From a3de2347ad86a36f25a0c7e675de78b924048240 Mon Sep 17 00:00:00 2001 From: Your Name Date: Sat, 18 May 2024 02:11:26 -0500 Subject: [PATCH] wip --- selfdrive/controls/controlsd.py | 4 ++-- selfdrive/ui/qt/onroad.cc | 12 ++++++------ 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 24a5c3e..202e530 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1230,7 +1230,7 @@ class Controls: self.frogpilot_variables.use_ev_tables = self.params.get_bool("EVTable") def update_clearpilot_events(self, CS): - if (len(CS.buttonEvents) > 0): + if (len(CS.buttonEvents) > 0): print (CS.buttonEvents) if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents): self.events.add(EventName.clpDebug) @@ -1239,7 +1239,7 @@ class Controls: if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents): # CC.cruiseControl.resume = True CC.cruiseControl.cancel = True - self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed) + self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH ) # CC.actuators.speed # print ("Alive") return CC diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 2cc8859..e339ce4 100755 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -622,15 +622,15 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { QColor center_lane_color; - if (is_no_lat_lane_change) { - center_lane_color = bg_colors[CHANGE_LANE_PATH_COLOR]; - } else { + // if (is_no_lat_lane_change) { + // center_lane_color = bg_colors[CHANGE_LANE_PATH_COLOR]; + // } 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 @@ -680,7 +680,7 @@ 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]) {