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oscarpilot:

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- muted engage / disengage sounds in custom theme
- modified some defaults
- turned off lane change helper
- modified driver monitor for 30 second warn / 60 second fatal
This commit is contained in:
concordia
2024-01-29 11:08:12 -06:00
parent b0abb3e6e1
commit dd1d9de35a
7 changed files with 41 additions and 39 deletions
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34
selfdrive/controls/controlsd.py
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@@ -328,19 +328,19 @@ class Controls:
self.events.add(EventName.calibrationInvalid)
# Handle lane change
if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['lateralPlan'].laneChangeDirection
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
self.events.add(EventName.laneChangeBlocked)
else:
if direction == LaneChangeDirection.left:
self.events.add(EventName.preLaneChangeLeft)
else:
self.events.add(EventName.preLaneChangeRight)
elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing):
self.events.add(EventName.laneChange)
# if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
# direction = self.sm['lateralPlan'].laneChangeDirection
# if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
# (CS.rightBlindspot and direction == LaneChangeDirection.right):
# self.events.add(EventName.laneChangeBlocked)
# else:
# if direction == LaneChangeDirection.left:
# self.events.add(EventName.preLaneChangeLeft)
# else:
# self.events.add(EventName.preLaneChangeRight)
# elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
# LaneChangeState.laneChangeFinishing):
# self.events.add(EventName.laneChange)
# Handle turning
if not CS.standstill:
@@ -659,7 +659,7 @@ class Controls:
self.lateral_allowed |= CS.cruiseState.enabled or (CS.cruiseState.available and self.always_on_lateral_main)
self.FPCC.alwaysOnLateral = self.lateral_allowed and driving_gear and signal_check
if self.FPCC.alwaysOnLateral:
if self.FPCC.alwaysOnLateral:/
self.current_alert_types.append(ET.WARNING)
# Check which actuators can be enabled
@@ -672,9 +672,9 @@ class Controls:
actuators.longControlState = self.LoC.long_control_state
# Enable blinkers while lane changing
if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
# if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
# CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
# CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame

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selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/disengage.wav
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selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/engage.wav
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selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/firefox.wav
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selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/warning_soft.wav
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34
selfdrive/frogpilot/ui/frogpilot_functions.cc
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@@ -45,17 +45,19 @@ void setDefaultParams() {
Params params = Params();
bool FrogsGoMoo = params.get("DongleId").substr(0, 3) == "be6";
bool brianbot = true;
std::map<std::string, std::string> defaultValues {
{"AccelerationPath", FrogsGoMoo ? "1" : "0"},
{"AccelerationProfile", FrogsGoMoo ? "3" : "2"},
{"AccelerationPath", brianbot ? "1" : "0"},
{"AccelerationProfile", brianbot ? "2" : "2"},
{"AdjacentPath", FrogsGoMoo ? "1" : "0"},
{"AdjustablePersonalities", "3"},
{"AggressiveAcceleration", "1"},
{"AggressiveFollow", FrogsGoMoo ? "10" : "12"},
{"AggressiveJerk", FrogsGoMoo ? "6" : "5"},
{"AlwaysOnLateral", "1"},
{"AlwaysOnLateralMain", FrogsGoMoo ? "1" : "0"},
{"AverageCurvature", FrogsGoMoo ? "1" : "0"},
{"AlwaysOnLateralMain", brianbot ? "1" : "0"},
{"AverageCurvature", brianbot ? "1" : "0"},
{"BlindSpotPath", "1"},
{"CameraView", FrogsGoMoo ? "1" : "0"},
{"CECurves", "1"},
@@ -72,23 +74,23 @@ void setDefaultParams() {
{"CurveSensitivity", FrogsGoMoo ? "125" : "100"},
{"CustomColors", "1"},
{"CustomIcons", "1"},
{"CustomPersonalities", "1"},
{"CustomSignals", "1"},
{"CustomPersonalities", "0"},
{"CustomSignals", "0"},
{"CustomSounds", "1"},
{"CustomTheme", "1"},
{"CustomUI", "1"},
{"DeviceShutdown", "9"},
{"CustomUI", "0"},
{"DeviceShutdown", "1"},
{"DriverCamera", "0"},
{"DriveStats", "1"},
{"EVTable", FrogsGoMoo ? "0" : "1"},
{"ExperimentalModeActivation", "1"},
{"ExperimentalModeViaLKAS", "1"},
{"ExperimentalModeViaLKAS", "0"},
{"ExperimentalModeViaScreen", FrogsGoMoo ? "0" : "1"},
{"Fahrenheit", "0"},
{"FireTheBabysitter", FrogsGoMoo ? "1" : "0"},
{"FullMap", "0"},
{"GasRegenCmd", "0"},
{"GoatScream", "1"},
{"GoatScream", "0"},
{"GreenLightAlert", "0"},
{"HideSpeed", "0"},
{"HigherBitrate", "0"},
@@ -101,16 +103,16 @@ void setDefaultParams() {
{"LongitudinalTune", "1"},
{"LongPitch", FrogsGoMoo ? "0" : "1"},
{"LowerVolt", FrogsGoMoo ? "0" : "1"},
{"Model", "0"},
{"Model", "3"},
{"ModelUI", "1"},
{"MTSCEnabled", "1"},
{"MuteDM", FrogsGoMoo ? "1" : "0"},
{"MuteDoor", FrogsGoMoo ? "1" : "0"},
{"MuteDM", FrogsGoMoo ? "1" : "1"},
{"MuteDoor", FrogsGoMoo ? "1" : "1"},
{"MuteOverheated", FrogsGoMoo ? "1" : "0"},
{"MuteSeatbelt", FrogsGoMoo ? "1" : "0"},
{"NNFF", FrogsGoMoo ? "1" : "0"},
{"NoLogging", "0"},
{"NudgelessLaneChange", "1"},
{"NNFF", FrogsGoMoo ? "1" : "1"},
{"NoLogging", "1"},
{"NudgelessLaneChange", "0"},
{"NumericalTemp", FrogsGoMoo ? "1" : "0"},
{"Offset1", "5"},
{"Offset2", FrogsGoMoo ? "7" : "5"},

12
selfdrive/monitoring/driver_monitor.py
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@@ -19,12 +19,12 @@ class DRIVER_MONITOR_SETTINGS():
def __init__(self):
self._DT_DMON = DT_DMON
# ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
self._DISTRACTED_TIME = 11. # active monitoring total timeout
self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
self._AWARENESS_TIME = 90. # passive wheeltouch total timeout
self._AWARENESS_PRE_TIME_TILL_TERMINAL = 60.
self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 30.
self._DISTRACTED_TIME = 90. # active monitoring total timeout
self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 60.
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 30.
self._FACE_THRESHOLD = 0.7
self._EYE_THRESHOLD = 0.65