down button to turn off screen, remember setting
+
+- package up lateral pause lane change feature for merge into frogpilot
+
+- bluetooth dummy device
+- dash cam
+
+- put dev logo in repo
+- better detection of if logo is installed even without it generated (md5 in persistant dirs?)
+
+- define forced settings
+- define default settings
+- update dash symbols logic
+
+- fix webview
+- write hello world new settings menu
+
+- new settings for turn assist - no turn assist, or disable lateral when turn started
+- new setting for always on lateral - reduced torque when cruise off and hands on wheel
+- show wheel icon on display when hands on wheel
+- event log - things like 'engaged op', 'lane change', etc. 
+ - these events get fed to clearpilot event automator (state machine) 
+ - record timestamp

openpilot/clearpilot_design.txt

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+Goals:
+Tasks:
+
+Buttons:
+- Cruise: Standard
+- Up: If below limit, set speed to limit, else std
+- Stop / Res: Standard
+- Down: If above limit, set speed to limit, else std
+- Distance: Std
+
+Primary:
+
+- Vastly simplified and opinionated settings
+- - force stock long
+- Privledged mode for specifically enabled dongles
+- - option for relaxed babysitter / no babysitter (privledged)
+- - Light warning at 6 seconds / Loud at 12, relaxed model light 15 / Loud 25
+- - 
+- - Override if hands on wheel
+
+- change dash icon statuses to be more useful
+- test canbus capture
+- capture buttons, car inputs
+- custom button press emulation
+- custom experimental mode emulation
+- disable all lane change stuff except pause lat on turn signal under 30
+- disable all non alert sounds, force alert sounds on
+- fix cruise control engage so it still activates always on lat even when breaking
+    - ideally it fakes the cruise hud as well, and activates cruise when brakes released
+- System for abstracting out automation events so it can be ported to other car types
+- On screen speed limit should show current virtual set speed 
+- Conditionally display speed limit when out of range of speed limit
+- Speed green when set to speed limit
+- Increase speed up to 2 mph w lead and set to speed limit
+
+Canbus goals:
+- Detect if HVAC on
+- Set hvac auto
+- Detect if sunroof open
+- Set sunroof closed
+- Button spam cruise
+- Auto resume from stop
+- Get dash speed limit
+- Set drive mode to 'smart'
+- Radar based distance to lead (compare value to vision)
+
+Maybe not possible but nice to have:
+- change dash info display to mph
+
+Secondary:
+
+- auto enable ssh
+- stealth mode (screen off)
+- Custom icon, overridable
+- dash cam feature
+- warn on red light
+- warn on green light
+- weather report on idle
+- resume when lead car driving away on cruise
+- capture hyundai speed limit correctly
+- auto cruise control speed setting (press button to change speed, obvious indicator speed is wrong)
+- UI changes - more obvious when engaged / always on lat / conditional / off for passengers
+
+Stretch goals:
+
+- port to GM
+- Here maps API for location (cache location)
+- Here maps API for traffic - warn if heavy traffic
+- Auto set dash display to MPH
+- Auto set smart drive mode
+- Detect or ideally close sunroof on off
+- Auto enter carplay on boot
+- Weather report on steering star button
+
+Release notes inre safety:
+
+- Dont ever fully disengage openpilot but if the user hits termination threshold, force
+  user to use wheel with lots of bitching until they stop and restart
+- Allow user to enter a url that can go to a dockerized instance of a clearpilot managment server.
+  The server allows for:
+  - Tracking of current location
+  - Tracking of route history
+  - Customize logo
+  - Reverse ssh
+  - Execute scripts on start (this is where people can hack the safety file)

openpilot/clearpilot_devqueue_amain.txt

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+
+- test that lkas button crashes controlsd, it should
+- test that lkas button creates an alert, it should
+
+- hyundai clsc https://github.com/garrettpall/openpilot/commit/5528198aa73d3d017d16ec4ca38306b11e5da0a8
+
+- test tools/replay to get UI working offline
+- add debug elements to ui with a boolean at top of onroad.cc to enable/disable:
+  - curviture
+  - current speed limit
+  - current cruise speed
+  - current experimental mode speed
+  - current distance to lead based on radar
+  - current distance to lead based on model draw distance
+  - current speed of lead
+  
+- make side lanes 10% wider and the disengage mode 10% brighter
+- make 25% of side lanes 50% darker than base
+
+- hello world alert triggered by lkas btn
+- hello world bootstrap dashboard
+
+- button stuff:
+- read paddle left (for full nudgeless lane change + blinker, reset to drive)
+- read paddle right ("")
+- read current drive mode, reset paddle mode to drive
+- write pause, res, accel, mode, drive
+
+wishlist: read / write info switcher, hvac, windows
+wishlist: allow lane assist (not lane keep) on disengage
+
+test:  
+- disable all canbus
+- set speed limit during stock long
+
+OP -> Oscar
+- oscar - global clearpilot state var
+- oscar.cs - clearpilot car state  (populated by op variables for cp.planner)
+- oscar.ce - clearpilot car event queue (array that can be pushed to from car)
+- oscar.ceh - event queue history (for debug)
+- oscar.clog - error and console.log style one off messages to transmit to logs or watching consoles
+Oscar -> OP
+- oscar.ps - clearpilot planner state (data from cp)
+- oscar.pe - clearpilot planner event (one time events from planner to be processed by openpilot)
+- oscar.peh - planner event history (for debug)
+- oscar.plog - retransmits clog as well as additional data for UI based log consoles
+
+- oscar - clearpilot's planner - nodejs process that synchronizes state between all processes and makes decisions
+
+- settings menu 
+- - branch selector - release, stage, dev.  Stage is my personal release branch.  Should always be able to easilly switch to stage while im in a development state.
+
+- unfuck the directory structure.  new structure:
+- 
+
+-------
+
+- make functions
+--- get_curvature
+--- get_wheel_angle
+--- get_distance_to_left_lane
+--- get_distance_to_right_lane
+--- are hands on wheel
+--- distance traveled for lane change
+--- distance to lead
+- put these on a debug.
+
+- Design alternate settings webview
+- get speed limit display working
+- get calculated experimental speed display working
+- get button press emulation working
+- get experimental mode working
+- get speed limit set working
+- dev enable lateral on blinker but no wheel pressure or no wheel presence
+- bluetooth dummy device
+
+- Test if activation fix works for op long, submit to frog maintain
+- (test) disable all turn signal output commands - they are causing issues
+- test "create_acc_cancel" on canfd on cc engaged on boot
+- Create clearpilot process.  manages behaviors.
+- experiment with reduced jerk values
+- test toggle stop all canbus output
+- check if acc_cancel events are being made on idle in stock long, if so, its a bug. 
+
+- Warn if significantly slower traffic
+
+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
+- no lateral on turn signal - only enforce if model curvature > 10 degrees, hands on wheel, or wheel override (maybe curve not necessary?)
+
+- debug mode activated bu lkas
+
+- 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?
+- Test supress cruise icon on long paused
+- increase center lane brightness 50% and make it blueish
+- make drive mode color much brighter and 30% more white
+- maintain lateral on icon on stop on dash
+- prevent engagement if disengaged and brakes are applied, just enable lateral
+- edit manager to log all stderr output
+- find a way to disable all logging unless debug mode enabled (screen setting)
+- 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
+- speed limit display / over speed display / trigger set
+- hack the buttons so we can press them
+- auto set speed limit
+- conditional experimenal mode
+- ui conditional experimental mode, orange lines, show large font of desired speed in lower left
+- hold down button to turn off screen, remember setting
+- bluetooth dummy device
+- dash cam
+- change disk used on sidebar to disk free / percent used
+- 
+- 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 
+
+
+Test features wizard:
+- read paddles
+- read speed
+- adjust speed
+- cancel / resume
+- reset drive mode
+- read radar distance
+- activate blinkers

openpilot/clearpilot_feature_documentation.txt

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+- Pause lateral on lane change
+- Updated color scheme
+- Updated boot / ready logo
+- Go straight to settings from drive
+- Show full screen splasn on offroad until tapped
+- Updated LFA icons on dashboard
+- Removed a lot of icons from UI
+- Monitor never fully fatals
+- Engage / Disengage sounds silenced
+- 

openpilot/clearpilot_notes.txt

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+Create a debug console.  Its should log events like what buttons are pressed, 
+ when OP starts, the fact NNFF is loaded, etc.
+
+example of using stdin and stdout as a message buffer:
+CHANGE PathEdgeWidth to 10 in defaults
+
+selfdrive/manager/build.py
+
+pandacan: pandacan is a user space library for talking to your car over USB or Wi-Fi from Python. It allows full read/write access to all the CAN and LIN buses. “pip install pandacan”
+
+SocketCAN: SocketCAN is the Linux standard for CAN interfaces. The included driver allows panda to work with all SocketCAN tools, including can-utils and Wireshark.
+
+SunnyPilot lfa btn:
+class HyundaiFlagsSP(IntFlag):
+  SP_ENHANCED_SCC = 1
+  SP_CAN_LFA_BTN = 2
+  SP_NAV_MSG = 4
+LFA_Pressed
+  188,47:       self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
+
+Light blue colors
+1:53 PM
+
+Don't sulress cruise indicator 
+1:57 PM
+
+Fix gps issue, also make gps notice less obnoxious like pay attention 
+2:00 PM
+
+Suspend lateral if turn signal and nudged wheel - think this through 
+
+VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco";
+BO_ 1144 DRIVE_MODE: 8 XXX
+ SG_ DRIVE_MODE : 0|16@1+ (1,-61611) [0|61611] "" XXX
+ SG_ DRIVE_MODE2 : 28|3@1+ (1,0) [1|3] "" XXX
+
+BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
+ SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 506 CLUSTER_SPEED_LIMIT: 32 XXX
+ SG_ SPEED_LIMIT_3 : 119|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED_LIMIT_2 : 47|7@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED_LIMIT_1 : 39|7@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED_CHANGE_BLINKING : 129|1@1+ (1,0) [0|3] "" XXX
+ SG_ CHIME_2 : 122|2@1+ (1,0) [0|7] "" XXX
+ SG_ CHIME_1 : 133|1@0+ (1,0) [0|1] "" XXX
+ SG_ ARROW_DOWN : 120|1@0+ (1,0) [0|1] "" XXX
+ SG_ ARROW_UP : 121|1@0+ (1,0) [0|1] "" XXX
+ SG_ SECONDARY_LIMIT_1 : 79|8@0+ (1,0) [0|127] "" XXX
+ SG_ SECONDARY_LIMIT_2 : 103|8@0+ (1,0) [0|127] "" XXX
+ SG_ SCHOOL_ZONE : 155|1@0+ (1,0) [0|1] "" XXX

openpilot/clearpilot_settings.txt

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+
+Try cabana
+https://github.com/commaai/openpilot/tree/master/tools/cabana
+
+Today:
+
+- Auto SSH
+- Prelaunch shell 
+- Custom home screen UI
+- Custom settings UI
+- Canbus state debugger UI
+- Can I get a web ui running?
+
+Settings Design:
+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, 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
+- 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
+- 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'
+- 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
+- ATN: Off on using wheel
+- Require Wheel - Always, At Night, Never
+- Wheel: Always on unrecognized driver
+- Lane Departure Warning
+- Stoplight / Stopsign Warning
+- Go Warning
+- Lead Departure Warning
+- Over Speed Warning
+- Slow Traffic Warning (set mph triggered, default 25 difference)
+- 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) 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
+-- 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
+- Test OP Canbus functionality (blinkers, disengage, etc)
+Advanced:
+- Selected frogpilot settings

openpilot/clearpilot_testme.txt

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+Dev:
+- New behavior for lane change assist - when starting lane change, disable
+  lateral until .5 seconds after blinkers stop
+-           // Clearpilot allow leadInfo (test me)
+
+
+Test:
+- New colors for driving
+- GPS works
+
+
+Pass:
+- All icons on main UI hidden
+- Tap screen during drive goes to settings
+- Boot goes to a splash page
+- Startup message and NNFF controller messages supressed

openpilot/opendbc

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+../opendbc/

openpilot/panda

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+../panda/