brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Conditional Experimental Mode

Browse Source 
Added toggles for "Conditional Experimental Mode".

Conditions based on road curvature, turn signals, speed, lead speed, navigation instructions, and stop signs/stop lights are all individually toggleable.

Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-28 19:46:38 -07:00
parent 89e6ebdf12
commit 50cc95341d
18 changed files with 423 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
selfdrive/frogpilot/ui/control_settings.cc
View File

@@ -4,6 +4,13 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
const std::vector<std::tuple<QString, QString, QString, QString>> controlToggles {
{"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"},
{"ConditionalExperimental", "Conditional Experimental Mode", "Automatically switches to 'Experimental Mode' under predefined conditions.", "../frogpilot/assets/toggle_icons/icon_conditional.png"},
{"CECurves", "Curve Detected Ahead", "Switch to 'Experimental Mode' when a curve is detected.", ""},
{"CENavigation", "Navigation Based", "Switch to 'Experimental Mode' based on navigation data. (i.e. Intersections, stop signs, etc.)", ""},
{"CESlowerLead", "Slower Lead Detected Ahead", "Switch to 'Experimental Mode' when a slower lead vehicle is detected ahead.", ""},
{"CEStopLights", "Stop Lights and Stop Signs", "Switch to 'Experimental Mode' when a stop light or stop sign is detected.", ""},
{"CESignal", "Turn Signal When Below Highway Speeds", "Switch to 'Experimental Mode' when using turn signals below highway speeds to help assit with turns.", ""},
{"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
{"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
@@ -34,6 +41,44 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
});
} else if (param == "ConditionalExperimental") {
FrogPilotParamManageControl *conditionalExperimentalToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(conditionalExperimentalToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
parentToggleClicked();
conditionalSpeedsImperial->setVisible(!isMetric);
conditionalSpeedsMetric->setVisible(isMetric);
for (auto &[key, toggle] : toggles) {
toggle->setVisible(conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end());
}
});
toggle = conditionalExperimentalToggle;
} else if (param == "CECurves") {
FrogPilotParamValueControl *CESpeedImperial = new FrogPilotParamValueControl("CESpeed", "Below", "Switch to 'Experimental Mode' below this speed in absence of a lead vehicle.", "", 0, 99,
std::map<int, QString>(), this, false, " mph");
FrogPilotParamValueControl *CESpeedLeadImperial = new FrogPilotParamValueControl("CESpeedLead", " w/Lead", "Switch to 'Experimental Mode' below this speed when following a lead vehicle.", "", 0, 99,
std::map<int, QString>(), this, false, " mph");
conditionalSpeedsImperial = new FrogPilotDualParamControl(CESpeedImperial, CESpeedLeadImperial, this);
addItem(conditionalSpeedsImperial);
FrogPilotParamValueControl *CESpeedMetric = new FrogPilotParamValueControl("CESpeed", "Below", "Switch to 'Experimental Mode' below this speed in absence of a lead vehicle.", "", 0, 150,
std::map<int, QString>(), this, false, " kph");
FrogPilotParamValueControl *CESpeedLeadMetric = new FrogPilotParamValueControl("CESpeedLead", " w/Lead", "Switch to 'Experimental Mode' below this speed when following a lead vehicle.", "", 0, 150,
std::map<int, QString>(), this, false, " kph");
conditionalSpeedsMetric = new FrogPilotDualParamControl(CESpeedMetric, CESpeedLeadMetric, this);
addItem(conditionalSpeedsMetric);
std::vector<QString> curveToggles{"CECurvesLead"};
std::vector<QString> curveToggleNames{tr("With Lead")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, curveToggles, curveToggleNames);
} else if (param == "CENavigation") {
std::vector<QString> navigationToggles{"CENavigationIntersections", "CENavigationTurns", "CENavigationLead"};
std::vector<QString> navigationToggleNames{tr("Intersections"), tr("Turns"), tr("With Lead")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, navigationToggles, navigationToggleNames);
} else if (param == "CEStopLights") {
std::vector<QString> stopLightToggles{"CEStopLightsLead"};
std::vector<QString> stopLightToggleNames{tr("With Lead")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, stopLightToggles, stopLightToggleNames);
} else if (param == "LateralTune") {
FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -151,6 +196,8 @@ void FrogPilotControlsPanel::updateMetric() {
if (isMetric != previousIsMetric) {
double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
params.putIntNonBlocking("CESpeed", std::nearbyint(params.getInt("CESpeed") * speedConversion));
params.putIntNonBlocking("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
}
if (isMetric) {
@@ -161,6 +208,9 @@ void FrogPilotControlsPanel::updateMetric() {
}
void FrogPilotControlsPanel::parentToggleClicked() {
conditionalSpeedsImperial->setVisible(false);
conditionalSpeedsMetric->setVisible(false);
openParentToggle();
}
@@ -169,6 +219,9 @@ void FrogPilotControlsPanel::subParentToggleClicked() {
}
void FrogPilotControlsPanel::hideSubToggles() {
conditionalSpeedsImperial->setVisible(false);
conditionalSpeedsMetric->setVisible(false);
for (auto &[key, toggle] : toggles) {
bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end() ||