wip

selfdrive/car/hyundai/hyundaicanfd.py

@@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
   ret = []
 
   values = {
-    "LKA_MODE": 2,  # CP: Whats this?
+    "LKA_MODE": 2,  
     "LKA_ICON": 2 if enabled else 1 if lat_active else 0, # right mode icon
     "TORQUE_REQUEST": apply_steer,
     "LKA_ASSIST": 0,
@@ -137,7 +137,8 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active):
     # 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": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0,   
+    "LFA_ICON": 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)

selfdrive/controls/lib/events.py

@@ -568,19 +568,23 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: below_steer_speed_alert,
   },
 
+  # Clearpilot - move this to status bar only on lane_change_suspend_lat
+  # restore small size on other modes
   EventName.preLaneChangeLeft: {
     ET.WARNING: Alert(
       "Steer Left to Start Lane Change Once Safe",
       "",
-      AlertStatus.normal, AlertSize.small,
+      AlertStatus.normal, AlertSize.none,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
   },
 
+  # Clearpilot - move this to status bar only on lane_change_suspend_lat
+  # restore small size on other modes
   EventName.preLaneChangeRight: {
     ET.WARNING: Alert(
       "Steer Right to Start Lane Change Once Safe",
       "",
-      AlertStatus.normal, AlertSize.small,
+      AlertStatus.normal, AlertSize.none,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
   },
 
@@ -592,11 +596,12 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
   },
 
+  # Clearpilot - move this to status bar only on lane_change_suspend_lat
   EventName.laneChange: {
     ET.WARNING: Alert(
       "Changing Lanes",
       "",
-      AlertStatus.normal, AlertSize.small,
+      AlertStatus.normal, AlertSize.none,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 

selfdrive/ui/qt/onroad.cc

@@ -98,6 +98,11 @@ void OnroadWindow::updateState(const UIState &s) {
   }
 
   QColor bgColor = bg_colors[s.status];
+  // Clearpilot
+  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
+    bg = bg_colors[STATUS_DISENGAGED];
+  } 
+
   Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
   alerts->updateAlert(alert);
 
@@ -109,11 +114,6 @@ void OnroadWindow::updateState(const UIState &s) {
 
   nvg->updateState(s);
 
-  // Clearpilot
-  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
-    bg = bg_colors[STATUS_DISENGAGED];
-  } 
-
   if (bg != bgColor) {
     // repaint border
     bg = bgColor;
@@ -899,29 +899,25 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.setBrush(path_gradient);
   painter.drawPolygon(scene.track_vertices);
 
-  // Paint path edges
-  // don't paint if not engaged color
-  // if (bg != bg_colors[STATUS_DISENGAGED]) {
-    // Use current background color 
+  // Paint path edges ,Use current background color 
+  QColor bgColor = bg_colors[uiState().status];
+  // Clearpilot
+  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
+    bgColor = bg_colors[STATUS_DISENGAGED];
+  } 
+  if (bgColor != bg_colors[STATUS_DISENGAGED]) {
     QLinearGradient edge_gradient;
-    // QColor test_color = QColor(201, 41, 204, 0xd1);
-    QColor test_color;
-    test_color = bg;
-    // 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(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)));  
+    edge_gradient.setColorAt(0.0, QColor(bgColor.red(), bgColor.green(), bgColor.blue(), static_cast<int>(255)));  
+    edge_gradient.setColorAt(0.5, QColor(bgColor.red(), bgColor.green(), bgColor.blue(), static_cast<int>(255 * 0.7) ));  
+    edge_gradient.setColorAt(1.0, QColor(bgColor.red(), bgColor.green(), bg.blue(), static_cast<int>(255 * 0.5)));  
 
     QPainterPath path;
     path.addPolygon(scene.track_vertices);
     path.addPolygon(scene.track_edge_vertices);
 
-    // painter.setBrush(path_gradient);
     painter.setBrush(edge_gradient);
     painter.drawPath(path);
-  // }
+  }
 
   // Paint blindspot path
   if (scene.blind_spot_path) {