wip

clearpiliot_devqueue.txt

@@ -1,13 +1,28 @@
-- fix drive mode
+
-- on ready, just logo with 'ready' (auto gen)
+- disable changing lanes notices (tiny indicator is fine)
-- on ready, screen timeout 3 minutes
+- speed limit display / over speed display
-- on settings, screen timeout 3 minutes
+- 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
-- update on road gui to take out dumb widgets
+
-- write forced disable lane change mode feature
-- write automations node script, have it read data from stdin / write to stdout
 - fix webview
 - write hello world new settings menu
 

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
+  // Paint path edges ,Use current background color 
-  // don't paint if not engaged color
+  QColor bgColor = bg_colors[uiState().status];
-  // if (bg != bg_colors[STATUS_DISENGAGED]) {
+  // Clearpilot
-    // Use current background color 
+  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);
+    edge_gradient.setColorAt(0.0, QColor(bgColor.red(), bgColor.green(), bgColor.blue(), static_cast<int>(255)));  
-    QColor test_color;
+    edge_gradient.setColorAt(0.5, QColor(bgColor.red(), bgColor.green(), bgColor.blue(), static_cast<int>(255 * 0.7) ));  
-    test_color = bg;
+    edge_gradient.setColorAt(1.0, QColor(bgColor.red(), bgColor.green(), bg.blue(), static_cast<int>(255 * 0.5)));  
-    // 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)));  
 
     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) {

system/clearpilot/loading_messages.txt

@@ -0,0 +1,24 @@
+Ignoring back seat drivers
+Exagerating ETAs
+Excessivising spoken directions
+Coping with rush hour
+Aplifying engine noise
+Embellishing odometer milestones
+Battle hardening high beams
+Supercharging racing stripes
+Entwining software threading
+Exagerating window tint levels
+Thinning traffic densities
+Chiseling GPS precision
+Garnishing dashboard displays
+Unfolding map details
+Sprinkling road salt forecasts
+Skimming speed limit tolerances
+Fudging commute predictions
+Contemplating the meaning of life
+Compiling cospiracy theories
+Scanning road trip snacks
+Cataloguing snacks
+Elevating tire rotation into ballet
+Preparing for best behavior
+Pep talking driving models

system/clearpilot/startup_logo/set_logo.sh

@@ -2,20 +2,18 @@
 
 set -x   
 
-# Todo: Put stock image in the repo, so we can reset the stock with it if some other
-# fork changed it and failed to restore it on uninstall
 
 # Check if md5sum of /usr/comma/bg.jpg is not equal to md5sum of /data/openpilot/system/clearpilot/startup_logo/bg.jpg
 if [ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" != "$(md5sum /data/openpilot/system/clearpilot/startup_logo/bg.jpg | awk '{print $1}')" ]; then
-
     bash /data/openpilot/system/clearpilot/startup_logo/generate_logo.sh
+fi
+
+if [ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" != "$(md5sum /data/openpilot/system/clearpilot/startup_logo/bg.jpg | awk '{print $1}')" ]; then
 
     # If /usr/comma/bg.org does not exist
     if [ ! -f /usr/comma/bg.org ]; then
-        # if [[ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" == "642380ba4c0f00b16e9cf6e613f43eec" ]]; then
+        sudo mount -o remount,rw /
-            sudo mount -o remount,rw /
+        sudo cp /data/openpilot/system/clearpilot/startup_logo/bg.org /usr/comma/bg.org
-            sudo cp /data/openpilot/system/clearpilot/startup_logo/bg.org /usr/comma/bg.org
-        # fi
     fi
 
     if [[ "$(md5sum /usr/comma/bg.org | awk '{print $1}')" != "642380ba4c0f00b16e9cf6e613f43eec" ]]; then