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a/artifacts/iqpilot_navassist_private/python/iqpilot_private/navassist/paths.cpython-312-aarch64-linux-gnu.so and b/artifacts/iqpilot_navassist_private/python/iqpilot_private/navassist/paths.cpython-312-aarch64-linux-gnu.so differ diff --git a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carstate.py b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carstate.py index 0d8e7f61f..9987d916f 100644 --- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carstate.py +++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carstate.py @@ -845,6 +845,7 @@ class CarState(CarStateBase): pt_messages += [ ("Blinkmodi_01", math.nan), # From J519 BCM (is inactive when no lights active, 50Hz when active) ("Kombi_02", math.nan), # Auxiliary-bus cluster odometer + ("LH_EPS_01", math.nan), # ALC key slot, absent on MLB racks that never send 0x32A ] else: pt_messages += [("Kombi_02", math.nan)] # Auxiliary-bus cluster odometer diff --git a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_volkswagen.py b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_volkswagen.py index 94e031b71..78919301d 100644 --- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_volkswagen.py +++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_volkswagen.py @@ -10,8 +10,8 @@ from iqdbc.car.volkswagen.carstate import CarState from iqdbc.car.structs import CarParams from iqdbc.car.volkswagen.interface import CarInterface from iqdbc.car.volkswagen.values import (CAR, FW_QUERY_CONFIG, MLB_ACC_COORDINATOR_MSGS, MLB_GEARBOX_MSGS, MLB_MSG_ACC_10, - MLB_MSG_GATEWAY_05, MLB_MSG_GETRIEBE_01, MLB_MSG_LH_EPS_03, WMI, VolkswagenFlags, - VolkswagenFlagsIQ, VolkswagenSafetyFlags) + MLB_MSG_GATEWAY_05, MLB_MSG_GETRIEBE_01, MLB_MSG_LH_EPS_01, MLB_MSG_LH_EPS_03, + WMI, VolkswagenFlags, VolkswagenFlagsIQ, VolkswagenSafetyFlags) from iqdbc.car.volkswagen.fingerprints import FW_VERSIONS Ecu = CarParams.Ecu @@ -210,7 +210,6 @@ def _a4_mk4_frames(packer, reverse=False, eps_torque=None): packer.make_can_msg("Kombi_02", 1, {"KBI_Inhalt_Tank": 40, "KBI_Kilometerstand": 100000}), packer.make_can_msg("Airbag_02", 1, {"AB_Gurtschloss_FA": 3}), packer.make_can_msg("Gateway_05", 1, {"BCM1_Rueckfahrlicht_Schalter": int(reverse)}), - packer.make_can_msg("LH_EPS_01", 1, {}), ] if eps_torque is not None: msgs.append(packer.make_can_msg("LH_EPS_03", 1, {"EPS_Lenkmoment": abs(eps_torque), @@ -499,6 +498,32 @@ def test_mlb_manual_gateway_car_adds_only_the_reverse_switch_on_the_powertrain_b assert manual[Bus.aux] == automatic[Bus.aux] | {MLB_MSG_GATEWAY_05} +def _read_like_the_alc_runtime(parser, name): + # the closed-source ALC reads its key slot through parser.vl, which subscribes the message on first access + if name not in parser.dat: + parser.vl[name] + return parser.dat.get(name, b"") + + +@pytest.mark.parametrize("build", (_a4_mk4_car, _q5_mk1_car), ids=("a4_mk4", "q5_mk1")) +def test_mlb_alc_key_slot_read_keeps_can_valid_on_a_rack_that_never_sends_it(build): + car = build() + subscribed = _subscribed_addresses(car) + never_sent = {bus: addrs - {MLB_MSG_LH_EPS_01} for bus, addrs in subscribed.items()} + + packer = CANPacker("vw_mlb") + + def build_frames(): + _read_like_the_alc_runtime(car.can_parsers[Bus.pt], "LH_EPS_01") + return _frames_for(car, packer, never_sent) + + ret = _run_past_aliveness_timeout(car, build_frames) + + assert ret.canValid + assert all(parser.can_valid for parser in car.can_parsers.values()) + assert not any(parser.bus_timeout for parser in car.can_parsers.values()) + + @pytest.mark.parametrize("build", (_a4_mk4_car, _q5_mk1_car), ids=("a4_mk4", "q5_mk1")) def test_mlb_carstate_subscriptions_settle_and_stay_alive(build): car = build() diff --git a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/values.py b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/values.py index a226d03dc..8cbe449df 100644 --- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/values.py +++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/values.py @@ -339,6 +339,7 @@ class VolkswagenFlagsIQ(IntFlag): RADAR_DISABLE_STATE = {"error": False} +MLB_MSG_LH_EPS_01 = 0x32A MLB_MSG_LH_EPS_03 = 0x9F MLB_MSG_GETRIEBE_01 = 0x82 MLB_MSG_GETRIEBE_02 = 0x83 diff --git a/iqpilot/common/params_keys.h b/iqpilot/common/params_keys.h index 27fd3a3da..fc752280b 100644 --- a/iqpilot/common/params_keys.h +++ b/iqpilot/common/params_keys.h @@ -361,6 +361,10 @@ inline static std::unordered_map keys = { // iqpilot model params {"CameraOffset", {PERSISTENT, FLOAT, "0.0"}}, + // Dev gate for the Android nav stack. Off by default and only konn3kt dev-flagged devices + // (or a developer, by hand) set it. navassist stays fully dormant unless this AND IQAndroidNav + // are both set, so a non-dev forcing IQAndroidNav=1 does nothing — the container never starts. + {"IQNavAssistDev", {PERSISTENT, BOOL, "0"}}, {"IQAndroidNav", {PERSISTENT, BOOL, "0"}}, {"IQAndroidNavStatus", {PERSISTENT, STRING}}, // "waze" or "maps": exactly one runs, the other is disabled outright. diff --git a/iqpilot/system/manager/process.py b/iqpilot/system/manager/process.py index c0fe7caa8..36ec524ac 100644 --- a/iqpilot/system/manager/process.py +++ b/iqpilot/system/manager/process.py @@ -221,7 +221,6 @@ class BundleProcess(NativeProcess): def __init__(self, name, bundle, entry, should_run, enabled=True, sigkill=False, restart_if_crash=False): self.bundle = bundle self.entry = entry - self.restart_if_crash = restart_if_crash runner_path = preferred_runner_path() runner_cmd = str(runner_path) if runner_path.is_absolute() else "./iqpilot_bundle_runner" runner_cwd = ".iqpilot/runtime_root" if runner_path.is_absolute() else "system/proprietary_runtime" @@ -238,6 +237,7 @@ class BundleProcess(NativeProcess): should_run=should_run, enabled=enabled, sigkill=sigkill, + restart_if_crash=restart_if_crash, ) def start(self) -> None: diff --git a/iqpilot/system/manager/process_config.py b/iqpilot/system/manager/process_config.py index f37008826..d7586967d 100644 --- a/iqpilot/system/manager/process_config.py +++ b/iqpilot/system/manager/process_config.py @@ -68,7 +68,7 @@ def always_run(started: bool, params: Params, CP: car.CarParams) -> bool: return True def nav_assist(started: bool, params: Params, CP: car.CarParams) -> bool: - return params.get_bool("IQAndroidNav") + return params.get_bool("IQNavAssistDev") and params.get_bool("IQAndroidNav") def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool: return started diff --git a/iqpilot/system/manager/test/test_manager.py b/iqpilot/system/manager/test/test_manager.py index 0c6a283b0..546f53df0 100644 --- a/iqpilot/system/manager/test/test_manager.py +++ b/iqpilot/system/manager/test/test_manager.py @@ -67,6 +67,11 @@ class TestManager: assert manager.update_modeld_watchdog(deadline, True, False, proc, 16.0) is None proc.restart.assert_not_called() + def test_bundle_process_keeps_restart_if_crash(self): + proc = BundleProcess("test", "bundle", "entry", lambda *_: True, restart_if_crash=True) + assert proc.restart_if_crash is True + assert BundleProcess("test", "bundle", "entry", lambda *_: True).restart_if_crash is False + def test_bundle_process_stops_with_sigterm(self, mocker): proc = BundleProcess("test", "bundle", "entry", lambda *_: True) proc.proc = mocker.Mock(exitcode=None, pid=123) diff --git a/iqpilot/ui/onroad/hud_overlays.py b/iqpilot/ui/onroad/hud_overlays.py index 65d595d29..0890865f6 100644 --- a/iqpilot/ui/onroad/hud_overlays.py +++ b/iqpilot/ui/onroad/hud_overlays.py @@ -28,105 +28,98 @@ def _speed_scale() -> float: return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH -_STRIP_WIDTH = 28 -_STRIP_INSET = 14 -_STRIP_CEILING = 0.85 -_STRIP_EMA = 5.0 -_STRIP_ARC_SEGMENTS = 24 -_STRIP_ACCEL = (33, 112, 115) -_STRIP_ACCEL_NEON = (94, 232, 236) -_STRIP_DECEL = (255, 0, 247) -_STRIP_DECEL_NEON = (255, 145, 251) -_STRIP_TIP_ALPHA = 235 -_STRIP_ROOT_ALPHA = 55 -_STRIP_CORE_DEPTH = 7.0 -_STRIP_CORE_LAYERS = 8 -_STRIP_CORE_ALPHA = 0.15 -_STRIP_CORE_FLOOR = 0.3 -_STRIP_CORE_TAIL = 22.0 -_STRIP_HALO_SPREAD = 11.0 -_STRIP_HALO_LAYERS = 11 -_STRIP_HALO_ALPHA = 0.095 -_STRIP_HALO_TAIL = 34.0 -_STRIP_NEON_FULL = 2.0 +_ACCEL_METER_INSET = 18.0 +_ACCEL_METER_WIDTH = 16.0 +_ACCEL_METER_BACKDROP_WIDTH = 42.0 +_ACCEL_METER_HEIGHT = 0.5 +_ACCEL_METER_MAX_HEIGHT = 520.0 +_ACCEL_METER_DEADBAND = 0.12 +_ACCEL_METER_FULL_SCALE = 3.0 +_ACCEL_METER_ATTACK_TAU = 0.08 +_ACCEL_METER_RELEASE_TAU = 0.35 +_ACCEL_METER_ACCEL_ROOT = (0, 178, 169) +_ACCEL_METER_ACCEL_TIP = (54, 255, 232) +_ACCEL_METER_BRAKE_ROOT = (196, 32, 139) +_ACCEL_METER_BRAKE_TIP = (255, 86, 202) +_ACCEL_METER_GLOW = ((8.0, 18), (5.0, 28), (2.5, 42)) class IQAccelBar: def __init__(self): - self._eased = 0.0 - - def _reach(self) -> float: - mag = abs(self._eased) - return 0.0 if mag == 0.0 else max(0.0, _STRIP_CEILING - 0.1 / mag) + self._shown = 0.0 + self._last_frame = time.monotonic() @staticmethod - def _tint(fill, frac: float): - return canvas.shade(*fill, int(_STRIP_TIP_ALPHA + (_STRIP_ROOT_ALPHA - _STRIP_TIP_ALPHA) * frac)) + def _normalized(acceleration: float) -> float: + magnitude = abs(acceleration) + if magnitude <= _ACCEL_METER_DEADBAND: + return 0.0 + return float(np.clip( + (magnitude - _ACCEL_METER_DEADBAND) / (_ACCEL_METER_FULL_SCALE - _ACCEL_METER_DEADBAND), + 0.0, + 1.0, + )) @staticmethod - def _halo(center, cap: float, up: bool, neon, heat: float, tail: float) -> None: - step = int(255 * _STRIP_HALO_ALPHA * heat) - if step < 1: - return - start, end = (180.0, 360.0) if up else (0.0, 180.0) - tint = canvas.shade(*neon, step) - faded = canvas.shade(*neon, 0) - top, bottom = (tint, faded) if up else (faded, tint) - for i in range(_STRIP_HALO_LAYERS): - spread = _STRIP_HALO_SPREAD * (1.0 - i / _STRIP_HALO_LAYERS) - if spread <= 0.0: - continue - canvas.annulus(center, cap, cap + spread, start, end, _STRIP_ARC_SEGMENTS, tint) - if tail <= 0.0: - continue - run = min(tail, _STRIP_HALO_TAIL) - y = center.y if up else center.y - run - canvas.v_sweep(center.x - cap - spread, y, spread, run, top, bottom) - canvas.v_sweep(center.x + cap, y, spread, run, top, bottom) + def _next_value(shown: float, target: float, dt: float) -> float: + growing = abs(target) > abs(shown) or shown * target < 0.0 + tau = _ACCEL_METER_ATTACK_TAU if growing else _ACCEL_METER_RELEASE_TAU + alpha = 1.0 - math.exp(-max(0.0, dt) / tau) + value = shown + (target - shown) * alpha + return 0.0 if abs(value) < 0.005 and abs(target) <= _ACCEL_METER_DEADBAND else value @staticmethod - def _cap(center, cap: float, up: bool, fill, neon, heat: float, tail: float) -> None: - start, end = (180.0, 360.0) if up else (0.0, 180.0) - canvas.annulus(center, 0.0, cap, start, end, _STRIP_ARC_SEGMENTS, fill) - IQAccelBar._halo(center, cap, up, neon, heat, tail) - lit = _STRIP_CORE_FLOOR + (1.0 - _STRIP_CORE_FLOOR) * heat - core = canvas.shade(*neon, max(1, int(255 * _STRIP_CORE_ALPHA * lit))) - faded = canvas.shade(*neon, 0) - top, bottom = (core, faded) if up else (faded, core) - run = min(tail, _STRIP_CORE_TAIL) - for i in range(_STRIP_CORE_LAYERS): - depth = _STRIP_CORE_DEPTH * (1.0 - i / _STRIP_CORE_LAYERS) - if depth <= 0.0: - continue - canvas.annulus(center, max(0.0, cap - depth), cap, start, end, _STRIP_ARC_SEGMENTS, core) - if run <= 0.0: - continue - y = center.y if up else center.y - run - canvas.v_sweep(center.x - cap, y, depth, run, top, bottom) - canvas.v_sweep(center.x + cap - depth, y, depth, run, top, bottom) + def _gradient(y: float, height: float, width: float, x: float, accelerating: bool, root, tip, alpha: int) -> None: + root_color = canvas.shade(*root, max(1, int(alpha * 0.56))) + tip_color = canvas.shade(*tip, alpha) + top, bottom = (tip_color, root_color) if accelerating else (root_color, tip_color) + canvas.v_sweep(x, y, width, height, top, bottom) + + @staticmethod + def _fill(x: float, y: float, width: float, height: float, accelerating: bool, root, tip) -> None: + for spread, alpha in _ACCEL_METER_GLOW: + IQAccelBar._gradient(y, height, width + spread * 2.0, x - spread, accelerating, root, tip, alpha) + IQAccelBar._gradient(y, height, width, x, accelerating, root, tip, 235) + center_x = x + width / 2.0 + tip_y = y if accelerating else y + height + canvas.disc(center_x, tip_y, width / 2.0 + 1.0, canvas.shade(*tip, 242)) + canvas.v_sweep(x + width * 0.38, y, width * 0.24, height, + canvas.shade(255, 255, 255, 92 if accelerating else 24), + canvas.shade(255, 255, 255, 24 if accelerating else 92)) def render(self, rect, sm) -> None: if not ui_state.rocket_fuel: return - self._eased += (sm['carState'].aEgo - self._eased) / _STRIP_EMA - reach = self._reach() * rect.height / 2.0 - if reach <= 0.0: - return - accelerating = self._eased > 0.0 - mid = rect.y + rect.height / 2.0 - top = mid - reach if accelerating else mid - x = rect.x + _STRIP_INSET - cap = min(_STRIP_WIDTH / 2.0, reach / 2.0) - fill, neon = (_STRIP_ACCEL, _STRIP_ACCEL_NEON) if accelerating else (_STRIP_DECEL, _STRIP_DECEL_NEON) - near = cap / reach - frac_top, frac_bottom = (near, 1.0 - near) if accelerating else (1.0 - near, near) - heat = min(abs(self._eased) / _STRIP_NEON_FULL, 1.0) + now = time.monotonic() + dt = min(max(now - self._last_frame, 1.0 / 120.0), 0.1) + self._last_frame = now + target = float(np.clip(sm['carState'].aEgo, -_ACCEL_METER_FULL_SCALE, _ACCEL_METER_FULL_SCALE)) + self._shown = self._next_value(self._shown, target, dt) - canvas.v_sweep(x, top + cap, cap * 2.0, reach - cap * 2.0, - self._tint(fill, frac_top), self._tint(fill, frac_bottom)) - tail = max(0.0, reach / 2.0 - cap) - self._cap(canvas.Pt(x + cap, top + cap), cap, True, self._tint(fill, frac_top), neon, heat, tail) - self._cap(canvas.Pt(x + cap, top + reach - cap), cap, False, self._tint(fill, frac_bottom), neon, heat, tail) + track_height = min(rect.height * _ACCEL_METER_HEIGHT, _ACCEL_METER_MAX_HEIGHT) + mid = rect.y + rect.height / 2.0 + track_y = mid - track_height / 2.0 + backdrop_x = rect.x + _ACCEL_METER_INSET + track_x = backdrop_x + (_ACCEL_METER_BACKDROP_WIDTH - _ACCEL_METER_WIDTH) / 2.0 + canvas.panel(rl.Rectangle(backdrop_x, track_y - 10.0, _ACCEL_METER_BACKDROP_WIDTH, track_height + 20.0), + 0.48, 18, canvas.shade(0, 8, 13, 108)) + canvas.panel_outline(rl.Rectangle(backdrop_x, track_y - 10.0, _ACCEL_METER_BACKDROP_WIDTH, track_height + 20.0), + 0.48, 18, 1.0, canvas.shade(126, 245, 238, 34)) + canvas.panel(rl.Rectangle(track_x, track_y, _ACCEL_METER_WIDTH, track_height), + 0.5, 14, canvas.shade(210, 245, 242, 25)) + + normalized = self._normalized(self._shown) + if normalized > 0.0: + accelerating = self._shown > 0.0 + reach = normalized * (track_height / 2.0 - _ACCEL_METER_WIDTH / 2.0) + fill_y = mid - reach if accelerating else mid + root, tip = ((_ACCEL_METER_ACCEL_ROOT, _ACCEL_METER_ACCEL_TIP) if accelerating else + (_ACCEL_METER_BRAKE_ROOT, _ACCEL_METER_BRAKE_TIP)) + self._fill(track_x, fill_y, _ACCEL_METER_WIDTH, reach, accelerating, root, tip) + + canvas.slab(backdrop_x + 6.0, mid - 1.0, _ACCEL_METER_BACKDROP_WIDTH - 12.0, 2.0, + canvas.shade(236, 255, 253, 205)) + canvas.disc(track_x + _ACCEL_METER_WIDTH / 2.0, mid, 3.0, canvas.shade(255, 255, 255, 238)) _BS_INSET = 20 _BS_DROP = 100 diff --git a/iqpilot/ui/tests/test_accel_meter.py b/iqpilot/ui/tests/test_accel_meter.py new file mode 100644 index 000000000..074a86ac1 --- /dev/null +++ b/iqpilot/ui/tests/test_accel_meter.py @@ -0,0 +1,31 @@ +""" +Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos +""" +import pytest + +from iqpilot.ui.onroad.hud_overlays import IQAccelBar + + +@pytest.mark.parametrize("acceleration", [-0.12, 0.0, 0.12]) +def test_acceleration_meter_deadband(acceleration): + assert IQAccelBar._normalized(acceleration) == 0.0 + + +@pytest.mark.parametrize("acceleration", [-4.0, -3.0, 3.0, 4.0]) +def test_acceleration_meter_clamps_full_scale(acceleration): + assert IQAccelBar._normalized(acceleration) == 1.0 + + +def test_acceleration_meter_is_symmetric(): + assert IQAccelBar._normalized(-1.5) == IQAccelBar._normalized(1.5) + + +def test_acceleration_meter_attack_is_faster_than_release(): + attack = IQAccelBar._next_value(0.0, 1.0, 0.05) + release = IQAccelBar._next_value(1.0, 0.0, 0.05) + assert attack > 1.0 - release + + +def test_acceleration_meter_crosses_direction_smoothly(): + shown = IQAccelBar._next_value(0.8, -0.8, 0.05) + assert -0.8 < shown < 0.8