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Conditional Experimental Mode

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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
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30
selfdrive/ui/qt/onroad.cc
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@@ -175,7 +175,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
int margin = 40;
int radius = 30;
int offset = scene.always_on_lateral ? 25 : 0;
int offset = scene.always_on_lateral || scene.conditional_experimental ? 25 : 0;
if (alert.size == cereal::ControlsState::AlertSize::FULL) {
margin = 0;
radius = 0;
@@ -563,7 +563,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
// base icon
int offset = UI_BORDER_SIZE + btn_size / 2;
offset += alwaysOnLateral ? 25 : 0;
offset += alwaysOnLateral || conditionalExperimental ? 25 : 0;
int x = rightHandDM ? width() - offset : offset;
int y = height() - offset;
float opacity = dmActive ? 0.65 : 0.2;
@@ -762,9 +762,14 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
cameraView = scene.camera_view;
conditionalExperimental = scene.conditional_experimental;
conditionalSpeed = scene.conditional_speed;
conditionalSpeedLead = scene.conditional_speed_lead;
conditionalStatus = scene.conditional_status;
experimentalMode = scene.experimental_mode;
if (alwaysOnLateral) {
if (alwaysOnLateral || conditionalExperimental) {
drawStatusBar(p);
}
@@ -796,9 +801,28 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
p.setOpacity(1.0);
p.drawRoundedRect(statusBarRect, 30, 30);
std::map<int, QString> conditionalStatusMap = {
{0, "Conditional Experimental Mode ready"},
{1, "Conditional Experimental overridden"},
{2, "Experimental Mode manually activated"},
{3, "Conditional Experimental overridden"},
{4, "Experimental Mode manually activated"},
{5, "Experimental Mode activated for" + (mapOpen ? " intersection" : QString(" upcoming intersection"))},
{6, "Experimental Mode activated for" + (mapOpen ? " turn" : QString(" upcoming turn"))},
{7, "Experimental Mode activated due to" + (mapOpen ? "SLC" : QString(" no speed limit set"))},
{8, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeedLead) + (is_metric ? " kph" : " mph"))},
{9, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeed) + (is_metric ? " kph" : " mph"))},
{10, "Experimental Mode activated for slower lead"},
{11, "Experimental Mode activated for turn" + (mapOpen ? "" : QString(" / lane change"))},
{12, "Experimental Mode activated for curve"},
{13, "Experimental Mode activated for stop" + (mapOpen ? "" : QString(" sign / stop light"))},
};
// Update status text
if (alwaysOnLateralActive) {
newStatus = QString("Always On Lateral active. Press the \"Cruise Control\" button to disable");
} else if (conditionalExperimental) {
newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
}
// Check if status has changed