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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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26
selfdrive/controls/controlsd.py
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@@ -78,7 +78,7 @@ class Controls:
self.params_storage = Params("/persist/params")
self.params_memory.put_bool("CPTLkasButtonAction", False)
self.params_memory.put_bool("ScreenDisaplayMode", 0)
self.params_memory.put_int("ScreenDisplayMode", 0)
self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
@@ -1251,21 +1251,17 @@ class Controls:
def clearpilot_state_control(self, CC, CS):
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
# if self.params_memory.get_bool("CPTLkasButtonAction"):
# self.params_memory.put_bool("CPTLkasButtonAction", False)
# else:
# self.params_memory.put_bool("CPTLkasButtonAction", True)
# Rotate display mode. These are mostly used in the frontend ui app.
max_display_mode = 1
current_display_mode = self.params_memory.get_int("ScreenDisaplayMode")
current_display_mode = current_display_mode + 1
if current_display_mode > max_display_mode:
current_display_mode = 0
self.params_memory.put_int("ScreenDisaplayMode", current_display_mode)
current = self.params_memory.get_int("ScreenDisplayMode")
# self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
if self.driving_gear:
# Onroad: 0→4, 1→2, 2→3, 3→4, 4→2 (never back to auto via button)
transitions = {0: 4, 1: 2, 2: 3, 3: 4, 4: 2}
new_mode = transitions.get(current, 0)
else:
# Not in drive: any except 3 → 3, state 3 → 0
new_mode = 0 if current == 3 else 3
self.params_memory.put_int("ScreenDisplayMode", new_mode)
return CC
def main():