wip

clearpilot_devqueue_amain.txt

@@ -0,0 +1,22 @@
+- If possible, debug what happened to frogpilot process on may 4th
+- 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
+- Move pac man ghost logo up 10%
+- 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
+- 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

clearpilot_feature_documentation.txt

@@ -0,0 +1,10 @@
+- Pause lateral on lane change
+- Updated color scheme
+- Updated boot / ready logo
+- Go straight to settings from drive
+- Show full screen splasn on offroad until tapped
+- Updated LFA icons on dashboard
+- Removed a lot of icons from UI
+- Monitor never fully fatals
+- Engage / Disengage sounds silenced
+- 

selfdrive/car/hyundai/carstate.py

@@ -277,6 +277,20 @@ class CarState(CarStateBase):
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.prev_main_buttons = self.main_buttons[-1]
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
+
+    # testme
+    # if ret.cruiseState.speed > 1 and self.main_enabled == False:
+    #   self.main_enabled = True
+
+    # test if this blocks trying to engage while pressin brakes
+    if self.main_buttons[-1] != 0 and ret.brakePressed and self.main_enabled == False:
+      self.main_buttons[-1] = 0
+      # But enable always on lateral if self.main_enabled = false
+      # I think this may require an override variable?
+      # It looks like always on lat is only set when cruise control is enabled
+      # We need a temp version that enables or disables it if cruise is off via button
+      # and then the temp state removes when the button is pressed again
+
     if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
       self.main_enabled = not self.main_enabled
     # if self.fix_main_enabled_check:

selfdrive/frogpilot/controls/lib/frogpilot_functions.py

@@ -31,15 +31,14 @@ def calculate_lane_width(lane, current_lane, road_edge):
 
   return min(distance_to_lane, distance_to_road_edge)
 
+# Clearpilot added default value 0
 def calculate_road_curvature(modelData, v_ego):
+  try:
     predicted_velocities = np.array(modelData.velocity.x)
-  # clearpilot fix
-  # /data/openpilot/openpilot/selfdrive/frogpilot/controls/lib/frogpilot_functions.py:36: RuntimeWarning: divide by zero encountered in divide
-  # curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
     curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
-  # /data/openpilot/openpilot/selfdrive/frogpilot/controls/lib/frogpilot_functions.py:37: RuntimeWarning: invalid value encountered in multiply
-  # return np.amax(curvature_ratios * (v_ego**2))
     return np.amax(curvature_ratios * (v_ego**2))
+  except:
+    return 0
 
 class MovingAverageCalculator:
   def __init__(self):
@@ -141,6 +140,10 @@ class FrogPilotFunctions:
       except OSError:
         pass
 
+  @classmethod
+  def prune_recordings():
+    return
+
   @classmethod
   def setup_frogpilot(cls):
     remount_cmd = ['sudo', 'mount', '-o', 'remount,rw', '/persist']

selfdrive/frogpilot/frogpilot_process.py

@@ -21,17 +21,19 @@ from openpilot.selfdrive.frogpilot.controls.lib.theme_manager import ThemeManage
 
 WIFI = log.DeviceState.NetworkType.wifi
 
+# clearpilot disabled
 def automatic_update_check(params):
-  update_available = params.get_bool("UpdaterFetchAvailable")
+  return
-  update_ready = params.get_bool("UpdateAvailable")
+  # update_available = params.get_bool("UpdaterFetchAvailable")
-  update_state = params.get("UpdaterState", encoding='utf8')
+  # update_ready = params.get_bool("UpdateAvailable")
+  # update_state = params.get("UpdaterState", encoding='utf8')
 
-  if update_ready:
+  # if update_ready:
-    HARDWARE.reboot()
+  #   HARDWARE.reboot()
-  elif update_available:
+  # elif update_available:
-    os.system("pkill -SIGHUP -f selfdrive.updated.updated")
+  #   os.system("pkill -SIGHUP -f selfdrive.updated.updated")
-  elif update_state == "idle":
+  # elif update_state == "idle":
-    os.system("pkill -SIGUSR1 -f selfdrive.updated.updated")
+  #   os.system("pkill -SIGUSR1 -f selfdrive.updated.updated")
 
 def github_pinged(url="https://github.com", timeout=5):
   try:
@@ -40,15 +42,17 @@ def github_pinged(url="https://github.com", timeout=5):
   except (urllib.error.URLError, socket.timeout, http.client.RemoteDisconnected):
     return False
 
+# clearpilot disabled
 def time_checks(automatic_updates, deviceState, params):
-  if github_pinged():
+  return
-    populate_models()
+  # if github_pinged():
+  #   populate_models()
 
-    screen_off = deviceState.screenBrightnessPercent == 0
+  #   screen_off = deviceState.screenBrightnessPercent == 0
-    wifi_connection = deviceState.networkType == WIFI
+  #   wifi_connection = deviceState.networkType == WIFI
 
-    if automatic_updates and screen_off and wifi_connection:
+  #   if automatic_updates and screen_off and wifi_connection:
-      automatic_update_check(params)
+  #     automatic_update_check(params)
 
 def frogpilot_thread():
   config_realtime_process(5, Priority.CTRL_LOW)

selfdrive/manager/manager.py

@@ -400,6 +400,8 @@ def manager_thread(frogpilot_functions) -> None:
     if openpilot_crashed:
       frogpilot_functions.delete_logs()
 
+    frogpilot_functions.prune_logs()
+
     started = sm['deviceState'].started
 
     if started and not started_prev:

selfdrive/manager/process_config.py

@@ -89,8 +89,8 @@ procs = [
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
   PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
-  PythonProcess("updated", "selfdrive.updated.updated", always_run, enabled=not PC),
+  # PythonProcess("updated", "selfdrive.updated.updated", always_run, enabled=not PC),
-  PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
+  # PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
   PythonProcess("statsd", "selfdrive.statsd", allow_logging),
 
   # debug procs
@@ -100,7 +100,7 @@ procs = [
 
   # FrogPilot processes
   PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run),
-  PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
+  # PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
   PythonProcess("mapd", "selfdrive.frogpilot.navigation.mapd", always_run),
 ]
 

selfdrive/ui/qt/onroad.cc

@@ -907,8 +907,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
     QLinearGradient edge_gradient;
     edge_gradient.setColorAt(0.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255)));  
-    edge_gradient.setColorAt(0.5, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.7) ));  
+    edge_gradient.setColorAt(0.5, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.8) ));  
-    edge_gradient.setColorAt(1.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.5)));  
+    edge_gradient.setColorAt(1.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.7)));  
 
     QPainterPath path;
     path.addPolygon(scene.track_vertices);

selfdrive/ui/qt/ready.cc

@@ -42,7 +42,7 @@ void ReadyWindow::paintEvent(QPaintEvent *event) {
 
   // Calculate the top-left position to center the image in the window.
   int x = (this->width() - comma_img.width()) / 2;
-  int y = (this->height() - comma_img.height()) / 2;
+  int y = ((this->height() - comma_img.height()) / 20) * 9;
 
   // Draw the pixmap at the calculated position.
   painter.drawPixmap(x, y, comma_img);

selfdrive/ui/ui.h

@@ -33,18 +33,18 @@ typedef enum UIStatus {
 } UIStatus;
 
 // Clearpilot new alpha constants
-const float CENTER_LANE_ALPHA = 0.55;
+const float CENTER_LANE_ALPHA = 0.75;
 const float OTHER_LANE_ALPHA = 0.75;
 
-const int CENTER_LANE_WIDTH = 50;
+const int CENTER_LANE_WIDTH = 75;
 const int OTHER_LANE_WIDTH = 16;
 
 // Clearpilot custom colors
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
-  [STATUS_OVERRIDE] = QColor(64, 85, 245, 0xd1), // When you nudge the steering wheel while engaged
+  [STATUS_OVERRIDE] = QColor(94, 112, 255, 0xd1), // When you nudge the steering wheel while engaged
-  [STATUS_ENGAGED] = QColor(64, 85, 245, 0xd1), // Bright Blue
+  [STATUS_ENGAGED] = QColor(94, 112, 255, 0xd1), // Bright Blue
-  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(162, 221, 235, 0xd1), // Lighter Blue
+  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(143, 204, 235, 0xd1), // Lighter Blue
   [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xd1), // ? unused? 
   [STATUS_EXPERIMENTAL_ACTIVE] = QColor(201, 41, 204, 0xd1), // Magenta
   [CENTER_LANE_COLOR] = QColor(150, 150, 150, 0xd1), // Gray