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2024-05-04 03:52:41 -05:00
parent 2d86352097
commit 826b869bfc
4 changed files with 10 additions and 7 deletions
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8
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -22,6 +22,9 @@ class CanBus(CanBusBase):
self._e += self.offset
self._cam = 2 + self.offset
self.params = Params()
self.params_memory = Params("/dev/shm/params")
@property
def ECAN(self):
return self._e
@@ -119,18 +122,19 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
values.update({
"ACCMode": 4,
"aReqRaw": 0.0,
"aReqValue": 0.0,
"aReqVClearpalue": 0.0,
})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
# CLEARPILOT changed HDA icons
# This doesn't appear to do anything on my tucson
def create_lfahda_cluster(packer, CAN, enabled, lat_active):
no_lat_lane_change = self.params_memory.get_int("no_lat_lane_change", 1)
values = {
# 0 off, 1 gray, 2 green, 3 blinking (wheel icon)
# CP: Is this actually the wheel? Might this be the HDA2 thing?
"HDA_ICON": 0, # Intention is to have this represent stock HDA mode
"LFA_ICON": 2 if enabled else 1 if lat_active else 0,
"LFA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0,
}
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)

1
selfdrive/controls/controlsd.py
View File

@@ -641,7 +641,6 @@ 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_int("CurrentRandomEvent", 1)
else:
self.params_memory.put_int("no_lat_lane_change", 0)

6
selfdrive/ui/qt/onroad.cc
View File

@@ -910,9 +910,9 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
// edge_gradient.setColorAt(0.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255)));
// edge_gradient.setColorAt(0.5, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.5)));
// edge_gradient.setColorAt(1.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.1)));
edge_gradient.setColorAt(0.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(255)));
edge_gradient.setColorAt(0.5, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(255 * 0.5)));
edge_gradient.setColorAt(1.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(255 * 0.3)));
edge_gradient.setColorAt(0.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255)));
edge_gradient.setColorAt(0.5, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255 * 0.7) ));
edge_gradient.setColorAt(1.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255 * 0.5)));
QPainterPath path;
path.addPolygon(scene.track_vertices);

2
selfdrive/ui/ui.h
View File

@@ -33,7 +33,7 @@ typedef enum UIStatus {
} UIStatus;
// Clearpilot new alpha constants
const float CENTER_LANE_ALPHA = 0.35;
const float CENTER_LANE_ALPHA = 0.40;
const float OTHER_LANE_ALPHA = 0.75;
const int CENTER_LANE_WIDTH = 50;