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Quality of life toggles

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Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>

Update visual_settings.cc
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent f0eef503f3
commit f71e0b629f
15 changed files with 138 additions and 56 deletions
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11
selfdrive/controls/controlsd.py
View File

@@ -18,7 +18,6 @@ from openpilot.system.version import get_short_branch
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
@@ -527,7 +526,7 @@ class Controls:
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, self.reverse_cruise_increase)
self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, self.reverse_cruise_increase, self.set_speed_offset)
# decrement the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
@@ -641,7 +640,7 @@ class Controls:
gear = car.CarState.GearShifter
driving_gear = CS.gearShifter not in (gear.neutral, gear.park, gear.reverse, gear.unknown)
signal_check = not ((CS.leftBlinker or CS.rightBlinker) and self.pause_lateral_on_signal and CS.vEgo < LANE_CHANGE_SPEED_MIN)
signal_check = not ((CS.leftBlinker or CS.rightBlinker) and CS.vEgo < self.pause_lateral_on_signal and not CS.standstill)
# Always on lateral
if self.always_on_lateral:
@@ -1000,8 +999,10 @@ class Controls:
longitudinal_tune = self.params.get_bool("LongitudinalTune")
self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune
self.pause_lateral_on_signal = self.params.get_bool("PauseLateralOnSignal")
self.reverse_cruise_increase = self.params.get_bool("ReverseCruise")
quality_of_life = self.params.get_bool("QOLControls")
self.pause_lateral_on_signal = self.params.get_int("PauseLateralOnSignal") * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS) if quality_of_life else 0
self.reverse_cruise_increase = self.params.get_bool("ReverseCruise") and quality_of_life
self.set_speed_offset = self.params.get_int("SetSpeedOffset") * (1 if self.is_metric else CV.MPH_TO_KPH) if quality_of_life else 0
def main():
controls = Controls()

12
selfdrive/controls/lib/drive_helpers.py
View File

@@ -52,13 +52,13 @@ class VCruiseHelper:
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_UNSET
def update_v_cruise(self, CS, enabled, is_metric, reverse_cruise_increase):
def update_v_cruise(self, CS, enabled, is_metric, reverse_cruise_increase, set_speed_offset):
self.v_cruise_kph_last = self.v_cruise_kph
if CS.cruiseState.available:
if not self.CP.pcmCruise:
# if stock cruise is completely disabled, then we can use our own set speed logic
self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_cruise_increase)
self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_cruise_increase, set_speed_offset)
self.v_cruise_cluster_kph = self.v_cruise_kph
self.update_button_timers(CS, enabled)
else:
@@ -68,7 +68,7 @@ class VCruiseHelper:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_cruise_increase):
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_cruise_increase, set_speed_offset):
# handle button presses. TODO: this should be in state_control, but a decelCruise press
# would have the effect of both enabling and changing speed is checked after the state transition
if not enabled:
@@ -110,6 +110,12 @@ class VCruiseHelper:
else:
self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
# Apply offset
v_cruise_offset = (set_speed_offset * CRUISE_INTERVAL_SIGN[button_type]) if long_press else 0
if v_cruise_offset < 0:
v_cruise_offset = set_speed_offset - v_cruise_delta
self.v_cruise_kph += v_cruise_offset
# If set is pressed while overriding, clip cruise speed to minimum of vEgo
if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)