From a47fbb140dc0cae8a30954a3747a708a1fb5e20f Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Wed, 19 Jun 2024 00:24:32 -0500
Subject: [PATCH] wip

---
 openpilot/clearpiliot_devqueue_zbacklog.txt | 192 ++++++++++++++++++++
 selfdrive/ui/qt/onroad.cc                   |   3 +-
 2 files changed, 194 insertions(+), 1 deletion(-)

diff --git a/openpilot/clearpiliot_devqueue_zbacklog.txt b/openpilot/clearpiliot_devqueue_zbacklog.txt
index 6c358db..0889c01 100755
--- a/openpilot/clearpiliot_devqueue_zbacklog.txt
+++ b/openpilot/clearpiliot_devqueue_zbacklog.txt
@@ -1,5 +1,197 @@
+- revert a bunch of debugging in canfd
+
+- configure it so i can toggle experimental via lkas
+- if experimental enabled, then transmit experimental speed settings
+  - but only if no lead car or not decelerating.  got to think of a condition
+    where we reengage if the lead is going too slow and we need to let stock long decel
+- implement speed limit controller as a simple Warning
+- implement a simple resume from standstill hack
+
+- flesh all this out and prepare for trip.  we will make auto match speed a future problem.
+- continue on other projects and bench this one.
+
+
+- this whole thing kind of sucks if i cant transmit buttons.  keep trying.
+  - maybe curise_button and not cruise_button_alt will work?
+
+-----
+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
+- add wheel touched, wheel override to hud
+
+- fix always on lateral saying its on when actually fully engaged
+
+Notes on speed limit override:
+- we need to capture the original speed and feed it to vtsc and model whule we
+  are under speed adjustment
+
+------
+- fix lane lines
+- fix always on lateral detection
+- position override under 25 mph suspends assist
+
+- output the three speeds
+
+- test - if engaged, adjust the speed twoards experimental one unit every second
+
+- disable onroad on parked, not car off
+
+- 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
+
+- get ui to work on its own using no video feed, custom ui state inputs
+  - dress up ui
+
+- 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
+
+- when changing lanes and lateral disabled, draw a narrow single 'line' down center
+- of computed path, and don't show side lane boundaries
+
+- 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:
+
+- getting head mode - turn off babysitter with an alert on the screen that it is off, suspend for 10 minutes
+  - in this mode it should be extra grouchy if a curve is detected, slowdown is detected, or lane lines are weak
+
+- 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?)
+
+
+- basic lane keep - nudge wheel slightly if over line and still going straight and hands on wheel
+
+- 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
+
 
 - 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
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 7609346..9f000a0 100755
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -835,7 +835,8 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
         const auto &lead = model.getLeadsV3()[i];
         auto lead_drel = lead.getX()[0];
         if (lead.getProb() > 0.5 && (prev_drel < 0 || std::abs(lead_drel - prev_drel) > 3.0)) {
-          drawLead(painter, lead, s->scene.lead_vertices[i], v_ego);
+          // Disabled for the moment.
+          // drawLead(painter, lead, s->scene.lead_vertices[i], v_ego);
         }
         prev_drel = lead_drel;
       }