From e9be420232ce38b08ba01e56d4994bee8a0eaa3c Mon Sep 17 00:00:00 2001 From: Your Name Date: Sat, 18 May 2024 02:21:06 -0500 Subject: [PATCH] wip --- common/params.cc | 1 + selfdrive/frogpilot/controls/frogpilot_planner.py | 2 ++ selfdrive/ui/qt/onroad.cc | 4 ++++ 3 files changed, 7 insertions(+) diff --git a/common/params.cc b/common/params.cc index 6f13cb2..0793b99 100755 --- a/common/params.cc +++ b/common/params.cc @@ -234,6 +234,7 @@ std::unordered_map keys = { {"CarSpeedLimit", PERSISTENT}, {"CarSpeedLimitLiteral", PERSISTENT}, {"SpeedLimitLatDesired", PERSISTENT}, + ("adjustedCruise", PERSISTENT), {"CECurves", PERSISTENT}, {"CECurvesLead", PERSISTENT}, {"CENavigation", PERSISTENT}, diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py index 9338729..f0a48a8 100755 --- a/selfdrive/frogpilot/controls/frogpilot_planner.py +++ b/selfdrive/frogpilot/controls/frogpilot_planner.py @@ -274,6 +274,8 @@ class FrogPilotPlanner: frogpilotPlan.vtscControllingCurve = bool(self.mtsc_target > self.vtsc_target) + self.params.set_int("adjustedCruise", frogpilotPlan.adjustedCruise) + pm.send('frogpilotPlan', frogpilot_plan_send) def update_frogpilot_params(self): diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index cb15d18..4d36cab 100755 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -452,6 +452,10 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { QString SpeedLimitLatDesired = QString::number(paramsMemory.getInt("SpeedLimitLatDesired")); drawSpeedWidget(p, 60, 45 + (225 * 2), QString("Exp"), SpeedLimitLatDesired, QColor(0xff, 0xff, 0xff)); + // Todo: needs to be changed to calculate off of actual speed limit for release + QString adjustedCruise = QString::number(paramsMemory.getInt("adjustedCruise")); + drawSpeedWidget(p, 60, 45 + (225 * 2), QString("VTSC"), adjustedCruise, QColor(0xff, 0xff, 0xff)); + // Todo: lead speed // Todo: Experimental speed