IQ.Lvbs/IQ.Pilot
8
7
Fork 3
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ e46d557

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-08-07 00:13:39 -05:00
parent 03c3158b81
commit 824bb9ddfd
216 changed files with 7457 additions and 3151 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
selfdrive/controls/controlsd.py
View File

@@ -168,8 +168,11 @@ class Controls(IQControlsLayer):
CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
(not standstill or self.CP.steerAtStandstill)
# long control may stay active through a gas override on platforms that opt in
override_longitudinal = any(e.overrideLongitudinal for e in self.sm['onroadEvents'])
long_through_override = self.CP_IQ.longActiveWithGasOverride and self.CP.openpilotLongitudinalControl
CC.longActive = CC.enabled and not getattr(CS, 'cruiseFaultLateralMode', False) and \
not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
(not override_longitudinal or long_through_override) and \
(self.CP.openpilotLongitudinalControl or not self.CP_IQ.pcmCruiseSpeed)
actuators = CC.actuators
@@ -184,7 +187,7 @@ class Controls(IQControlsLayer):
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_IQ, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits,
long_plan.leadDistance, long_plan.hasLead))
long_plan.leadDistance, long_plan.hasLead, gas_override=override_longitudinal))
# Steering PID loop and lateral MPC
# Reset desired curvature to current to avoid violating the limits on engage

9
selfdrive/controls/lib/longcontrol.py
View File

@@ -53,7 +53,7 @@ class LongControl:
def reset(self):
self.pid.reset()
def update(self, active, CS, a_target, should_stop, accel_limits, lead_distance=0.0, has_lead=False):
def update(self, active, CS, a_target, should_stop, accel_limits, lead_distance=0.0, has_lead=False, gas_override=False):
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
self.pid.neg_limit = accel_limits[0]
self.pid.pos_limit = accel_limits[1]
@@ -87,8 +87,13 @@ class LongControl:
else:
error = a_target - CS.aEgo
output_accel = self.pid.update(error, speed=CS.vEgo,
feedforward=a_target)
feedforward=a_target,
freeze_integrator=gas_override)
self.smooth.reset()
if gas_override:
# safety blocks braking while the gas is pressed, and a blocked tx drops the whole frame
output_accel = max(output_accel, 0.0)
self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
return self.last_output_accel

3
selfdrive/selfdrived/helpers.py
View File

@@ -26,7 +26,8 @@ class ExcessiveActuationCheck:
# CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
# longitudinal
accel_calibrated = calibrated_pose.acceleration.x
excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
excessive_long_actuation = sm['carControl'].longActive and ((not CS.gasPressed and accel_calibrated > ACCEL_MAX * 2) or
accel_calibrated < ACCEL_MIN * 2)
# lateral
yaw_rate = calibrated_pose.angular_velocity.yaw

12
selfdrive/ui/layouts/settings/toggles.py
View File

@@ -41,6 +41,10 @@ DESCRIPTIONS = {
"DashcamEnabled": tr_noop("Record and upload driving data and video. Disabling this stops all recording! No logs, no video, no audio."),
'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
"IsMetric": tr_noop("Display speed in km/h instead of mph."),
"IQAutoUnits": tr_noop(
"Set the units from the device location. Speeds switch to km/h everywhere except the United States, " +
"the United Kingdom and Liberia, and are re-checked when you cross a border."
),
"RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in Konn3kt."),
"LongitudinalControlMode": tr_noop(
"Choose longitudinal behavior: IQ.Pilot (IQ longitudinal + end-to-end), "
@@ -95,6 +99,12 @@ class TogglesLayout(Widget):
"metric.png",
False,
),
"IQAutoUnits": (
lambda: tr("Set Units From Location"),
DESCRIPTIONS["IQAutoUnits"],
"metric.png",
False,
),
}
self._long_personality_setting = multiple_button_item(
@@ -296,6 +306,8 @@ class TogglesLayout(Widget):
def _toggle_callback(self, state: bool, param: str):
self._params.put_bool(param, state)
if param == "IQAutoUnits" and state:
self._params.remove("IQAutoUnitsRegion")
if self._toggle_defs[param][3]:
self._params.put_bool("OnroadCycleRequested", True)

8
selfdrive/ui/mici/layouts/settings/toggles.py
View File

@@ -18,13 +18,15 @@ class TogglesLayoutMici(NavScroller):
disengage = BigParamControl("disengage on accelerator", "DisengageOnAccelerator")
ldw = BigParamControl("lane departure warnings", "IsLdwEnabled")
is_metric = BigParamControl("use metric units", "IsMetric")
auto_units = BigParamControl("set units from location", "IQAutoUnits", toggle_callback=self._auto_units_callback)
self._scroller.add_widgets([disengage, ldw, is_metric])
self._scroller.add_widgets([disengage, ldw, is_metric, auto_units])
self._refresh_toggles = (
("DisengageOnAccelerator", disengage),
("IsLdwEnabled", ldw),
("IsMetric", is_metric),
("IQAutoUnits", auto_units),
)
if ui_state.params.get_bool("ShowDebugInfo"):
@@ -35,6 +37,10 @@ class TogglesLayoutMici(NavScroller):
super().show_event()
self._update_toggles()
def _auto_units_callback(self, state: bool):
if state:
ui_state.params.remove("IQAutoUnitsRegion")
def _update_toggles(self):
ui_state.update_params()
for key, item in self._refresh_toggles:

28
selfdrive/ui/mici/onroad/cameraview.py
View File

@@ -4,7 +4,7 @@ import pyray as rl
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import TICI
from openpilot.system.hardware import EGL_DMA_BUF_SUPPORTED
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
from openpilot.system.ui.widgets import Widget
@@ -38,7 +38,7 @@ void main() {
"""
# Choose fragment shader based on platform capabilities
if TICI:
if EGL_DMA_BUF_SUPPORTED:
FRAME_FRAGMENT_SHADER = """
#version 300 es
#extension GL_OES_EGL_image_external_essl3 : enable
@@ -121,7 +121,7 @@ class CameraView(Widget):
self._texture_needs_update = True
self.last_connection_attempt: float = 0.0
self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not EGL_DMA_BUF_SUPPORTED else -1
self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
self._engaged_val = rl.ffi.new("int[1]", [1])
self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
@@ -137,8 +137,8 @@ class CameraView(Widget):
self._placeholder_color: rl.Color | None = None
# Initialize EGL for zero-copy rendering on TICI
if TICI:
# Initialize EGL for zero-copy rendering on comma 3/3X.
if EGL_DMA_BUF_SUPPORTED:
if not init_egl():
raise RuntimeError("Failed to initialize EGL")
@@ -189,7 +189,7 @@ class CameraView(Widget):
self._clear_textures()
# Clean up EGL texture
if TICI and self.egl_texture:
if EGL_DMA_BUF_SUPPORTED and self.egl_texture:
rl.unload_texture(self.egl_texture)
self.egl_texture = None
@@ -264,7 +264,7 @@ class CameraView(Widget):
dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
# Render with appropriate method
if TICI:
if EGL_DMA_BUF_SUPPORTED:
self._render_egl(src_rect, dst_rect)
else:
self._render_textures(src_rect, dst_rect)
@@ -387,12 +387,12 @@ class CameraView(Widget):
self._initialize_textures()
def _initialize_textures(self):
self._clear_textures()
if not TICI:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
self._clear_textures()
if not EGL_DMA_BUF_SUPPORTED:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
def _clear_textures(self):
if self.texture_y and self.texture_y.id:
@@ -404,7 +404,7 @@ class CameraView(Widget):
self.texture_uv = None
# Clean up EGL resources
if TICI:
if EGL_DMA_BUF_SUPPORTED:
for data in self.egl_images.values():
destroy_egl_image(data)
self.egl_images = {}

4
selfdrive/ui/onroad/augmented_road_view.py
View File

@@ -9,6 +9,7 @@ from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer
from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer as BaseDriverStateRenderer, BTN_SIZE
from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer as BaseHudRenderer
from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
from openpilot.selfdrive.ui.onroad.environment_renderer import EnvironmentRenderer
from openpilot.selfdrive.ui.onroad.cameraview import CameraView
from openpilot.system.ui.lib.application import gui_app
from openpilot.common.issue_debug import log_issue_limited
@@ -55,6 +56,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewIQ):
self._split_nav_available = False
self.model_renderer = ModelRenderer()
self.environment_renderer = EnvironmentRenderer()
self.alert_renderer = AlertRenderer()
self._hud_renderer = IQHudRenderer()
self.driver_state_renderer = DriverStateRendererIQ()
@@ -114,6 +116,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewIQ):
# Draw all UI overlays
self.model_renderer.render(camera_rect)
self.environment_renderer.render(camera_rect)
AugmentedRoadViewIQ.update_fade_out_bottom_overlay(self, camera_rect)
self._hud_renderer.render(camera_rect)
@@ -280,6 +283,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewIQ):
])
self.model_renderer.set_transform(video_transform @ calib_transform)
self.model_renderer.set_frame_transform(video_transform, is_wide_camera)
self.environment_renderer.set_transform(video_transform @ calib_transform)
return self._cached_matrix

18
selfdrive/ui/onroad/cameraview.py
View File

@@ -4,7 +4,7 @@ import pyray as rl
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import TICI
from openpilot.system.hardware import EGL_DMA_BUF_SUPPORTED
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
from openpilot.system.ui.widgets import Widget
@@ -38,7 +38,7 @@ void main() {
"""
# Choose fragment shader based on platform capabilities
if TICI:
if EGL_DMA_BUF_SUPPORTED:
FRAME_FRAGMENT_SHADER = """
#version 300 es
#extension GL_OES_EGL_image_external_essl3 : enable
@@ -82,7 +82,7 @@ class CameraView(Widget):
self._texture_needs_update = True
self.last_connection_attempt: float = 0.0
self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not EGL_DMA_BUF_SUPPORTED else -1
self.frame: VisionBuf | None = None
self.texture_y: rl.Texture | None = None
@@ -94,8 +94,8 @@ class CameraView(Widget):
self._placeholder_color: rl.Color | None = None
# Initialize EGL for zero-copy rendering on TICI
if TICI:
# Initialize EGL for zero-copy rendering on comma 3/3X.
if EGL_DMA_BUF_SUPPORTED:
if not init_egl():
raise RuntimeError("Failed to initialize EGL")
@@ -146,7 +146,7 @@ class CameraView(Widget):
self._clear_textures()
# Clean up EGL texture
if TICI and self.egl_texture:
if EGL_DMA_BUF_SUPPORTED and self.egl_texture:
rl.unload_texture(self.egl_texture)
self.egl_texture = None
@@ -220,7 +220,7 @@ class CameraView(Widget):
dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
# Render with appropriate method
if TICI:
if EGL_DMA_BUF_SUPPORTED:
self._render_egl(src_rect, dst_rect)
else:
self._render_textures(src_rect, dst_rect)
@@ -337,7 +337,7 @@ class CameraView(Widget):
def _initialize_textures(self):
self._clear_textures()
if not TICI:
if not EGL_DMA_BUF_SUPPORTED:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
@@ -353,7 +353,7 @@ class CameraView(Widget):
self.texture_uv = None
# Clean up EGL resources
if TICI:
if EGL_DMA_BUF_SUPPORTED:
for data in self.egl_images.values():
destroy_egl_image(data)
self.egl_images = {}

141
selfdrive/ui/onroad/environment_renderer.py Normal file
View File

@@ -0,0 +1,141 @@
import numpy as np
import pyray as rl
from cereal import custom
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import Widget
MODE_OFF = 0
MODE_OVERLAY = 1
MODE_REPLACE = 2
_ENV_LABEL = custom.IQEnvironment.Object.Label
_OBJECT_COLORS = {
_ENV_LABEL.car: (40, 210, 200),
_ENV_LABEL.truck: (40, 210, 200),
_ENV_LABEL.bus: (40, 210, 200),
_ENV_LABEL.motorcycle: (90, 220, 255),
_ENV_LABEL.bicycle: (90, 220, 255),
_ENV_LABEL.person: (255, 210, 90),
_ENV_LABEL.stopSign: (255, 60, 45),
_ENV_LABEL.trafficLight: (255, 190, 0),
}
_BOX_EDGES = (
(0, 1), (1, 3), (3, 2), (2, 0),
(4, 5), (5, 7), (7, 6), (6, 4),
(0, 4), (1, 5), (2, 6), (3, 7),
)
GRID_HALF_WIDTH = 12.0
GRID_MAX_DISTANCE = 90.0
GRID_STEP = 6.0
class EnvironmentRenderer(Widget):
def __init__(self):
Widget.__init__(self)
self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
self._mode = MODE_OFF
self._counter = 0
def set_transform(self, transform: np.ndarray):
self._car_space_transform = transform.astype(np.float32)
def _project(self, pt: np.ndarray):
p = self._car_space_transform @ pt
if abs(p[2]) < 1e-6:
return None
return p[0] / p[2], p[1] / p[2]
def _in_rect(self, x: float, y: float) -> bool:
r = self._rect
return r.x - 400 <= x <= r.x + r.width + 400 and r.y - 400 <= y <= r.y + r.height + 400
def _render(self, rect: rl.Rectangle):
sm = ui_state.sm
if self._counter % 30 == 0:
self._mode = int(ui_state.params.get("EnvironmentView", return_default=True) or 0) if ui_state.active_bundle else 0
self._counter += 1
if self._mode == MODE_OFF:
return
if sm.recv_frame["liveCalibration"] < ui_state.started_frame:
return
if self._mode == MODE_REPLACE:
self._draw_backdrop(rect)
self._draw_ground_grid()
if sm.valid["modelV2"]:
self._draw_model_scene(sm["modelV2"])
if sm.alive["iqEnvironment"] and sm.valid["iqEnvironment"]:
self._draw_objects(sm["iqEnvironment"])
def _draw_backdrop(self, rect: rl.Rectangle):
rl.draw_rectangle_gradient_v(int(rect.x), int(rect.y), int(rect.width), int(rect.height),
rl.Color(14, 17, 22, 255), rl.Color(6, 8, 11, 255))
def _draw_ground_grid(self):
col = rl.Color(60, 70, 82, 90)
dist = GRID_STEP
while dist <= GRID_MAX_DISTANCE:
a = self._project(np.array([dist, -GRID_HALF_WIDTH, 0.0]))
b = self._project(np.array([dist, GRID_HALF_WIDTH, 0.0]))
if a and b and self._in_rect(*a) and self._in_rect(*b):
rl.draw_line_ex(rl.Vector2(*a), rl.Vector2(*b), 1.5, col)
dist += GRID_STEP
for off in np.arange(-GRID_HALF_WIDTH, GRID_HALF_WIDTH + 0.1, 3.0):
a = self._project(np.array([GRID_STEP, float(off), 0.0]))
b = self._project(np.array([GRID_MAX_DISTANCE, float(off), 0.0]))
if a and b and self._in_rect(*a) and self._in_rect(*b):
rl.draw_line_ex(rl.Vector2(*a), rl.Vector2(*b), 1.5, col)
def _draw_polyline(self, xs, ys, zs, color, thick):
pts = []
for x, y, z in zip(xs, ys, zs, strict=False):
if x < 0:
continue
s = self._project(np.array([x, y, z], dtype=np.float32))
if s and self._in_rect(*s):
pts.append(rl.Vector2(*s))
for i in range(len(pts) - 1):
rl.draw_line_ex(pts[i], pts[i + 1], thick, color)
def _draw_model_scene(self, model):
for i, lane in enumerate(model.laneLines):
a = int(np.clip(model.laneLineProbs[i], 0.0, 0.9) * 255)
self._draw_polyline(lane.x, lane.y, lane.z, rl.Color(235, 235, 235, a), 3.0)
for edge in model.roadEdges:
self._draw_polyline(edge.x, edge.y, edge.z, rl.Color(230, 70, 70, 180), 3.0)
pos = model.position
self._draw_polyline(pos.x, pos.y, pos.z, rl.Color(40, 210, 200, 220), 6.0)
def _draw_objects(self, env):
for obj in env.objects:
self._draw_box(obj)
def _draw_box(self, obj):
hx, hy = obj.length / 2.0, obj.width / 2.0
base = np.array([
[obj.x - hx, obj.y - hy, obj.z], [obj.x - hx, obj.y + hy, obj.z],
[obj.x + hx, obj.y - hy, obj.z], [obj.x + hx, obj.y + hy, obj.z],
[obj.x - hx, obj.y - hy, obj.z + obj.height], [obj.x - hx, obj.y + hy, obj.z + obj.height],
[obj.x + hx, obj.y - hy, obj.z + obj.height], [obj.x + hx, obj.y + hy, obj.z + obj.height],
], dtype=np.float32)
screen = []
for corner in base:
s = self._project(corner)
if s is None or not self._in_rect(*s):
return
screen.append(s)
r, g, b = _OBJECT_COLORS.get(obj.label, (40, 210, 200))
a = int(np.clip(obj.prob, 0.3, 1.0) * 210)
floor = [rl.Vector2(*screen[i]) for i in (0, 1, 3, 2)]
rl.draw_triangle(floor[0], floor[1], floor[2], rl.Color(r, g, b, a // 5))
rl.draw_triangle(floor[0], floor[2], floor[3], rl.Color(r, g, b, a // 5))
for i, j in _BOX_EDGES:
rl.draw_line_ex(rl.Vector2(*screen[i]), rl.Vector2(*screen[j]), 2.0, rl.Color(r, g, b, a))

18
selfdrive/ui/onroad/hud_renderer.py
View File

@@ -32,6 +32,7 @@ class FontSizes:
max_speed: int = 28
set_speed: int = 74
limit_speed: int = 64
limit_offset: int = 30
limit_unit: int = 22
limit_label: int = 24
@@ -70,6 +71,7 @@ class HudRenderer(Widget):
self.speed: float = 0.0
self.v_ego_cluster_seen: bool = False
self.limit_speed_text: str = "---"
self.limit_offset_text: str = ""
self.limit_available: bool = False
self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
@@ -168,14 +170,28 @@ class HudRenderer(Widget):
else:
limit_value_size = 48
limit_value_width = measure_text_cached(self._font_bold, limit_value_text, limit_value_size).x
limit_offset_text = self.limit_offset_text if self.limit_available else ""
limit_offset_width = 0.0
if limit_offset_text:
limit_offset_width = measure_text_cached(self._font_semi_bold, limit_offset_text, FONT_SIZES.limit_offset).x + 8
limit_value_x = x + (set_speed_width - limit_value_width - limit_offset_width) / 2
rl.draw_text_ex(
self._font_bold,
limit_value_text,
rl.Vector2(x + (set_speed_width - limit_value_width) / 2, y + 14),
rl.Vector2(limit_value_x, y + 14),
limit_value_size,
0,
limit_value_color,
)
if limit_offset_text:
rl.draw_text_ex(
self._font_semi_bold,
limit_offset_text,
rl.Vector2(limit_value_x + limit_value_width + 8, y + 22),
FONT_SIZES.limit_offset,
0,
COLORS.WHITE_TRANSLUCENT,
)
if self.limit_available:
limit_unit_text = tr("LIMIT")

11
selfdrive/ui/soundd.py
View File

@@ -224,6 +224,17 @@ class Soundd(AlertSoundFilter):
sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])
threading.Thread(target=self.webrtc_audio_thread, daemon=True).start()
while True:
try:
self._stream_loop(sd, sm)
except Exception:
# Some A1s wedge the audio DSP (ALSA EINVAL / ADSP_EFAILED until reboot). Dying here
# crash-loops the process and selfdrived raises a takeover alert mid-drive over alert
# sounds - stay alive and keep retrying instead; recovers if the DSP comes back.
cloudlog.exception("soundd: audio stream unavailable, retrying")
time.sleep(10)
def _stream_loop(self, sd, sm):
with self.get_stream(sd) as stream:
rk = Ratekeeper(20)

5
selfdrive/ui/ui_state.py
View File

@@ -8,6 +8,7 @@ from cereal import messaging, car, log, custom
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.iqpilot.common.auto_units import AutoUnits
from openpilot.selfdrive.ui.lib.prime_state import PrimeState
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.hardware import HARDWARE, PC
@@ -42,12 +43,13 @@ class IQUIState:
self.update_params()
self.auto_units = AutoUnits(self.params)
self.onroad_brightness_timer: int = 0
self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
self.reset_onroad_sleep_timer()
def update(self) -> None:
pass
self.auto_units.update()
def onroad_brightness_handle_alerts(self, started: bool, alert):
# while an alert is on screen the dim countdown is frozen and re-armed; otherwise it ticks down
@@ -254,6 +256,7 @@ class UIState(IQUIState):
"radarState",
"liveTracks",
"iqVehicleTracks",
"iqEnvironment",
"deviceState",
"pandaStates",
"carParams",