wip

common/params.cc

@@ -234,9 +234,13 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     {"CarCruiseDisplayActual", PERSISTENT},
     {"CarSpeedLimit", PERSISTENT},
+    
+    {"CarSpeedLimitWarning", PERSISTENT},
     {"CarSpeedLimitLiteral", PERSISTENT},
-    {"SpeedLimitLatDesired", PERSISTENT},
+    
-    {"SpeedLimitVTSC", PERSISTENT},
+    // {"SpeedLimitLatDesired", PERSISTENT},
+    // {"SpeedLimitVTSC", PERSISTENT},
+
     {"CPTLkasButtonAction", PERSISTENT},
     
     {"RadarDist", PERSISTENT},

openpilot/clearpilot_devqueue_amain.txt

@@ -1,174 +1,45 @@
------
+- lkas button toggle display off / minimal / full / info
-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
+- revert a bunch of debugging in canfd
 
-Notes on speed limit override:
+- fix it so it reads cruise state and uses it to determine program state exclusively
-- we need to capture the original speed and feed it to vtsc and model whule we
+  - always on lat in particular
-  are under speed adjustment
 
-------
+- make override a state that can happen on always on lateral
-- fix lane lines
-- fix always on lateral detection
-- position override under 25 mph suspends assist
 
-- output the three speeds
+- fix turning with override to disengage lower than 20
 
-- test - if engaged, adjust the speed twoards experimental one unit every second
+- configure it so i can toggle experimental via lkas
 
-- disable onroad on parked, not car off
+- 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
 
-- test that lkas button crashes controlsd, it should
+- implement speed limit controller as a simple Warning
-- test that lkas button creates an alert, it should
 
-- hyundai clsc https://github.com/garrettpall/openpilot/commit/5528198aa73d3d017d16ec4ca38306b11e5da0a8
+- implement a simple resume from standstill hack
 
-- get ui to work on its own using no video feed, custom ui state inputs
+--- TRIP RELEASE ---
-  - dress up ui
 
-- add debug elements to ui with a boolean at top of onroad.cc to enable/disable:
+- configure orangepi wifi selector
-  - curviture
+  - can i have it use phone bt tether?
-  - current speed limit
+- fix gps
-  - current cruise speed
+- implement new onroad settings
-  - current experimental mode speed
+- implement new offroad settings
-  - current distance to lead based on radar
+- implement debug console (make it actually useful)
-  - current distance to lead based on model draw distance
+- implement dash cam
-  - current speed of lead
+- implement dash cam viewer
+- implement trip logger
+- implement generic CLSC
+- implement GM CLSC
 
-- when changing lanes and lateral disabled, draw a narrow single 'line' down center
+- CRAIG RELEASE -
-- of computed path, and don't show side lane boundaries
 
-- make side lanes 10% wider and the disengage mode 10% brighter
+- implement logo selector
-- make 25% of side lanes 50% darker than base
+- update models, sync important changes from main
+- update installer
 
-- hello world alert triggered by lkas btn
+- PUBLIC RELEASE - 
-- hello world bootstrap dashboard
 
-- button stuff:
+Hyundai CLSC
-- read paddle left (for full nudgeless lane change + blinker, reset to drive)
+Hyundai Paddle shifter lane change
-- 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

selfdrive/car/hyundai/carcontroller.py

@@ -123,15 +123,22 @@ class CarController(CarControllerBase):
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
         # CLEARPILOT TEST self.CS.lkas_enabled
         # can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
-        params_memory = Params("/dev/shm/params")
+        # params_memory = Params("/dev/shm/params")
-        lkas_icon = params_memory.get_bool("CPTLkasButtonAction") or CS.lkas_enabled
+        # lkas_icon = params_memory.get_bool("CPTLkasButtonAction") or CS.lkas_enabled
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, lkas_icon, lkas_icon))
+        # lkas_icon = CS.experimentalMode
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.experimentalMode, False))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
         can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
 
       # params_memory = Params("/dev/shm/params")
+<<<<<<< HEAD
+      # if params_memory.get_bool("CPTLkasButtonAction"):
+        # if self.frame % 10 == 0:
+          #  for _ in range(20):
+              # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL))
+=======
       params_memory = Params("/dev/shm/params")
       if params_memory.get_bool("CPTLkasButtonAction"):
         if self.frame % 2 == 0:
@@ -142,26 +149,27 @@ class CarController(CarControllerBase):
           # for _ in range(20):
             # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL, CS.cruise_can_msg))
         # print("Decel")
+>>>>>>> 7f63e516586dc709ea1f6246e5a3c51dda5c7bab
         # can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         # can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, self.CP, self.CAN, CS.cruise_info, 50))
         # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
         # print("Debug cancel executed")
 
-      if self.CP.openpilotLongitudinalControl:
+      if self.CP.openpilotLongitudinalControl or CS.experimentalMode:
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                            set_speed_in_units, hud_control))
           self.accel_last = accel
-      else:
+      # else:
         # Clearpilot
         # If cruise control was enabled or idle on start, force cancel
         # if CS.fix_main_enabled_cancel_main:
           # CS.fix_main_enabled_cancel_main = False
           # CC.cruiseControl.cancel = True
         # button presses
-        can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
+        # can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
@@ -217,7 +225,7 @@ class CarController(CarControllerBase):
             self.last_button_frame = self.frame
     else:
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
-        params_memory = Params("/dev/shm/params")
+        # params_memory = Params("/dev/shm/params")
         # if params_memory.get_bool("CPTLkasButtonAction"):
         #   params_memory.put_bool("CPTLkasButtonAction", False)
         #   CC.cruiseControl.cancel = True
@@ -228,8 +236,12 @@ class CarController(CarControllerBase):
             # pass
             # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
             # for _ in range(20):
+<<<<<<< HEAD
+              # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
+=======
               # if CS.cruise_can_msg:
                 # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL, CS.cruise_can_msg))
+>>>>>>> 7f63e516586dc709ea1f6246e5a3c51dda5c7bab
             # print("Try Cancel Button Alt")
             self.last_button_frame = self.frame
             CS.lkas_trigger_result = 1

selfdrive/car/hyundai/carstate.py

@@ -209,7 +209,7 @@ class CarState(CarStateBase):
       self.lkas_previously_enabled = self.lkas_enabled
       self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
 
-    self.params_memory.put_int("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
+    # self.params_memory.put_int("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_conv)
     self.params_memory.put_float("CarCruiseDisplayActual", cp_cruise.vl["SCC11"]["VSetDis"])
     
@@ -417,7 +417,7 @@ class CarState(CarStateBase):
 
     # print("Set limit")
     # print(self.calculate_speed_limit(cp, cp_cam))
-    self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
+    # self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
 
     return ret

selfdrive/car/hyundai/hyundaicanfd.py

@@ -236,10 +236,10 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
 
 # CLEARPILOT changed HDA icons
 # This doesn't appear to do anything on my tucson
-def create_lfahda_cluster(packer, CAN, enabled, lat_active):
+def create_lfahda_cluster(packer, CAN, experimental, lat_active):
   values = {
     "HDA_ICON": 0, # Literally shows HDA.  Maybe we use this to indicate experimental mode
-    "LFA_ICON": 2 if enabled else 1 if lat_active else 0
+    "LFA_ICON": 2 if experimental else 0
   }
 
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)

selfdrive/controls/controlsd.py

@@ -1239,14 +1239,14 @@ class Controls:
 
   def clearpilot_state_control(self, CC, CS):
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
-#      self.params_memory.put_bool("CPTLkasButtonAction", True)
+     self.params_memory.put_bool("CPTLkasButtonAction", True)
-      if self.params_memory.get_bool("CPTLkasButtonAction"):
+      # if self.params_memory.get_bool("CPTLkasButtonAction"):
-        self.params_memory.put_bool("CPTLkasButtonAction", False)
+        # self.params_memory.put_bool("CPTLkasButtonAction", False)
-      else:
+      # else:
-        self.params_memory.put_bool("CPTLkasButtonAction", True)
+        # self.params_memory.put_bool("CPTLkasButtonAction", True)
       # CS.lkas_enabled = self.params_memory.get_bool("CPTLkasButtonAction")
 
-    self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
+    # self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
     # CC.actuators.speed
     # print ("Alive")
     return CC

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -274,7 +274,7 @@ class FrogPilotPlanner:
 
     frogpilotPlan.vtscControllingCurve = bool(self.mtsc_target > self.vtsc_target)
 
-    self.params_memory.put_int("SpeedLimitVTSC", frogpilotPlan.adjustedCruise)
+    # self.params_memory.put_int("SpeedLimitVTSC", frogpilotPlan.adjustedCruise)
 
     pm.send('frogpilotPlan', frogpilot_plan_send)
 

selfdrive/ui/qt/onroad.cc

@@ -175,52 +175,6 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
 
-  if (scene.fps_counter) {
-    qint64 currentMillis = QDateTime::currentMSecsSinceEpoch();
-    auto fpsQueue = std::queue<std::pair<qint64, double>>();
-
-    static double avgFPS = 0.0;
-    static double maxFPS = 0.0;
-    static double minFPS = 99.9;
-
-    minFPS = qMin(minFPS, fps);
-    maxFPS = qMax(maxFPS, fps);
-
-    fpsQueue.push({currentMillis, fps});
-
-    while (!fpsQueue.empty() && currentMillis - fpsQueue.front().first > 60000) {
-      fpsQueue.pop();
-    }
-
-    if (!fpsQueue.empty()) {
-      double totalFPS = 0;
-      for (auto tempQueue = fpsQueue; !tempQueue.empty(); tempQueue.pop()) {
-        totalFPS += tempQueue.front().second;
-      }
-      avgFPS = totalFPS / fpsQueue.size();
-    }
-
-    QString fpsDisplayString = QString("FPS: %1 (%2) | Min: %3 | Max: %4 | Avg: %5")
-      .arg(qRound(fps))
-      .arg(paramsMemory.getInt("CameraFPS"))
-      .arg(qRound(minFPS))
-      .arg(qRound(maxFPS))
-      .arg(qRound(avgFPS));
-
-    p.setFont(InterFont(28, QFont::DemiBold));
-    p.setRenderHint(QPainter::TextAntialiasing);
-    p.setPen(Qt::white);
-
-    QRect currentRect = rect();
-    int textWidth = p.fontMetrics().horizontalAdvance(fpsDisplayString);
-    int xPos = (currentRect.width() - textWidth) / 2;
-    int yPos = currentRect.bottom() - 5;
-
-    p.drawText(xPos, yPos, fpsDisplayString);
-
-    update();
-  }
-
   QString logicsDisplayString = QString();
   if (scene.show_jerk) {
     logicsDisplayString += QString("Acceleration Jerk: %1 (%2%3) | Speed Jerk: %4 (%5%6) | ")