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vEgoCluster: fix starting from stop (#25350)

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* we can't switch back and forth

* update translations
old-commit-hash: b6910923d1
taco
Shane Smiskol 3 years ago committed by GitHub
parent 57961d8364
commit 83ff495062
7 changed files with 45 additions and 35 deletions
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  1. 7
      selfdrive/car/interfaces.py
  2. 8
      selfdrive/ui/qt/onroad.cc
  3. 1
      selfdrive/ui/qt/onroad.h
  4. 16
      selfdrive/ui/translations/main_ja.ts
  5. 16
      selfdrive/ui/translations/main_ko.ts
  6. 16
      selfdrive/ui/translations/main_zh-CHS.ts
  7. 16
      selfdrive/ui/translations/main_zh-CHT.ts

7
selfdrive/car/interfaces.py
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@ -61,6 +61,7 @@ class CarInterfaceBase(ABC):
self.steering_unpressed = 0 self.steering_unpressed = 0
self.low_speed_alert = False self.low_speed_alert = False
self.silent_steer_warning = True self.silent_steer_warning = True
self.v_ego_cluster_seen = False
self.CS = None self.CS = None
self.can_parsers = [] self.can_parsers = []
@ -162,8 +163,10 @@ class CarInterfaceBase(ABC):
ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None) ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None) ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
if ret.vEgoCluster == 0.0: if ret.vEgoCluster == 0.0 and not self.v_ego_cluster_seen:
ret.vEgoCluster = ret.vEgo ret.vEgoCluster = ret.vEgo
else:
self.v_ego_cluster_seen = True
if ret.cruiseState.speedCluster == 0: if ret.cruiseState.speedCluster == 0:
ret.cruiseState.speedCluster = ret.cruiseState.speed ret.cruiseState.speedCluster = ret.cruiseState.speed
@ -321,7 +324,7 @@ class CarStateBase(ABC):
def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter: def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
if gear is None: if gear is None:
return GearShifter.unknown return GearShifter.unknown
d: Dict[str, car.CarState.GearShifter] = { d: Dict[str, car.CarState.GearShifter] = {
'P': GearShifter.park, 'PARK': GearShifter.park, 'P': GearShifter.park, 'PARK': GearShifter.park,
'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,

8
selfdrive/ui/qt/onroad.cc
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@ -193,7 +193,13 @@ void NvgWindow::updateState(const UIState &s) {
} }
// Handle older routes where vEgoCluster is not set // Handle older routes where vEgoCluster is not set
float v_ego = sm["carState"].getCarState().getVEgoCluster() == 0.0 ? sm["carState"].getCarState().getVEgo() : sm["carState"].getCarState().getVEgoCluster(); float v_ego;
if (sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) {
v_ego = sm["carState"].getCarState().getVEgo();
} else {
v_ego = sm["carState"].getCarState().getVEgoCluster();
v_ego_cluster_seen = true;
}
float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0; float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;

1
selfdrive/ui/qt/onroad.h
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@ -66,6 +66,7 @@ private:
bool rightHandDM = false; bool rightHandDM = false;
bool has_us_speed_limit = false; bool has_us_speed_limit = false;
bool has_eu_speed_limit = false; bool has_eu_speed_limit = false;
bool v_ego_cluster_seen = false;
int status = STATUS_DISENGAGED; int status = STATUS_DISENGAGED;
protected: protected:

16
selfdrive/ui/translations/main_ja.ts
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@ -490,30 +490,30 @@ location set</source>
<context> <context>
<name>NvgWindow</name> <name>NvgWindow</name>
<message> <message>
<location filename="../qt/onroad.cc" line="212"/> <location filename="../qt/onroad.cc" line="218"/>
<source>km/h</source> <source>km/h</source>
<translation>km/h</translation> <translation>km/h</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="212"/> <location filename="../qt/onroad.cc" line="218"/>
<source>mph</source> <source>mph</source>
<translation>mph</translation> <translation>mph</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="280"/> <location filename="../qt/onroad.cc" line="286"/>
<location filename="../qt/onroad.cc" line="283"/> <location filename="../qt/onroad.cc" line="289"/>
<source>MAX</source> <source>MAX</source>
<translation>最高速度</translation> <translation>最高速度</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="327"/> <location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="330"/> <location filename="../qt/onroad.cc" line="336"/>
<source>SPEED</source> <source>SPEED</source>
<translation>速度</translation> <translation>速度</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="333"/> <location filename="../qt/onroad.cc" line="339"/>
<location filename="../qt/onroad.cc" line="336"/> <location filename="../qt/onroad.cc" line="342"/>
<source>LIMIT</source> <source>LIMIT</source>
<translation>制限速度</translation> <translation>制限速度</translation>
</message> </message>

16
selfdrive/ui/translations/main_ko.ts
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@ -490,30 +490,30 @@ location set</source>
<context> <context>
<name>NvgWindow</name> <name>NvgWindow</name>
<message> <message>
<location filename="../qt/onroad.cc" line="212"/> <location filename="../qt/onroad.cc" line="218"/>
<source>km/h</source> <source>km/h</source>
<translation>km/h</translation> <translation>km/h</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="212"/> <location filename="../qt/onroad.cc" line="218"/>
<source>mph</source> <source>mph</source>
<translation>mph</translation> <translation>mph</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="280"/> <location filename="../qt/onroad.cc" line="286"/>
<location filename="../qt/onroad.cc" line="283"/> <location filename="../qt/onroad.cc" line="289"/>
<source>MAX</source> <source>MAX</source>
<translation>MAX</translation> <translation>MAX</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="327"/> <location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="330"/> <location filename="../qt/onroad.cc" line="336"/>
<source>SPEED</source> <source>SPEED</source>
<translation>SPEED</translation> <translation>SPEED</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="333"/> <location filename="../qt/onroad.cc" line="339"/>
<location filename="../qt/onroad.cc" line="336"/> <location filename="../qt/onroad.cc" line="342"/>
<source>LIMIT</source> <source>LIMIT</source>
<translation>LIMIT</translation> <translation>LIMIT</translation>
</message> </message>

16
selfdrive/ui/translations/main_zh-CHS.ts
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@ -488,30 +488,30 @@ location set</source>
<context> <context>
<name>NvgWindow</name> <name>NvgWindow</name>
<message> <message>
<location filename="../qt/onroad.cc" line="212"/> <location filename="../qt/onroad.cc" line="218"/>
<source>km/h</source> <source>km/h</source>
<translation>km/h</translation> <translation>km/h</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="212"/> <location filename="../qt/onroad.cc" line="218"/>
<source>mph</source> <source>mph</source>
<translation>mph</translation> <translation>mph</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="280"/> <location filename="../qt/onroad.cc" line="286"/>
<location filename="../qt/onroad.cc" line="283"/> <location filename="../qt/onroad.cc" line="289"/>
<source>MAX</source> <source>MAX</source>
<translation>最高定速</translation> <translation>最高定速</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="327"/> <location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="330"/> <location filename="../qt/onroad.cc" line="336"/>
<source>SPEED</source> <source>SPEED</source>
<translation>SPEED</translation> <translation>SPEED</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="333"/> <location filename="../qt/onroad.cc" line="339"/>
<location filename="../qt/onroad.cc" line="336"/> <location filename="../qt/onroad.cc" line="342"/>
<source>LIMIT</source> <source>LIMIT</source>
<translation>LIMIT</translation> <translation>LIMIT</translation>
</message> </message>

16
selfdrive/ui/translations/main_zh-CHT.ts
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@ -490,30 +490,30 @@ location set</source>
<context> <context>
<name>NvgWindow</name> <name>NvgWindow</name>
<message> <message>
<location filename="../qt/onroad.cc" line="212"/> <location filename="../qt/onroad.cc" line="218"/>
<source>km/h</source> <source>km/h</source>
<translation>km/h</translation> <translation>km/h</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="212"/> <location filename="../qt/onroad.cc" line="218"/>
<source>mph</source> <source>mph</source>
<translation>mph</translation> <translation>mph</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="280"/> <location filename="../qt/onroad.cc" line="286"/>
<location filename="../qt/onroad.cc" line="283"/> <location filename="../qt/onroad.cc" line="289"/>
<source>MAX</source> <source>MAX</source>
<translation>最高</translation> <translation>最高</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="327"/> <location filename="../qt/onroad.cc" line="333"/>
<location filename="../qt/onroad.cc" line="330"/> <location filename="../qt/onroad.cc" line="336"/>
<source>SPEED</source> <source>SPEED</source>
<translation>速度</translation> <translation>速度</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="333"/> <location filename="../qt/onroad.cc" line="339"/>
<location filename="../qt/onroad.cc" line="336"/> <location filename="../qt/onroad.cc" line="342"/>
<source>LIMIT</source> <source>LIMIT</source>
<translation>速限</translation> <translation>速限</translation>
</message> </message>

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