The rest

2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -213,19 +213,21 @@ def crash_log(candidate):
  control_keys, vehicle_keys, visual_keys = [
    "AdjustablePersonalities", "AlwaysOnLateral", "AlwaysOnLateralMain", "ConditionalExperimental", "CESpeed", "CESpeedLead", "CECurves",
    "CECurvesLead", "CENavigation", "CESignal", "CESlowerLead", "CEStopLights", "CEStopLightsLead", "CustomPersonalities", "AggressiveFollow",
-    "AggressiveJerk", "StandardFollow", "StandardJerk", "RelaxedFollow", "RelaxedJerk", "DeviceShutdown", "ExperimentalModeViaPress",
-    "FireTheBabysitter", "NoLogging", "MuteDM", "MuteDoor", "MuteSeatbelt", "MuteOverheated", "LateralTune", "AverageCurvature", "NNFF",
-    "LongitudinalTune", "AccelerationProfile", "StoppingDistance", "AggressiveAcceleration", "SmoothBraking", "Model", "MTSCEnabled",
-    "NudgelessLaneChange", "LaneChangeTime", "LaneDetection", "OneLaneChange", "QOLControls", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise",
-    "SetSpeedOffset", "SpeedLimitController", "SLCFallback","SLCOverride", "SLCPriority", "Offset1", "Offset2", "Offset3", "Offset4", "TurnDesires",
+    "AggressiveJerk", "StandardFollow", "StandardJerk", "RelaxedFollow", "RelaxedJerk", "DeviceShutdown", "ExperimentalModeActivation",
+    "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen", "FireTheBabysitter", "NoLogging", "MuteDM", "MuteDoor", "MuteSeatbelt",
+    "MuteOverheated", "LateralTune", "AverageCurvature", "NNFF", "LongitudinalTune", "AccelerationProfile", "StoppingDistance",
+    "AggressiveAcceleration", "SmoothBraking", "Model", "MTSCEnabled", "MTSCAggressiveness", "NudgelessLaneChange", "LaneChangeTime",
+    "LaneDetection", "OneLaneChange", "QOLControls", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset",
+    "SpeedLimitController", "SLCFallback","SLCOverride", "SLCPriority", "Offset1", "Offset2", "Offset3", "Offset4", "TurnDesires",
    "VisionTurnControl", "CurveSensitivity", "TurnAggressiveness", "DisableOnroadUploads", "OfflineMode"
  ], [
    "EVTable", "GasRegenCmd", "LongPitch", "LowerVolt", "LockDoors", "SNGHack", "TSS2Tune"
  ], [
-    "CustomTheme", "CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "GoatScream", "CameraView", "Compass", "CustomUI", "LaneLinesWidth",
-    "RoadEdgesWidth", "PathWidth", "PathEdgeWidth", "AccelerationPath", "AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UnlimitedLength",
-    "DriverCamera", "GreenLightAlert", "ModelUI", "QOLVisuals", "FullMap", "HideSpeed", "RandomEvents", "RotatingWheel", "ScreenBrightness", "Sidebar", "SilentMode",
-    "WheelIcon", "NumericalTemp", "Fahrenheit", "ShowCPU", "ShowGPU", "ShowMemoryUsage", "ShowSLCOffset", "ShowStorageLeft", "ShowStorageUsed", "UseSI"
+    "CustomTheme", "CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "GoatScream", "CameraView", "Compass", "CustomUI", "AdjacentPath",
+    "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UseVienna", "ModelUI", "AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth",
+    "RoadEdgesWidth", "UnlimitedLength", "DriverCamera", "GreenLightAlert", "QOLVisuals", "UseSI", "DriveStats", "HideSpeed", "RandomEvents",
+    "RotatingWheel", "ScreenBrightness", "Sidebar", "SilentMode", "WheelIcon", "NumericalTemp", "Fahrenheit", "ShowCPU", "ShowGPU", "ShowMemoryUsage",
+    "ShowSLCOffset", "ShowStorageLeft", "ShowStorageUsed", "UseSI"
  ]

  control_params, vehicle_params, visual_params = map(lambda keys: get_frogpilot_params(params, keys), [control_keys, vehicle_keys, visual_keys])
@@ -258,8 +260,8 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
  if get_branch() == "origin/FrogPilot-Development" and dongle_id[:3] != "be6":
    candidate = "mock"

-  x = threading.Thread(target=crash_log, args=(candidate,))
-  x.start()
+  setFingerprintLog = threading.Thread(target=crash_log, args=(candidate,))
+  setFingerprintLog.start()

  CarInterface, CarController, CarState = interfaces[candidate]
  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -44,8 +44,12 @@ class CarState(CarStateBase):
    self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0) and not moving_forward

    if self.CP.enableBsm:
-      ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
-      ret.rightBlindspot = pt_cp.vl["BCMBSM"]["Right_BSM"] == 1
+      if self.CP.carFingerprint in SDGM_CAR:
+        ret.leftBlindspot = cam_cp.vl["BCMBSM"]["Left_BSM"] == 1
+        ret.rightBlindspot = cam_cp.vl["BCMBSM"]["Right_BSM"] == 1
+      else:
+        ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
+        ret.rightBlindspot = pt_cp.vl["BCMBSM"]["Right_BSM"] == 1

    # Variables used for avoiding LKAS faults
    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
@@ -195,7 +199,7 @@ class CarState(CarStateBase):
        self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available:
      if self.CP.carFingerprint in SDGM_CAR:
        lkas_pressed = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
      else:
@@ -228,6 +232,8 @@ class CarState(CarStateBase):
          ("BCMGeneralPlatformStatus", 10),
          ("ASCMSteeringButton", 33),
        ]
+        if CP.enableBsm:
+          messages.append(("BCMBSM", 10))
      else:
        messages += [
          ("AEBCmd", 10),
@@ -251,10 +257,6 @@ class CarState(CarStateBase):
      ("ECMAcceleratorPos", 80),
    ]

-    # BSM does not send a signal until the first instance of it lighting up
-    messages.append(("left_blindspot", 0))
-    messages.append(("right_blindspot", 0))
-
    if CP.carFingerprint in SDGM_CAR:
      messages += [
        ("ECMPRDNL2", 40),
@@ -271,6 +273,8 @@ class CarState(CarStateBase):
        ("BCMGeneralPlatformStatus", 10),
        ("ASCMSteeringButton", 33),
      ]
+      if CP.enableBsm:
+        messages.append(("BCMBSM", 10))

    # Used to read back last counter sent to PT by camera
    if CP.networkLocation == NetworkLocation.fwdCamera:
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -65,7 +65,6 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
    "GasRegenFullStopActive": at_full_stop,
    "GasRegenAlwaysOne": 1,
    "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
  }

  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -81,7 +81,7 @@ class CarInterface(CarInterfaceBase):
  @staticmethod
  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    # FrogPilot variables
-    params = params()
+    params = Params()
    useGasRegenCmd = params.get_bool("GasRegenCmd")

    ret.carName = "gm"
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -253,7 +253,7 @@ class CarController:
    if self.frame % 10 == 0:
      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, CS.personality_profile + 1,
                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))

      if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
        self.speed = pcm_speed
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -288,7 +288,7 @@ class CarState(CarStateBase):
        self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available:
      lkas_pressed = self.cruise_setting == 1
      if lkas_pressed and not self.lkas_previously_pressed:
        if self.conditional_experimental_mode:
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -122,7 +122,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)


-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
  commands = []
  bus_pt = get_pt_bus(CP.carFingerprint)
  radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
@@ -155,7 +155,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
  lkas_hud_values = {
    'SET_ME_X41': 0x41,
    'STEERING_REQUIRED': hud.steer_required,
-    'SOLID_LANES': hud.lanes_visible,
+    'SOLID_LANES': lat_active,
    'BEEP': 0,
  }

--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -184,7 +184,7 @@ class CarState(CarStateBase):
        self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available:
      lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
      if lkas_pressed and not self.lkas_previously_pressed:
        if self.conditional_experimental_mode:
@@ -300,7 +300,7 @@ class CarState(CarStateBase):
        self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available:
      lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
      if lkas_pressed and not self.lkas_previously_pressed:
        if self.conditional_experimental_mode:
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -596,7 +596,7 @@ class CarStateBase(ABC):

  def update_frogpilot_params(self, params):
    self.conditional_experimental_mode = params.get_bool("ConditionalExperimental")
-    self.experimental_mode_via_press = params.get_bool("ExperimentalModeViaPress")
+    self.experimental_mode_via_lkas = params.get_bool("ExperimentalModeViaLKAS") and params.get_bool("ExperimentalModeActivation");
    self.personalities_via_wheel = params.get_int("AdjustablePersonalities") in {1, 3}

 INTERFACE_ATTR_FILE = {
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -208,7 +208,7 @@ class CarState(CarStateBase):
          self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
      message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
      lkas_pressed = any(self.lkas_hud.get(key) == 1 for key in message_keys)
      if lkas_pressed and not self.lkas_previously_pressed:
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -236,11 +236,11 @@ class CarInterface(CarInterfaceBase):
    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
    if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
-      ret.experimentalLongitudinalAvailable = use_sdsu
+      ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR

      if not use_sdsu:
        # Disabling radar is only supported on TSS2 radar-ACC cars
-        if experimental_long and candidate in RADAR_ACC_CAR and False:  # TODO: disabling radar isn't supported yet
+        if experimental_long and candidate in RADAR_ACC_CAR:
          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
      else:
        use_sdsu = use_sdsu and experimental_long