Switch personalities via steering wheel / onroad UI

Added toggle to switch between the personalities via the steering wheel or an onroad UI button.

Co-Authored-By: henryccy <104284652+henryccy@users.noreply.github.com>
Co-Authored-By: Jason Jackrel <23621790+thinkpad4by3@users.noreply.github.com>
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
Co-Authored-By: Kevin Robert Keegan <3046315+krkeegan@users.noreply.github.com>
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>

selfdrive/frogpilot/functions/frogpilot_functions.py

@@ -5,8 +5,6 @@ from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
 
 
-params_memory = Params("/dev/shm/params")
-
 DEFAULT_MODEL = "los-angeles"
 
 CITY_SPEED_LIMIT = 25
@@ -51,6 +49,7 @@ class MovingAverageCalculator:
 class FrogPilotFunctions:
   def __init__(self) -> None:
     self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
 
   @staticmethod
   def get_min_accel_eco(v_ego):
@@ -82,19 +81,32 @@ class FrogPilotFunctions:
 
     return min(distance_to_lane, distance_to_road_edge)
 
-  @staticmethod
+  @property
+  def current_personality(self):
+    return self.params.get_int("LongitudinalPersonality")
+
+  def distance_button_function(self, new_personality):
+    self.params.put_int("LongitudinalPersonality", new_personality)
+    self.params_memory.put_bool("PersonalityChangedViaWheel", True)
+
+  @property
+  def personality_changed_via_ui(self):
+    return self.params_memory.get_bool("PersonalityChangedViaUI")
+
+  def reset_personality_changed_param(self):
+    self.params_memory.put_bool("PersonalityChangedViaUI", False)
+
   def update_cestatus_distance(self):
     # Set "CEStatus" to work with "Conditional Experimental Mode"
-    conditional_status = params_memory.get_int("CEStatus")
+    conditional_status = self.params_memory.get_int("CEStatus")
     override_value = 0 if conditional_status in (1, 2, 3, 4, 5, 6) else 3 if conditional_status >= 7 else 4
-    params_memory.put_int("CEStatus", override_value)
+    self.params_memory.put_int("CEStatus", override_value)
 
-  @staticmethod
   def update_cestatus_lkas(self):
     # Set "CEStatus" to work with "Conditional Experimental Mode"
-    conditional_status = params_memory.get_int("CEStatus")
+    conditional_status = self.params_memory.get_int("CEStatus")
     override_value = 0 if conditional_status in (1, 2, 3, 4, 5, 6) else 5 if conditional_status >= 7 else 6
-    params_memory.put_int("CEStatus", override_value)
+    self.params_memory.put_int("CEStatus", override_value)
 
   def update_experimental_mode(self):
     experimental_mode = self.params.get_bool("ExperimentalMode")

selfdrive/frogpilot/ui/control_settings.cc

@@ -2,6 +2,8 @@
 
 FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
   const std::vector<std::tuple<QString, QString, QString, QString>> controlToggles {
+    {"AdjustablePersonalities", "Adjustable Personalities", "Use the 'Distance' button on the steering wheel or the onroad UI to switch between openpilot's driving personalities.\n\n1 bar = Aggressive\n2 bars = Standard\n3 bars = Relaxed", "../frogpilot/assets/toggle_icons/icon_distance.png"},
+
     {"AlwaysOnLateral", "Always on Lateral", "Maintain openpilot lateral control when the brake or gas pedals are used.\n\nDeactivation occurs only through the 'Cruise Control' button.", "../frogpilot/assets/toggle_icons/icon_always_on_lateral.png"},
     {"AlwaysOnLateralMain", "Enable On Cruise Main", "Enable 'Always On Lateral' by simply turning on 'Cruise Control'.", ""},
     {"HideAOLStatusBar", "Hide the Status Bar", "Don't use the status bar for 'Always On Lateral'.", ""},
@@ -82,7 +84,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
   for (const auto &[param, title, desc, icon] : controlToggles) {
     ParamControl *toggle;
 
-    if (param == "AlwaysOnLateral") {
+    if (param == "AdjustablePersonalities") {
+      std::vector<QString> adjustablePersonalitiesToggles{"PersonalitiesViaWheel", "PersonalitiesViaScreen"};
+      std::vector<QString> adjustablePersonalitiesNames{tr("Distance Button"), tr("Screen")};
+      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, adjustablePersonalitiesToggles, adjustablePersonalitiesNames);
+
+    } else if (param == "AlwaysOnLateral") {
       FrogPilotParamManageControl *aolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
       QObject::connect(aolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
         parentToggleClicked();