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5-state display mode: auto day/night, nightrider, screen off

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New ScreenDisplayMode param (fixes ScreenDisaplayMode typo):
  0=auto-normal, 1=auto-nightrider, 2=normal, 3=screen-off, 4=nightrider

Nightrider mode: black background (no camera feed), path/lane lines
drawn as 2px outlines only. Auto mode uses NOAA solar position calc
in gpsd to switch between day/night based on GPS lat/lon and UTC time.
First calc on GPS fix, then every 30 seconds.

Button cycle onroad: 0→4, 1→2, 2→3, 3→4, 4→2 (never back to auto).
Offroad: any→3, 3→0. bench_cmd debugbutton simulates the button press.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-13 06:49:38 +00:00
parent d801177d2a
commit 5b91dac33e
7 changed files with 164 additions and 44 deletions
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18
selfdrive/clearpilot/bench_cmd.py
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@@ -8,6 +8,7 @@ Usage:
python3 -m selfdrive.clearpilot.bench_cmd speedlimit 45
python3 -m selfdrive.clearpilot.bench_cmd cruise 55
python3 -m selfdrive.clearpilot.bench_cmd engaged 1
python3 -m selfdrive.clearpilot.bench_cmd debugbutton (simulate LKAS debug button press)
python3 -m selfdrive.clearpilot.bench_cmd dump
python3 -m selfdrive.clearpilot.bench_cmd wait_ready
"""
@@ -105,6 +106,23 @@ def main():
elif cmd == "wait_ready":
wait_ready()
elif cmd == "debugbutton":
# Simulate LKAS debug button — same state machine as controlsd.clearpilot_state_control()
current = params.get_int("ScreenDisplayMode")
gear = (params.get("BenchGear") or b"P").decode().strip().upper()
in_drive = gear in ("D", "S", "L")
if in_drive:
transitions = {0: 4, 1: 2, 2: 3, 3: 4, 4: 2}
new_mode = transitions.get(current, 0)
else:
new_mode = 0 if current == 3 else 3
params.put_int("ScreenDisplayMode", new_mode)
mode_names = {0: "auto-normal", 1: "auto-nightrider", 2: "normal", 3: "screen-off", 4: "nightrider"}
print(f"ScreenDisplayMode: {current} ({mode_names.get(current, '?')}) → {new_mode} ({mode_names.get(new_mode, '?')})"
f" [gear={gear}, in_drive={in_drive}]")
elif cmd in param_map:
if len(sys.argv) < 3:
print(f"Usage: bench_cmd {cmd} <value>")