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Model switcher

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Added model selector to swap between several different models on the fly.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent e076a3d4d6
commit 3345470373
11 changed files with 66 additions and 2 deletions
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32
selfdrive/frogpilot/ui/control_settings.cc
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@@ -33,6 +33,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"AggressiveAcceleration", "Aggressive Acceleration With Lead", "Increase acceleration aggressiveness when following a lead vehicle from a stop.", ""},
{"StoppingDistance", "Increase Stop Distance Behind Lead", "Increase the stopping distance for a more comfortable stop from lead vehicles.", ""},
{"Model", "Model Selector", "Choose your preferred openpilot model.", "../assets/offroad/icon_calibration.png"},
{"MTSCEnabled", "Map Turn Speed Control", "Slow down for anticipated curves detected by your downloaded maps.", "../frogpilot/assets/toggle_icons/icon_speed_map.png"},
{"DisableMTSCSmoothing", "Disable MTSC UI Smoothing", "Disables the smoothing for the requested speed in the onroad UI.", ""},
{"MTSCCurvatureCheck", "Model Curvature Detection Failsafe", "Only trigger MTSC when the model detects a curve in the road. Purely used as a failsafe to prevent false positives. Leave this off if you never experience false positives.", ""},
@@ -219,6 +221,34 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
} else if (param == "StoppingDistance") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map<int, QString>(), this, false, " feet");
} else if (param == "Model") {
modelSelectorButton = new FrogPilotButtonIconControl(title, tr("SELECT"), desc, icon);
QStringList models = {"los-angeles", "certified-herbalist", "duck-amigo", "recertified-herbalist"};
QStringList modelLabels = {"Los Angeles (Default)", "Certified Herbalist", "Duck Amigo", "Recertified Herbalist"};
QObject::connect(modelSelectorButton, &FrogPilotButtonIconControl::clicked, this, [this, models, modelLabels]() {
QString selection = MultiOptionDialog::getSelection(tr("Select a driving model"), modelLabels, "", this);
if (!selection.isEmpty()) {
int selectedModelIndex = modelLabels.indexOf(selection);
QString selectedModelValue = models[selectedModelIndex];
params.put("Model", selectedModelValue.toStdString());
modelSelectorButton->setValue(selection);
if (FrogPilotConfirmationDialog::yesorno("Do you want to start with a fresh calibration for the newly selected model?", this)) {
params.remove("CalibrationParams");
params.remove("LiveTorqueParameters");
}
if (started) {
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
Hardware::soft_reboot();
}
}
}
});
int initialModelIndex = models.indexOf(QString::fromStdString(params.get("Model")));
QString initialModelLabel = modelLabels[initialModelIndex];
modelSelectorButton->setValue(initialModelLabel);
addItem(modelSelectorButton);
} else if (param == "MTSCEnabled") {
FrogPilotParamManageControl *mtscToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(mtscToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -356,6 +386,7 @@ void FrogPilotControlsPanel::parentToggleClicked() {
aggressiveProfile->setVisible(false);
conditionalSpeedsImperial->setVisible(false);
conditionalSpeedsMetric->setVisible(false);
modelSelectorButton->setVisible(false);
standardProfile->setVisible(false);
relaxedProfile->setVisible(false);
@@ -370,6 +401,7 @@ void FrogPilotControlsPanel::hideSubToggles() {
aggressiveProfile->setVisible(false);
conditionalSpeedsImperial->setVisible(false);
conditionalSpeedsMetric->setVisible(false);
modelSelectorButton->setVisible(true);
standardProfile->setVisible(false);
relaxedProfile->setVisible(false);