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prereq for matching speeds shown on cars dash (#25222)

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* prereq for matching speeds shown on cars dash

* also handle fallback in the ui for replay

* update translations

* update ref
pull/25236/head
Willem Melching 3 years ago committed by GitHub
parent 444de299b6
commit c3e95d5e19
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 43 additions and 27 deletions
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  1. 6
      selfdrive/car/interfaces.py
  2. 6
      selfdrive/controls/controlsd.py
  3. 2
      selfdrive/test/process_replay/ref_commit
  4. 8
      selfdrive/ui/qt/onroad.cc
  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

6
selfdrive/car/interfaces.py
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@ -162,6 +162,12 @@ 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:
ret.vEgoCluster = ret.vEgo
if ret.cruiseState.speedCluster == 0:
ret.cruiseState.speedCluster = ret.cruiseState.speed
# copy back for next iteration # copy back for next iteration
reader = ret.as_reader() reader = ret.as_reader()
if self.CS is not None: if self.CS is not None:

6
selfdrive/controls/controlsd.py
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@ -163,6 +163,7 @@ class Controls:
self.can_rcv_error = False self.can_rcv_error = False
self.soft_disable_timer = 0 self.soft_disable_timer = 0
self.v_cruise_kph = 255 self.v_cruise_kph = 255
self.v_cruise_cluster_kph = 255
self.v_cruise_kph_last = 0 self.v_cruise_kph_last = 0
self.mismatch_counter = 0 self.mismatch_counter = 0
self.cruise_mismatch_counter = 0 self.cruise_mismatch_counter = 0
@ -454,11 +455,14 @@ class Controls:
if not self.CP.pcmCruise: if not self.CP.pcmCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents, self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
self.button_timers, self.enabled, self.is_metric) self.button_timers, self.enabled, self.is_metric)
self.v_cruise_cluster_kph = self.v_cruise_kph
else: else:
if CS.cruiseState.available: if CS.cruiseState.available:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
else: else:
self.v_cruise_kph = 0 self.v_cruise_kph = 0
self.v_cruise_cluster_kph = 0
# decrement the soft disable timer at every step, as it's reset on # decrement the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state # entrance in SOFT_DISABLING state
@ -538,6 +542,7 @@ class Controls:
self.current_alert_types.append(ET.ENABLE) self.current_alert_types.append(ET.ENABLE)
if not self.CP.pcmCruise: if not self.CP.pcmCruise:
self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last) self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
self.v_cruise_cluster_kph = self.v_cruise_kph
# Check if openpilot is engaged and actuators are enabled # Check if openpilot is engaged and actuators are enabled
self.enabled = self.state in ENABLED_STATES self.enabled = self.state in ENABLED_STATES
@ -752,6 +757,7 @@ class Controls:
controlsState.longControlState = self.LoC.long_control_state controlsState.longControlState = self.LoC.long_control_state
controlsState.vPid = float(self.LoC.v_pid) controlsState.vPid = float(self.LoC.v_pid)
controlsState.vCruise = float(self.v_cruise_kph) controlsState.vCruise = float(self.v_cruise_kph)
controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph)
controlsState.upAccelCmd = float(self.LoC.pid.p) controlsState.upAccelCmd = float(self.LoC.pid.p)
controlsState.uiAccelCmd = float(self.LoC.pid.i) controlsState.uiAccelCmd = float(self.LoC.pid.i)
controlsState.ufAccelCmd = float(self.LoC.pid.f) controlsState.ufAccelCmd = float(self.LoC.pid.f)

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
7c1168af0311d2fef67b82812cd863a0e97c030e c428493b2a46cb996a7565ea4395d7ad6cd79786

8
selfdrive/ui/qt/onroad.cc
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@ -184,13 +184,17 @@ void NvgWindow::updateState(const UIState &s) {
const auto cs = sm["controlsState"].getControlsState(); const auto cs = sm["controlsState"].getControlsState();
float set_speed = cs_alive ? cs.getVCruise() : SET_SPEED_NA; // Handle older routes where vCruiseCluster is not set
float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
float set_speed = cs_alive ? v_cruise : SET_SPEED_NA;
bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA; bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
if (cruise_set && !s.scene.is_metric) { if (cruise_set && !s.scene.is_metric) {
set_speed *= KM_TO_MILE; set_speed *= KM_TO_MILE;
} }
float cur_speed = cs_alive ? std::max<float>(0.0, sm["carState"].getCarState().getVEgo()) : 0.0; // 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 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;
auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign(); auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();

16
selfdrive/ui/translations/main_ko.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="208"/> <location filename="../qt/onroad.cc" line="212"/>
<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="208"/> <location filename="../qt/onroad.cc" line="212"/>
<source>mph</source> <source>mph</source>
<translation>mph</translation> <translation>mph</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="275"/> <location filename="../qt/onroad.cc" line="279"/>
<location filename="../qt/onroad.cc" line="278"/> <location filename="../qt/onroad.cc" line="282"/>
<source>MAX</source> <source>MAX</source>
<translation>MAX</translation> <translation>MAX</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="322"/> <location filename="../qt/onroad.cc" line="326"/>
<location filename="../qt/onroad.cc" line="325"/> <location filename="../qt/onroad.cc" line="329"/>
<source>SPEED</source> <source>SPEED</source>
<translation>SPEED</translation> <translation>SPEED</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="328"/> <location filename="../qt/onroad.cc" line="332"/>
<location filename="../qt/onroad.cc" line="331"/> <location filename="../qt/onroad.cc" line="335"/>
<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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@ -486,30 +486,30 @@ location set</source>
<context> <context>
<name>NvgWindow</name> <name>NvgWindow</name>
<message> <message>
<location filename="../qt/onroad.cc" line="208"/> <location filename="../qt/onroad.cc" line="212"/>
<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="208"/> <location filename="../qt/onroad.cc" line="212"/>
<source>mph</source> <source>mph</source>
<translation>mph</translation> <translation>mph</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="275"/> <location filename="../qt/onroad.cc" line="279"/>
<location filename="../qt/onroad.cc" line="278"/> <location filename="../qt/onroad.cc" line="282"/>
<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="322"/> <location filename="../qt/onroad.cc" line="326"/>
<location filename="../qt/onroad.cc" line="325"/> <location filename="../qt/onroad.cc" line="329"/>
<source>SPEED</source> <source>SPEED</source>
<translation>SPEED</translation> <translation>SPEED</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="328"/> <location filename="../qt/onroad.cc" line="332"/>
<location filename="../qt/onroad.cc" line="331"/> <location filename="../qt/onroad.cc" line="335"/>
<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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@ -488,30 +488,30 @@ location set</source>
<context> <context>
<name>NvgWindow</name> <name>NvgWindow</name>
<message> <message>
<location filename="../qt/onroad.cc" line="208"/> <location filename="../qt/onroad.cc" line="212"/>
<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="208"/> <location filename="../qt/onroad.cc" line="212"/>
<source>mph</source> <source>mph</source>
<translation>mph</translation> <translation>mph</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="275"/> <location filename="../qt/onroad.cc" line="279"/>
<location filename="../qt/onroad.cc" line="278"/> <location filename="../qt/onroad.cc" line="282"/>
<source>MAX</source> <source>MAX</source>
<translation>最高</translation> <translation>最高</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="322"/> <location filename="../qt/onroad.cc" line="326"/>
<location filename="../qt/onroad.cc" line="325"/> <location filename="../qt/onroad.cc" line="329"/>
<source>SPEED</source> <source>SPEED</source>
<translation>速度</translation> <translation>速度</translation>
</message> </message>
<message> <message>
<location filename="../qt/onroad.cc" line="328"/> <location filename="../qt/onroad.cc" line="332"/>
<location filename="../qt/onroad.cc" line="331"/> <location filename="../qt/onroad.cc" line="335"/>
<source>LIMIT</source> <source>LIMIT</source>
<translation>速限</translation> <translation>速限</translation>
</message> </message>

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