diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index de6b35a..9816f47 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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 diff --git a/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/disengage.wav b/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/disengage.wav index 7794b90..2ec5f45 100644 Binary files a/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/disengage.wav and b/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/disengage.wav differ diff --git a/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/engage.wav b/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/engage.wav index 4bfb44f..2ec5f45 100644 Binary files a/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/engage.wav and b/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/engage.wav differ diff --git a/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/firefox.wav b/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/firefox.wav index c3ea4d5..2ec5f45 100644 Binary files a/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/firefox.wav and b/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/firefox.wav differ diff --git a/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/warning_soft.wav b/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/warning_soft.wav index 0acb3cd..a8c778f 100644 Binary files a/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/warning_soft.wav and b/selfdrive/frogpilot/assets/custom_themes/frog_theme/sounds/warning_soft.wav differ diff --git a/selfdrive/frogpilot/ui/frogpilot_functions.cc b/selfdrive/frogpilot/ui/frogpilot_functions.cc index 503cdd6..5cd0c99 100644 --- a/selfdrive/frogpilot/ui/frogpilot_functions.cc +++ b/selfdrive/frogpilot/ui/frogpilot_functions.cc @@ -45,17 +45,19 @@ void setDefaultParams() { Params params = Params(); bool FrogsGoMoo = params.get("DongleId").substr(0, 3) == "be6"; + bool brianbot = true; + std::map 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"}, diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index ab82da3..033fa26 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -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