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559
scp/ui/control_settings.cc
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559
scp/ui/control_settings.cc
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#include "selfdrive/frogpilot/ui/control_settings.h"
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#include "selfdrive/ui/ui.h"
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FrogPilotControlsPanel::FrogPilotControlsPanel(OscarSettingsWindow *parent) : FrogPilotListWidget(parent) {
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const std::vector<std::tuple<QString, QString, QString, QString>> controlToggles {
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{"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"},
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{"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"},
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{"ConditionalExperimental", "Conditional Experimental Mode", "Automatically switches to 'Experimental Mode' under predefined conditions.", "../frogpilot/assets/toggle_icons/icon_conditional.png"},
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{"CECurves", "Curve Detected Ahead", "Switch to 'Experimental Mode' when a curve is detected.", ""},
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{"CENavigation", "Navigation Based", "Switch to 'Experimental Mode' based on navigation data. (i.e. Intersections, stop signs, etc.)", ""},
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{"CESlowerLead", "Slower Lead Detected Ahead", "Switch to 'Experimental Mode' when a slower lead vehicle is detected ahead.", ""},
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// {"CEStopLights", "Stop Lights and Stop Signs", "Switch to 'Experimental Mode' when a stop light or stop sign is detected.", ""},
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{"CESignal", "Turn Signal When Below Highway Speeds", "Switch to 'Experimental Mode' when using turn signals below highway speeds to help assit with turns.", ""},
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{"CSLCEnabled", "Custom Stock Longitudinal Control", "Use cruise control button spamming to adjust cruise set speed based on MTSC, VTSC, and SLC", "../frogpilot/assets/toggle_icons/icon_custom.png"},
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{"CustomPersonalities", "Custom Driving Personalities", "Customize the driving personality profiles to your driving style.", "../frogpilot/assets/toggle_icons/icon_custom.png"},
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{"DeviceShutdown", "Device Shutdown Timer", "Configure the timer for automatic device shutdown when offroad conserving energy and preventing battery drain.", "../frogpilot/assets/toggle_icons/icon_time.png"},
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{"ExperimentalModeActivation", "Experimental Mode Via", "Toggle Experimental Mode by double-clicking the 'Lane Departure'/'LKAS' button or double tapping screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},
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{"FireTheBabysitter", "Fire the Babysitter", "Deactivate some of openpilot's 'Babysitter' protocols for more user autonomy.", "../frogpilot/assets/toggle_icons/icon_babysitter.png"},
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{"NoLogging", "Disable All Logging", "Turn off all data tracking to enhance privacy or reduce thermal load.\n\nWARNING: This action will prevent drive recording and data cannot be recovered!", ""},
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{"MuteDoor", "Mute Door Open Alert", "Disable alerts for open doors.", ""},
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{"MuteDM", "Mute Driver Monitoring", "Disable driver monitoring.", ""},
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{"MuteOverheated", "Mute Overheated System Alert", "Disable alerts for the device being overheated.", ""},
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{"MuteSeatbelt", "Mute Seatbelt Unlatched Alert", "Disable alerts for unlatched seatbelts.", ""},
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{"OfflineMode", "Offline Mode", "Allow the device to be offline indefinitely.", ""},
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{"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
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{"AverageCurvature", "Average Desired Curvature", "Use Pfeiferj's distance-based curvature adjustment for improved curve handling.", ""},
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{"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""},
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{"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
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{"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
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{"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
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{"AggressiveAcceleration", "Aggressive Acceleration With Lead", "Increase acceleration aggressiveness when following a lead vehicle from a stop.", ""},
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{"StoppingDistance", "Increased Stopping Distance", "Increase the stopping distance for a more comfortable stop.", ""},
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{"SmoothBraking", "Smoother Braking Behind Lead", "Smoothen out the braking behavior when approaching slower vehicles.", ""},
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{"Model", "Model Selector", "Choose your preferred openpilot model.", "../assets/offroad/icon_calibration.png"},
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{"MTSCEnabled", "Map Turn Speed Control", "Slow down for anticipated curves detected by your downloaded maps.", "../frogpilot/assets/toggle_icons/icon_speed_map.png"},
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{"NudgelessLaneChange", "Nudgeless Lane Change", "Enable lane changes without manual steering input.", "../frogpilot/assets/toggle_icons/icon_lane.png"},
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{"LaneChangeTime", "Lane Change Timer", "Specify a delay before executing a nudgeless lane change.", ""},
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{"LaneDetection", "Lane Detection", "Block nudgeless lane changes when a lane isn't detected.", ""},
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{"OneLaneChange", "One Lane Change Per Signal", "Limit to one nudgeless lane change per turn signal activation.", ""},
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{"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
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{"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
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{"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
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{"PauseLateralOnSignal", "Pause Lateral On Turn Signal Below", "Temporarily disable lateral control during turn signal use below the set speed.", ""},
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{"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
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{"SetSpeedOffset", "Set Speed Offset", "Set an offset for your desired set speed.", ""},
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{"SpeedLimitController", "Speed Limit Controller", "Automatically adjust vehicle speed to match speed limits using 'Open Street Map's, 'Navigate On openpilot', or your car's dashboard (TSS2 Toyotas only).", "../assets/offroad/icon_speed_limit.png"},
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{"Offset1", "Speed Limit Offset (0-34 mph)", "Speed limit offset for speed limits between 0-34 mph.", ""},
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{"Offset2", "Speed Limit Offset (35-54 mph)", "Speed limit offset for speed limits between 35-54 mph.", ""},
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{"Offset3", "Speed Limit Offset (55-64 mph)", "Speed limit offset for speed limits between 55-64 mph.", ""},
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{"Offset4", "Speed Limit Offset (65-99 mph)", "Speed limit offset for speed limits between 65-99 mph.", ""},
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{"SLCFallback", "Fallback Method", "Choose your fallback method for when there are no speed limits currently being obtained from Navigation, OSM, and the car's dashboard.", ""},
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{"SLCOverride", "Override Method", "Choose your preferred method to override the current speed limit.", ""},
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{"SLCPriority", "Priority Order", "Determine the priority order for what speed limits to use.", ""},
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{"TurnDesires", "Use Turn Desires", "Use turn desires for enhanced precision in turns below the minimum lane change speed.", "../assets/navigation/direction_continue_right.png"},
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{"VisionTurnControl", "Vision Turn Speed Controller", "Slow down for detected road curvature for smoother curve handling.", "../frogpilot/assets/toggle_icons/icon_vtc.png"},
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{"CurveSensitivity", "Curve Detection Sensitivity", "Set curve detection sensitivity. Higher values prompt earlier responses, lower values lead to smoother but later reactions.", ""},
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{"TurnAggressiveness", "Turn Speed Aggressiveness", "Set turn speed aggressiveness. Higher values result in faster turns, lower values yield gentler turns.", ""},
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};
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for (const auto &[param, title, desc, icon] : controlToggles) {
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ParamControl *toggle;
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if (param == "AdjustablePersonalities") {
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toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 3, {{0, "None"}, {1, "Steering Wheel"}, {2, "Onroad UI Button"}, {3, "Wheel + Button"}}, this, true);
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} else if (param == "AlwaysOnLateral") {
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std::vector<QString> aolToggles{"AlwaysOnLateralMain"};
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std::vector<QString> aolToggleNames{tr("Enable On Cruise Main")};
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toggle = new FrogPilotParamToggleControl(param, title, desc, icon, aolToggles, aolToggleNames);
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QObject::connect(static_cast<FrogPilotParamToggleControl*>(toggle), &FrogPilotParamToggleControl::buttonClicked, [this](const bool checked) {
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if (checked) {
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FrogPilotConfirmationDialog::toggleAlert("WARNING: This is very experimental and isn't guaranteed to work. If you run into any issues, please report it in the FrogPilot Discord!",
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"I understand the risks.", this);
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}
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if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
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Hardware::reboot();
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}
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});
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} else if (param == "ConditionalExperimental") {
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FrogPilotParamManageControl *conditionalExperimentalToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
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QObject::connect(conditionalExperimentalToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
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parentToggleClicked();
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conditionalSpeedsImperial->setVisible(!isMetric);
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conditionalSpeedsMetric->setVisible(isMetric);
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for (auto &[key, toggle] : toggles) {
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toggle->setVisible(conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end());
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}
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});
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toggle = conditionalExperimentalToggle;
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} else if (param == "CECurves") {
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FrogPilotParamValueControl *CESpeedImperial = new FrogPilotParamValueControl("CESpeed", "Below", "Switch to 'Experimental Mode' below this speed in absence of a lead vehicle.", "", 0, 99,
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std::map<int, QString>(), this, false, " mph");
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FrogPilotParamValueControl *CESpeedLeadImperial = new FrogPilotParamValueControl("CESpeedLead", " w/Lead", "Switch to 'Experimental Mode' below this speed when following a lead vehicle.", "", 0, 99,
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std::map<int, QString>(), this, false, " mph");
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conditionalSpeedsImperial = new FrogPilotDualParamControl(CESpeedImperial, CESpeedLeadImperial, this);
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addItem(conditionalSpeedsImperial);
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FrogPilotParamValueControl *CESpeedMetric = new FrogPilotParamValueControl("CESpeed", "Below", "Switch to 'Experimental Mode' below this speed in absence of a lead vehicle.", "", 0, 150,
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std::map<int, QString>(), this, false, " kph");
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FrogPilotParamValueControl *CESpeedLeadMetric = new FrogPilotParamValueControl("CESpeedLead", " w/Lead", "Switch to 'Experimental Mode' below this speed when following a lead vehicle.", "", 0, 150,
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std::map<int, QString>(), this, false, " kph");
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conditionalSpeedsMetric = new FrogPilotDualParamControl(CESpeedMetric, CESpeedLeadMetric, this);
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addItem(conditionalSpeedsMetric);
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std::vector<QString> curveToggles{"CECurvesLead"};
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std::vector<QString> curveToggleNames{tr("With Lead")};
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toggle = new FrogPilotParamToggleControl(param, title, desc, icon, curveToggles, curveToggleNames);
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} else if (param == "CEStopLights") {
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std::vector<QString> stopLightToggles{"CEStopLightsLead"};
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std::vector<QString> stopLightToggleNames{tr("With Lead")};
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toggle = new FrogPilotParamToggleControl(param, title, desc, icon, stopLightToggles, stopLightToggleNames);
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} else if (param == "CustomPersonalities") {
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FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
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QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
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parentToggleClicked();
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for (auto &[key, toggle] : toggles) {
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toggle->setVisible(false);
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}
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aggressiveProfile->setVisible(true);
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standardProfile->setVisible(true);
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relaxedProfile->setVisible(true);
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});
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toggle = customPersonalitiesToggle;
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FrogPilotParamValueControl *aggressiveFollow = new FrogPilotParamValueControl("AggressiveFollow", "Follow",
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"Set the 'Aggressive' personality' following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.25 seconds.", "../frogpilot/assets/other_images/aggressive.png",
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10, 50, std::map<int, QString>(), this, false, " sec", 10);
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FrogPilotParamValueControl *aggressiveJerk = new FrogPilotParamValueControl("AggressiveJerk", " Jerk",
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"Configure brake/gas pedal responsiveness for the 'Aggressive' personality. Higher values yield a more 'relaxed' response.\n\nStock: 0.5.", "", 1, 50,
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std::map<int, QString>(), this, false, "", 10);
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aggressiveProfile = new FrogPilotDualParamControl(aggressiveFollow, aggressiveJerk, this, true);
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addItem(aggressiveProfile);
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FrogPilotParamValueControl *standardFollow = new FrogPilotParamValueControl("StandardFollow", "Follow",
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"Set the 'Standard' personality following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.45 seconds.", "../frogpilot/assets/other_images/standard.png",
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10, 50, std::map<int, QString>(), this, false, " sec", 10);
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FrogPilotParamValueControl *standardJerk = new FrogPilotParamValueControl("StandardJerk", " Jerk",
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"Adjust brake/gas pedal responsiveness for the 'Standard' personality. Higher values yield a more 'relaxed' response.\n\nStock: 1.0.", "", 1, 50,
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std::map<int, QString>(), this, false, "", 10);
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standardProfile = new FrogPilotDualParamControl(standardFollow, standardJerk, this, true);
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addItem(standardProfile);
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FrogPilotParamValueControl *relaxedFollow = new FrogPilotParamValueControl("RelaxedFollow", "Follow",
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"Set the 'Relaxed' personality following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.75 seconds.", "../frogpilot/assets/other_images/relaxed.png",
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10, 50, std::map<int, QString>(), this, false, " sec", 10);
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FrogPilotParamValueControl *relaxedJerk = new FrogPilotParamValueControl("RelaxedJerk", " Jerk",
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"Set brake/gas pedal responsiveness for the 'Relaxed' personality. Higher values yield a more 'relaxed' response.\n\nStock: 1.0.", "", 1, 50,
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std::map<int, QString>(), this, false, "", 10);
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relaxedProfile = new FrogPilotDualParamControl(relaxedFollow, relaxedJerk, this, true);
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addItem(relaxedProfile);
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} else if (param == "DeviceShutdown") {
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std::map<int, QString> shutdownLabels;
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for (int i = 0; i <= 33; ++i) {
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shutdownLabels[i] = i == 0 ? "Instant" : i <= 3 ? QString::number(i * 15) + " mins" : QString::number(i - 3) + (i == 4 ? " hour" : " hours");
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}
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toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, shutdownLabels, this, false);
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} else if (param == "ExperimentalModeActivation") {
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std::vector<QString> experimentalModeToggles{"ExperimentalModeViaLKAS", "ExperimentalModeViaScreen"};
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std::vector<QString> experimentalModeNames{tr("LKAS Button"), tr("Screen")};
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toggle = new FrogPilotParamToggleControl(param, title, desc, icon, experimentalModeToggles, experimentalModeNames);
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} else if (param == "FireTheBabysitter") {
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FrogPilotParamManageControl *fireTheBabysitterToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
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QObject::connect(fireTheBabysitterToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
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parentToggleClicked();
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for (auto &[key, toggle] : toggles) {
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toggle->setVisible(fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end());
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}
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});
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toggle = fireTheBabysitterToggle;
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} else if (param == "LateralTune") {
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FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
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QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
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parentToggleClicked();
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for (auto &[key, toggle] : toggles) {
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toggle->setVisible(lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end());
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}
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});
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toggle = lateralTuneToggle;
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} else if (param == "SteerRatio") {
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toggle = new FrogPilotParamValueControlFloat(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 10.0);
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} else if (param == "LongitudinalTune") {
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FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
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QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
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parentToggleClicked();
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for (auto &[key, toggle] : toggles) {
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toggle->setVisible(longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end());
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}
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});
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toggle = longitudinalTuneToggle;
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} else if (param == "AccelerationProfile") {
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std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")};
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FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions);
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toggle = profileSelection;
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QObject::connect(static_cast<FrogPilotButtonParamControl*>(toggle), &FrogPilotButtonParamControl::buttonClicked, [this](int id) {
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if (id == 3) {
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FrogPilotConfirmationDialog::toggleAlert("WARNING: This maxes out openpilot's acceleration from 2.0 m/s to 4.0 m/s and may cause oscillations when accelerating!",
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"I understand the risks.", this);
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}
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});
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} else if (param == "StoppingDistance") {
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toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map<int, QString>(), this, false, " feet");
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} else if (param == "Model") {
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modelSelectorButton = new FrogPilotButtonIconControl(title, tr("SELECT"), desc, icon);
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QStringList models = {"New Delhi (Default)", "Blue Diamond V1", "Blue Diamond V2", "Farmville", "New Lemon Pie"};
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QObject::connect(modelSelectorButton, &FrogPilotButtonIconControl::clicked, this, [this, models]() {
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int currentModel = params.getInt("Model");
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QString currentModelLabel = models[currentModel];
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QString selection = MultiOptionDialog::getSelection(tr("Select a driving model"), models, currentModelLabel, this);
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if (!selection.isEmpty()) {
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int selectedModel = models.indexOf(selection);
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params.putInt("Model", selectedModel);
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params.remove("CalibrationParams");
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params.remove("LiveTorqueParameters");
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modelSelectorButton->setValue(selection);
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if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
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Hardware::reboot();
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}
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}
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});
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modelSelectorButton->setValue(models[params.getInt("Model")]);
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addItem(modelSelectorButton);
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} else if (param == "NudgelessLaneChange") {
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FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
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QObject::connect(laneChangeToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
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parentToggleClicked();
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for (auto &[key, toggle] : toggles) {
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toggle->setVisible(laneChangeKeys.find(key.c_str()) != laneChangeKeys.end());
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}
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});
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toggle = laneChangeToggle;
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} else if (param == "LaneChangeTime") {
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std::map<int, QString> laneChangeTimeLabels;
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for (int i = 0; i <= 10; ++i) {
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laneChangeTimeLabels[i] = i == 0 ? "Instant" : QString::number(i / 2.0) + " seconds";
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}
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toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, laneChangeTimeLabels, this, false);
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} else if (param == "QOLControls") {
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FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
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QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
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parentToggleClicked();
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for (auto &[key, toggle] : toggles) {
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toggle->setVisible(qolKeys.find(key.c_str()) != qolKeys.end());
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}
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});
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toggle = qolToggle;
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} else if (param == "PauseLateralOnSignal") {
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toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
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} else if (param == "SetSpeedOffset") {
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toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
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} else if (param == "SpeedLimitController") {
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FrogPilotParamManageControl *speedLimitControllerToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
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QObject::connect(speedLimitControllerToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
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parentToggleClicked();
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for (auto &[key, toggle] : toggles) {
|
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toggle->setVisible(speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end());
|
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}
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slscPriorityButton->setVisible(true);
|
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});
|
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toggle = speedLimitControllerToggle;
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} else if (param == "Offset1" || param == "Offset2" || param == "Offset3" || param == "Offset4") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
|
||||
} else if (param == "SLCFallback") {
|
||||
std::vector<QString> fallbackOptions{tr("None"), tr("Experimental Mode"), tr("Previous Limit")};
|
||||
FrogPilotButtonParamControl *fallbackSelection = new FrogPilotButtonParamControl(param, title, desc, icon, fallbackOptions);
|
||||
toggle = fallbackSelection;
|
||||
} else if (param == "SLCOverride") {
|
||||
std::vector<QString> overrideOptions{tr("None"), tr("Manual Set Speed"), tr("Max Set Speed")};
|
||||
FrogPilotButtonParamControl *overrideSelection = new FrogPilotButtonParamControl(param, title, desc, icon, overrideOptions);
|
||||
toggle = overrideSelection;
|
||||
} else if (param == "SLCPriority") {
|
||||
const QStringList priorities {
|
||||
"Navigation, Dashboard, Offline Maps",
|
||||
"Navigation, Offline Maps, Dashboard",
|
||||
"Navigation, Offline Maps",
|
||||
"Navigation, Dashboard",
|
||||
"Navigation",
|
||||
"Offline Maps, Dashboard, Navigation",
|
||||
"Offline Maps, Navigation, Dashboard",
|
||||
"Offline Maps, Navigation",
|
||||
"Offline Maps, Dashboard",
|
||||
"Offline Maps",
|
||||
"Dashboard, Navigation, Offline Maps",
|
||||
"Dashboard, Offline Maps, Navigation",
|
||||
"Dashboard, Offline Maps",
|
||||
"Dashboard, Navigation",
|
||||
"Dashboard",
|
||||
"Highest",
|
||||
"Lowest",
|
||||
"",
|
||||
};
|
||||
|
||||
slscPriorityButton = new ButtonControl(title, tr("SELECT"), desc);
|
||||
QObject::connect(slscPriorityButton, &ButtonControl::clicked, this, [this, priorities]() {
|
||||
QStringList availablePriorities = {"Dashboard", "Navigation", "Offline Maps", "Highest", "Lowest", "None"};
|
||||
QStringList selectedPriorities;
|
||||
int priorityValue = -1;
|
||||
|
||||
QStringList priorityPrompts = {tr("Select your primary priority"), tr("Select your secondary priority"), tr("Select your tertiary priority")};
|
||||
|
||||
for (int i = 0; i < 3; ++i) {
|
||||
QString selection = MultiOptionDialog::getSelection(priorityPrompts[i], availablePriorities, "", this);
|
||||
if (selection.isEmpty()) break;
|
||||
|
||||
if (selection == "None") {
|
||||
priorityValue = 17;
|
||||
break;
|
||||
} else if (selection == "Highest") {
|
||||
priorityValue = 15;
|
||||
break;
|
||||
} else if (selection == "Lowest") {
|
||||
priorityValue = 16;
|
||||
break;
|
||||
} else {
|
||||
selectedPriorities.append(selection);
|
||||
availablePriorities.removeAll(selection);
|
||||
availablePriorities.removeAll("Highest");
|
||||
availablePriorities.removeAll("Lowest");
|
||||
}
|
||||
}
|
||||
|
||||
if (priorityValue == -1 && !selectedPriorities.isEmpty()) {
|
||||
QString priorityString = selectedPriorities.join(", ");
|
||||
priorityValue = priorities.indexOf(priorityString);
|
||||
}
|
||||
|
||||
if (priorityValue != -1) {
|
||||
slscPriorityButton->setValue(priorities[priorityValue]);
|
||||
params.putInt("SLCPriority", priorityValue);
|
||||
updateToggles();
|
||||
}
|
||||
});
|
||||
slscPriorityButton->setValue(priorities[params.getInt("SLCPriority")]);
|
||||
addItem(slscPriorityButton);
|
||||
|
||||
} else if (param == "VisionTurnControl") {
|
||||
FrogPilotParamManageControl *visionTurnControlToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(visionTurnControlToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = visionTurnControlToggle;
|
||||
} else if (param == "CurveSensitivity" || param == "TurnAggressiveness") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, std::map<int, QString>(), this, false, "%");
|
||||
|
||||
} else {
|
||||
toggle = new ParamControl(param, title, desc, icon, this);
|
||||
}
|
||||
|
||||
addItem(toggle);
|
||||
toggles[param.toStdString()] = toggle;
|
||||
|
||||
QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
|
||||
QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::buttonPressed, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
|
||||
QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
|
||||
update();
|
||||
});
|
||||
|
||||
QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
update();
|
||||
});
|
||||
}
|
||||
|
||||
std::set<std::string> rebootKeys = {"AlwaysOnLateral", "FireTheBabysitter", "HigherBitrate", "MuteDM", "NNFF"};
|
||||
for (const std::string &key : rebootKeys) {
|
||||
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
|
||||
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
|
||||
Hardware::reboot();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
|
||||
fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt", "OfflineMode"};
|
||||
laneChangeKeys = {"LaneChangeTime", "LaneDetection", "OneLaneChange"};
|
||||
lateralTuneKeys = {"AverageCurvature", "NNFF", "SteerRatio"};
|
||||
longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance"};
|
||||
mtscKeys = {"MTSCAggressiveness"};
|
||||
qolKeys = {"DisableOnroadUploads", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
|
||||
speedLimitControllerKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"};
|
||||
visionTurnControlKeys = {"CurveSensitivity", "TurnAggressiveness"};
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, [this](bool offroad) {
|
||||
if (!offroad) {
|
||||
updateCarToggles();
|
||||
}
|
||||
});
|
||||
|
||||
QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotControlsPanel::hideSubToggles);
|
||||
QObject::connect(parent, &OscarSettingsWindow::closeParentToggle, this, &FrogPilotControlsPanel::hideSubToggles);
|
||||
// QObject::connect(parent, &OscarSettingsWindow::updateMetric, this, &FrogPilotControlsPanel::updateMetric);
|
||||
|
||||
hideSubToggles();
|
||||
// updateMetric();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::updateCarToggles() {
|
||||
FrogPilotParamValueControlFloat *steerRatioToggle = static_cast<FrogPilotParamValueControlFloat*>(toggles["SteerRatio"]);
|
||||
steerRatioStock = params.getFloat("SteerRatioStock");
|
||||
steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : QString("Steer Ratio"));
|
||||
steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 10.0);
|
||||
steerRatioToggle->refresh();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::updateToggles() {
|
||||
std::thread([this]() {
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", true);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", false);
|
||||
}).detach();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::updateMetric() {
|
||||
bool previousIsMetric = isMetric;
|
||||
isMetric = params.getBool("IsMetric");
|
||||
|
||||
if (isMetric != previousIsMetric) {
|
||||
double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
|
||||
double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
|
||||
params.putInt("CESpeed", std::nearbyint(params.getInt("CESpeed") * speedConversion));
|
||||
params.putInt("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
|
||||
params.putInt("Offset1", std::nearbyint(params.getInt("Offset1") * speedConversion));
|
||||
params.putInt("Offset2", std::nearbyint(params.getInt("Offset2") * speedConversion));
|
||||
params.putInt("Offset3", std::nearbyint(params.getInt("Offset3") * speedConversion));
|
||||
params.putInt("Offset4", std::nearbyint(params.getInt("Offset4") * speedConversion));
|
||||
params.putInt("PauseLateralOnSignal", std::nearbyint(params.getInt("PauseLateralOnSignal") * speedConversion));
|
||||
params.putInt("SetSpeedOffset", std::nearbyint(params.getInt("SetSpeedOffset") * speedConversion));
|
||||
params.putInt("StoppingDistance", std::nearbyint(params.getInt("StoppingDistance") * distanceConversion));
|
||||
}
|
||||
|
||||
FrogPilotParamValueControl *offset1Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset1"]);
|
||||
FrogPilotParamValueControl *offset2Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset2"]);
|
||||
FrogPilotParamValueControl *offset3Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset3"]);
|
||||
FrogPilotParamValueControl *offset4Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset4"]);
|
||||
FrogPilotParamValueControl *pauseLateralToggle = static_cast<FrogPilotParamValueControl*>(toggles["PauseLateralOnSignal"]);
|
||||
FrogPilotParamValueControl *setSpeedOffsetToggle = static_cast<FrogPilotParamValueControl*>(toggles["SetSpeedOffset"]);
|
||||
FrogPilotParamValueControl *stoppingDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["StoppingDistance"]);
|
||||
|
||||
if (isMetric) {
|
||||
offset1Toggle->setTitle("Speed Limit Offset (0-34 kph)");
|
||||
offset2Toggle->setTitle("Speed Limit Offset (35-54 kph)");
|
||||
offset3Toggle->setTitle("Speed Limit Offset (55-64 kph)");
|
||||
offset4Toggle->setTitle("Speed Limit Offset (65-99 kph)");
|
||||
|
||||
offset1Toggle->setDescription("Set speed limit offset for limits between 0-34 kph.");
|
||||
offset2Toggle->setDescription("Set speed limit offset for limits between 35-54 kph.");
|
||||
offset3Toggle->setDescription("Set speed limit offset for limits between 55-64 kph.");
|
||||
offset4Toggle->setDescription("Set speed limit offset for limits between 65-99 kph.");
|
||||
|
||||
offset1Toggle->updateControl(0, 150, " kph");
|
||||
offset2Toggle->updateControl(0, 150, " kph");
|
||||
offset3Toggle->updateControl(0, 150, " kph");
|
||||
offset4Toggle->updateControl(0, 150, " kph");
|
||||
pauseLateralToggle->updateControl(0, 150, " kph");
|
||||
setSpeedOffsetToggle->updateControl(0, 150, " kph");
|
||||
stoppingDistanceToggle->updateControl(0, 5, " meters");
|
||||
} else {
|
||||
offset1Toggle->setTitle("Speed Limit Offset (0-34 mph)");
|
||||
offset2Toggle->setTitle("Speed Limit Offset (35-54 mph)");
|
||||
offset3Toggle->setTitle("Speed Limit Offset (55-64 mph)");
|
||||
offset4Toggle->setTitle("Speed Limit Offset (65-99 mph)");
|
||||
|
||||
offset1Toggle->setDescription("Set speed limit offset for limits between 0-34 mph.");
|
||||
offset2Toggle->setDescription("Set speed limit offset for limits between 35-54 mph.");
|
||||
offset3Toggle->setDescription("Set speed limit offset for limits between 55-64 mph.");
|
||||
offset4Toggle->setDescription("Set speed limit offset for limits between 65-99 mph.");
|
||||
|
||||
offset1Toggle->updateControl(0, 99, " mph");
|
||||
offset2Toggle->updateControl(0, 99, " mph");
|
||||
offset3Toggle->updateControl(0, 99, " mph");
|
||||
offset4Toggle->updateControl(0, 99, " mph");
|
||||
pauseLateralToggle->updateControl(0, 99, " mph");
|
||||
setSpeedOffsetToggle->updateControl(0, 99, " mph");
|
||||
stoppingDistanceToggle->updateControl(0, 10, " feet");
|
||||
}
|
||||
|
||||
offset1Toggle->refresh();
|
||||
offset2Toggle->refresh();
|
||||
offset3Toggle->refresh();
|
||||
offset4Toggle->refresh();
|
||||
pauseLateralToggle->refresh();
|
||||
setSpeedOffsetToggle->refresh();
|
||||
stoppingDistanceToggle->refresh();
|
||||
|
||||
previousIsMetric = isMetric;
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::parentToggleClicked() {
|
||||
aggressiveProfile->setVisible(false);
|
||||
conditionalSpeedsImperial->setVisible(false);
|
||||
conditionalSpeedsMetric->setVisible(false);
|
||||
modelSelectorButton->setVisible(false);
|
||||
slscPriorityButton->setVisible(false);
|
||||
standardProfile->setVisible(false);
|
||||
relaxedProfile->setVisible(false);
|
||||
|
||||
this->openParentToggle();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::hideSubToggles() {
|
||||
aggressiveProfile->setVisible(false);
|
||||
conditionalSpeedsImperial->setVisible(false);
|
||||
conditionalSpeedsMetric->setVisible(false);
|
||||
modelSelectorButton->setVisible(true);
|
||||
slscPriorityButton->setVisible(false);
|
||||
standardProfile->setVisible(false);
|
||||
relaxedProfile->setVisible(false);
|
||||
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
|
||||
fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end() ||
|
||||
laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() ||
|
||||
lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() ||
|
||||
longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end() ||
|
||||
mtscKeys.find(key.c_str()) != mtscKeys.end() ||
|
||||
qolKeys.find(key.c_str()) != qolKeys.end() ||
|
||||
speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end() ||
|
||||
visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end();
|
||||
toggle->setVisible(!subToggles);
|
||||
}
|
||||
|
||||
this->closeParentToggle();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::hideEvent(QHideEvent *event) {
|
||||
hideSubToggles();
|
||||
}
|
||||
559
scp/ui/control_settings.cc.org
Normal file
559
scp/ui/control_settings.cc.org
Normal file
@@ -0,0 +1,559 @@
|
||||
#include "selfdrive/frogpilot/ui/control_settings.h"
|
||||
#include "selfdrive/ui/ui.h"
|
||||
|
||||
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"},
|
||||
|
||||
{"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.", ""},
|
||||
{"CSLCEnabled", "Custom Stock Longitudinal Control", "Use cruise control button spamming to adjust cruise set speed based on MTSC, VTSC, and SLC", "../frogpilot/assets/toggle_icons/icon_custom.png"},
|
||||
{"CustomPersonalities", "Custom Driving Personalities", "Customize the driving personality profiles to your driving style.", "../frogpilot/assets/toggle_icons/icon_custom.png"},
|
||||
{"DeviceShutdown", "Device Shutdown Timer", "Configure the timer for automatic device shutdown when offroad conserving energy and preventing battery drain.", "../frogpilot/assets/toggle_icons/icon_time.png"},
|
||||
{"ExperimentalModeActivation", "Experimental Mode Via", "Toggle Experimental Mode by double-clicking the 'Lane Departure'/'LKAS' button or double tapping screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},
|
||||
|
||||
{"FireTheBabysitter", "Fire the Babysitter", "Deactivate some of openpilot's 'Babysitter' protocols for more user autonomy.", "../frogpilot/assets/toggle_icons/icon_babysitter.png"},
|
||||
{"NoLogging", "Disable All Logging", "Turn off all data tracking to enhance privacy or reduce thermal load.\n\nWARNING: This action will prevent drive recording and data cannot be recovered!", ""},
|
||||
{"MuteDoor", "Mute Door Open Alert", "Disable alerts for open doors.", ""},
|
||||
{"MuteDM", "Mute Driver Monitoring", "Disable driver monitoring.", ""},
|
||||
{"MuteOverheated", "Mute Overheated System Alert", "Disable alerts for the device being overheated.", ""},
|
||||
{"MuteSeatbelt", "Mute Seatbelt Unlatched Alert", "Disable alerts for unlatched seatbelts.", ""},
|
||||
{"OfflineMode", "Offline Mode", "Allow the device to be offline indefinitely.", ""},
|
||||
|
||||
{"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
|
||||
{"AverageCurvature", "Average Desired Curvature", "Use Pfeiferj's distance-based curvature adjustment for improved curve handling.", ""},
|
||||
{"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""},
|
||||
{"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
|
||||
|
||||
{"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
|
||||
{"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
|
||||
{"AggressiveAcceleration", "Aggressive Acceleration With Lead", "Increase acceleration aggressiveness when following a lead vehicle from a stop.", ""},
|
||||
{"StoppingDistance", "Increased Stopping Distance", "Increase the stopping distance for a more comfortable stop.", ""},
|
||||
{"SmoothBraking", "Smoother Braking Behind Lead", "Smoothen out the braking behavior when approaching slower 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"},
|
||||
|
||||
{"NudgelessLaneChange", "Nudgeless Lane Change", "Enable lane changes without manual steering input.", "../frogpilot/assets/toggle_icons/icon_lane.png"},
|
||||
{"LaneChangeTime", "Lane Change Timer", "Specify a delay before executing a nudgeless lane change.", ""},
|
||||
{"LaneDetection", "Lane Detection", "Block nudgeless lane changes when a lane isn't detected.", ""},
|
||||
{"OneLaneChange", "One Lane Change Per Signal", "Limit to one nudgeless lane change per turn signal activation.", ""},
|
||||
|
||||
{"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
|
||||
{"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
|
||||
{"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
|
||||
{"PauseLateralOnSignal", "Pause Lateral On Turn Signal Below", "Temporarily disable lateral control during turn signal use below the set speed.", ""},
|
||||
{"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
|
||||
{"SetSpeedOffset", "Set Speed Offset", "Set an offset for your desired set speed.", ""},
|
||||
|
||||
{"SpeedLimitController", "Speed Limit Controller", "Automatically adjust vehicle speed to match speed limits using 'Open Street Map's, 'Navigate On openpilot', or your car's dashboard (TSS2 Toyotas only).", "../assets/offroad/icon_speed_limit.png"},
|
||||
{"Offset1", "Speed Limit Offset (0-34 mph)", "Speed limit offset for speed limits between 0-34 mph.", ""},
|
||||
{"Offset2", "Speed Limit Offset (35-54 mph)", "Speed limit offset for speed limits between 35-54 mph.", ""},
|
||||
{"Offset3", "Speed Limit Offset (55-64 mph)", "Speed limit offset for speed limits between 55-64 mph.", ""},
|
||||
{"Offset4", "Speed Limit Offset (65-99 mph)", "Speed limit offset for speed limits between 65-99 mph.", ""},
|
||||
{"SLCFallback", "Fallback Method", "Choose your fallback method for when there are no speed limits currently being obtained from Navigation, OSM, and the car's dashboard.", ""},
|
||||
{"SLCOverride", "Override Method", "Choose your preferred method to override the current speed limit.", ""},
|
||||
{"SLCPriority", "Priority Order", "Determine the priority order for what speed limits to use.", ""},
|
||||
|
||||
{"TurnDesires", "Use Turn Desires", "Use turn desires for enhanced precision in turns below the minimum lane change speed.", "../assets/navigation/direction_continue_right.png"},
|
||||
|
||||
{"VisionTurnControl", "Vision Turn Speed Controller", "Slow down for detected road curvature for smoother curve handling.", "../frogpilot/assets/toggle_icons/icon_vtc.png"},
|
||||
{"CurveSensitivity", "Curve Detection Sensitivity", "Set curve detection sensitivity. Higher values prompt earlier responses, lower values lead to smoother but later reactions.", ""},
|
||||
{"TurnAggressiveness", "Turn Speed Aggressiveness", "Set turn speed aggressiveness. Higher values result in faster turns, lower values yield gentler turns.", ""},
|
||||
};
|
||||
|
||||
for (const auto &[param, title, desc, icon] : controlToggles) {
|
||||
ParamControl *toggle;
|
||||
|
||||
if (param == "AdjustablePersonalities") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 3, {{0, "None"}, {1, "Steering Wheel"}, {2, "Onroad UI Button"}, {3, "Wheel + Button"}}, this, true);
|
||||
|
||||
} else if (param == "AlwaysOnLateral") {
|
||||
std::vector<QString> aolToggles{"AlwaysOnLateralMain"};
|
||||
std::vector<QString> aolToggleNames{tr("Enable On Cruise Main")};
|
||||
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, aolToggles, aolToggleNames);
|
||||
|
||||
QObject::connect(static_cast<FrogPilotParamToggleControl*>(toggle), &FrogPilotParamToggleControl::buttonClicked, [this](const bool checked) {
|
||||
if (checked) {
|
||||
FrogPilotConfirmationDialog::toggleAlert("WARNING: This is very experimental and isn't guaranteed to work. If you run into any issues, please report it in the FrogPilot Discord!",
|
||||
"I understand the risks.", this);
|
||||
}
|
||||
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
|
||||
Hardware::reboot();
|
||||
}
|
||||
});
|
||||
|
||||
} 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 == "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 == "CustomPersonalities") {
|
||||
FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(false);
|
||||
}
|
||||
aggressiveProfile->setVisible(true);
|
||||
standardProfile->setVisible(true);
|
||||
relaxedProfile->setVisible(true);
|
||||
});
|
||||
toggle = customPersonalitiesToggle;
|
||||
|
||||
FrogPilotParamValueControl *aggressiveFollow = new FrogPilotParamValueControl("AggressiveFollow", "Follow",
|
||||
"Set the 'Aggressive' personality' following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.25 seconds.", "../frogpilot/assets/other_images/aggressive.png",
|
||||
10, 50, std::map<int, QString>(), this, false, " sec", 10);
|
||||
FrogPilotParamValueControl *aggressiveJerk = new FrogPilotParamValueControl("AggressiveJerk", " Jerk",
|
||||
"Configure brake/gas pedal responsiveness for the 'Aggressive' personality. Higher values yield a more 'relaxed' response.\n\nStock: 0.5.", "", 1, 50,
|
||||
std::map<int, QString>(), this, false, "", 10);
|
||||
aggressiveProfile = new FrogPilotDualParamControl(aggressiveFollow, aggressiveJerk, this, true);
|
||||
addItem(aggressiveProfile);
|
||||
|
||||
FrogPilotParamValueControl *standardFollow = new FrogPilotParamValueControl("StandardFollow", "Follow",
|
||||
"Set the 'Standard' personality following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.45 seconds.", "../frogpilot/assets/other_images/standard.png",
|
||||
10, 50, std::map<int, QString>(), this, false, " sec", 10);
|
||||
FrogPilotParamValueControl *standardJerk = new FrogPilotParamValueControl("StandardJerk", " Jerk",
|
||||
"Adjust brake/gas pedal responsiveness for the 'Standard' personality. Higher values yield a more 'relaxed' response.\n\nStock: 1.0.", "", 1, 50,
|
||||
std::map<int, QString>(), this, false, "", 10);
|
||||
standardProfile = new FrogPilotDualParamControl(standardFollow, standardJerk, this, true);
|
||||
addItem(standardProfile);
|
||||
|
||||
FrogPilotParamValueControl *relaxedFollow = new FrogPilotParamValueControl("RelaxedFollow", "Follow",
|
||||
"Set the 'Relaxed' personality following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.75 seconds.", "../frogpilot/assets/other_images/relaxed.png",
|
||||
10, 50, std::map<int, QString>(), this, false, " sec", 10);
|
||||
FrogPilotParamValueControl *relaxedJerk = new FrogPilotParamValueControl("RelaxedJerk", " Jerk",
|
||||
"Set brake/gas pedal responsiveness for the 'Relaxed' personality. Higher values yield a more 'relaxed' response.\n\nStock: 1.0.", "", 1, 50,
|
||||
std::map<int, QString>(), this, false, "", 10);
|
||||
relaxedProfile = new FrogPilotDualParamControl(relaxedFollow, relaxedJerk, this, true);
|
||||
addItem(relaxedProfile);
|
||||
|
||||
} else if (param == "DeviceShutdown") {
|
||||
std::map<int, QString> shutdownLabels;
|
||||
for (int i = 0; i <= 33; ++i) {
|
||||
shutdownLabels[i] = i == 0 ? "Instant" : i <= 3 ? QString::number(i * 15) + " mins" : QString::number(i - 3) + (i == 4 ? " hour" : " hours");
|
||||
}
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, shutdownLabels, this, false);
|
||||
|
||||
} else if (param == "ExperimentalModeActivation") {
|
||||
std::vector<QString> experimentalModeToggles{"ExperimentalModeViaLKAS", "ExperimentalModeViaScreen"};
|
||||
std::vector<QString> experimentalModeNames{tr("LKAS Button"), tr("Screen")};
|
||||
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, experimentalModeToggles, experimentalModeNames);
|
||||
|
||||
} else if (param == "FireTheBabysitter") {
|
||||
FrogPilotParamManageControl *fireTheBabysitterToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(fireTheBabysitterToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = fireTheBabysitterToggle;
|
||||
|
||||
} else if (param == "LateralTune") {
|
||||
FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = lateralTuneToggle;
|
||||
} else if (param == "SteerRatio") {
|
||||
toggle = new FrogPilotParamValueControlFloat(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 10.0);
|
||||
|
||||
} else if (param == "LongitudinalTune") {
|
||||
FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = longitudinalTuneToggle;
|
||||
} else if (param == "AccelerationProfile") {
|
||||
std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")};
|
||||
FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions);
|
||||
toggle = profileSelection;
|
||||
|
||||
QObject::connect(static_cast<FrogPilotButtonParamControl*>(toggle), &FrogPilotButtonParamControl::buttonClicked, [this](int id) {
|
||||
if (id == 3) {
|
||||
FrogPilotConfirmationDialog::toggleAlert("WARNING: This maxes out openpilot's acceleration from 2.0 m/s to 4.0 m/s and may cause oscillations when accelerating!",
|
||||
"I understand the risks.", this);
|
||||
}
|
||||
});
|
||||
} 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 = {"New Delhi (Default)", "Blue Diamond V1", "Blue Diamond V2", "Farmville", "New Lemon Pie"};
|
||||
QObject::connect(modelSelectorButton, &FrogPilotButtonIconControl::clicked, this, [this, models]() {
|
||||
int currentModel = params.getInt("Model");
|
||||
QString currentModelLabel = models[currentModel];
|
||||
|
||||
QString selection = MultiOptionDialog::getSelection(tr("Select a driving model"), models, currentModelLabel, this);
|
||||
if (!selection.isEmpty()) {
|
||||
int selectedModel = models.indexOf(selection);
|
||||
params.putInt("Model", selectedModel);
|
||||
params.remove("CalibrationParams");
|
||||
params.remove("LiveTorqueParameters");
|
||||
modelSelectorButton->setValue(selection);
|
||||
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
|
||||
Hardware::reboot();
|
||||
}
|
||||
}
|
||||
});
|
||||
modelSelectorButton->setValue(models[params.getInt("Model")]);
|
||||
addItem(modelSelectorButton);
|
||||
|
||||
} else if (param == "NudgelessLaneChange") {
|
||||
FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(laneChangeToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(laneChangeKeys.find(key.c_str()) != laneChangeKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = laneChangeToggle;
|
||||
} else if (param == "LaneChangeTime") {
|
||||
std::map<int, QString> laneChangeTimeLabels;
|
||||
for (int i = 0; i <= 10; ++i) {
|
||||
laneChangeTimeLabels[i] = i == 0 ? "Instant" : QString::number(i / 2.0) + " seconds";
|
||||
}
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, laneChangeTimeLabels, this, false);
|
||||
|
||||
} else if (param == "QOLControls") {
|
||||
FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(qolKeys.find(key.c_str()) != qolKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = qolToggle;
|
||||
} else if (param == "PauseLateralOnSignal") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
|
||||
} else if (param == "SetSpeedOffset") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
|
||||
|
||||
} else if (param == "SpeedLimitController") {
|
||||
FrogPilotParamManageControl *speedLimitControllerToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(speedLimitControllerToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end());
|
||||
}
|
||||
slscPriorityButton->setVisible(true);
|
||||
});
|
||||
toggle = speedLimitControllerToggle;
|
||||
} else if (param == "Offset1" || param == "Offset2" || param == "Offset3" || param == "Offset4") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
|
||||
} else if (param == "SLCFallback") {
|
||||
std::vector<QString> fallbackOptions{tr("None"), tr("Experimental Mode"), tr("Previous Limit")};
|
||||
FrogPilotButtonParamControl *fallbackSelection = new FrogPilotButtonParamControl(param, title, desc, icon, fallbackOptions);
|
||||
toggle = fallbackSelection;
|
||||
} else if (param == "SLCOverride") {
|
||||
std::vector<QString> overrideOptions{tr("None"), tr("Manual Set Speed"), tr("Max Set Speed")};
|
||||
FrogPilotButtonParamControl *overrideSelection = new FrogPilotButtonParamControl(param, title, desc, icon, overrideOptions);
|
||||
toggle = overrideSelection;
|
||||
} else if (param == "SLCPriority") {
|
||||
const QStringList priorities {
|
||||
"Navigation, Dashboard, Offline Maps",
|
||||
"Navigation, Offline Maps, Dashboard",
|
||||
"Navigation, Offline Maps",
|
||||
"Navigation, Dashboard",
|
||||
"Navigation",
|
||||
"Offline Maps, Dashboard, Navigation",
|
||||
"Offline Maps, Navigation, Dashboard",
|
||||
"Offline Maps, Navigation",
|
||||
"Offline Maps, Dashboard",
|
||||
"Offline Maps",
|
||||
"Dashboard, Navigation, Offline Maps",
|
||||
"Dashboard, Offline Maps, Navigation",
|
||||
"Dashboard, Offline Maps",
|
||||
"Dashboard, Navigation",
|
||||
"Dashboard",
|
||||
"Highest",
|
||||
"Lowest",
|
||||
"",
|
||||
};
|
||||
|
||||
slscPriorityButton = new ButtonControl(title, tr("SELECT"), desc);
|
||||
QObject::connect(slscPriorityButton, &ButtonControl::clicked, this, [this, priorities]() {
|
||||
QStringList availablePriorities = {"Dashboard", "Navigation", "Offline Maps", "Highest", "Lowest", "None"};
|
||||
QStringList selectedPriorities;
|
||||
int priorityValue = -1;
|
||||
|
||||
QStringList priorityPrompts = {tr("Select your primary priority"), tr("Select your secondary priority"), tr("Select your tertiary priority")};
|
||||
|
||||
for (int i = 0; i < 3; ++i) {
|
||||
QString selection = MultiOptionDialog::getSelection(priorityPrompts[i], availablePriorities, "", this);
|
||||
if (selection.isEmpty()) break;
|
||||
|
||||
if (selection == "None") {
|
||||
priorityValue = 17;
|
||||
break;
|
||||
} else if (selection == "Highest") {
|
||||
priorityValue = 15;
|
||||
break;
|
||||
} else if (selection == "Lowest") {
|
||||
priorityValue = 16;
|
||||
break;
|
||||
} else {
|
||||
selectedPriorities.append(selection);
|
||||
availablePriorities.removeAll(selection);
|
||||
availablePriorities.removeAll("Highest");
|
||||
availablePriorities.removeAll("Lowest");
|
||||
}
|
||||
}
|
||||
|
||||
if (priorityValue == -1 && !selectedPriorities.isEmpty()) {
|
||||
QString priorityString = selectedPriorities.join(", ");
|
||||
priorityValue = priorities.indexOf(priorityString);
|
||||
}
|
||||
|
||||
if (priorityValue != -1) {
|
||||
slscPriorityButton->setValue(priorities[priorityValue]);
|
||||
params.putInt("SLCPriority", priorityValue);
|
||||
updateToggles();
|
||||
}
|
||||
});
|
||||
slscPriorityButton->setValue(priorities[params.getInt("SLCPriority")]);
|
||||
addItem(slscPriorityButton);
|
||||
|
||||
} else if (param == "VisionTurnControl") {
|
||||
FrogPilotParamManageControl *visionTurnControlToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(visionTurnControlToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = visionTurnControlToggle;
|
||||
} else if (param == "CurveSensitivity" || param == "TurnAggressiveness") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, std::map<int, QString>(), this, false, "%");
|
||||
|
||||
} else {
|
||||
toggle = new ParamControl(param, title, desc, icon, this);
|
||||
}
|
||||
|
||||
addItem(toggle);
|
||||
toggles[param.toStdString()] = toggle;
|
||||
|
||||
QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
|
||||
QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::buttonPressed, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
|
||||
QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
|
||||
update();
|
||||
});
|
||||
|
||||
QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
update();
|
||||
});
|
||||
}
|
||||
|
||||
std::set<std::string> rebootKeys = {"AlwaysOnLateral", "FireTheBabysitter", "HigherBitrate", "MuteDM", "NNFF"};
|
||||
for (const std::string &key : rebootKeys) {
|
||||
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
|
||||
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
|
||||
Hardware::reboot();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
|
||||
fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt", "OfflineMode"};
|
||||
laneChangeKeys = {"LaneChangeTime", "LaneDetection", "OneLaneChange"};
|
||||
lateralTuneKeys = {"AverageCurvature", "NNFF", "SteerRatio"};
|
||||
longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance"};
|
||||
mtscKeys = {"MTSCAggressiveness"};
|
||||
qolKeys = {"DisableOnroadUploads", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
|
||||
speedLimitControllerKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"};
|
||||
visionTurnControlKeys = {"CurveSensitivity", "TurnAggressiveness"};
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, [this](bool offroad) {
|
||||
if (!offroad) {
|
||||
updateCarToggles();
|
||||
}
|
||||
});
|
||||
|
||||
QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotControlsPanel::hideSubToggles);
|
||||
QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotControlsPanel::hideSubToggles);
|
||||
QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotControlsPanel::updateMetric);
|
||||
|
||||
hideSubToggles();
|
||||
updateMetric();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::updateCarToggles() {
|
||||
FrogPilotParamValueControlFloat *steerRatioToggle = static_cast<FrogPilotParamValueControlFloat*>(toggles["SteerRatio"]);
|
||||
steerRatioStock = params.getFloat("SteerRatioStock");
|
||||
steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : QString("Steer Ratio"));
|
||||
steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 10.0);
|
||||
steerRatioToggle->refresh();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::updateToggles() {
|
||||
std::thread([this]() {
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", true);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", false);
|
||||
}).detach();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::updateMetric() {
|
||||
bool previousIsMetric = isMetric;
|
||||
isMetric = params.getBool("IsMetric");
|
||||
|
||||
if (isMetric != previousIsMetric) {
|
||||
double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
|
||||
double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
|
||||
params.putInt("CESpeed", std::nearbyint(params.getInt("CESpeed") * speedConversion));
|
||||
params.putInt("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
|
||||
params.putInt("Offset1", std::nearbyint(params.getInt("Offset1") * speedConversion));
|
||||
params.putInt("Offset2", std::nearbyint(params.getInt("Offset2") * speedConversion));
|
||||
params.putInt("Offset3", std::nearbyint(params.getInt("Offset3") * speedConversion));
|
||||
params.putInt("Offset4", std::nearbyint(params.getInt("Offset4") * speedConversion));
|
||||
params.putInt("PauseLateralOnSignal", std::nearbyint(params.getInt("PauseLateralOnSignal") * speedConversion));
|
||||
params.putInt("SetSpeedOffset", std::nearbyint(params.getInt("SetSpeedOffset") * speedConversion));
|
||||
params.putInt("StoppingDistance", std::nearbyint(params.getInt("StoppingDistance") * distanceConversion));
|
||||
}
|
||||
|
||||
FrogPilotParamValueControl *offset1Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset1"]);
|
||||
FrogPilotParamValueControl *offset2Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset2"]);
|
||||
FrogPilotParamValueControl *offset3Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset3"]);
|
||||
FrogPilotParamValueControl *offset4Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset4"]);
|
||||
FrogPilotParamValueControl *pauseLateralToggle = static_cast<FrogPilotParamValueControl*>(toggles["PauseLateralOnSignal"]);
|
||||
FrogPilotParamValueControl *setSpeedOffsetToggle = static_cast<FrogPilotParamValueControl*>(toggles["SetSpeedOffset"]);
|
||||
FrogPilotParamValueControl *stoppingDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["StoppingDistance"]);
|
||||
|
||||
if (isMetric) {
|
||||
offset1Toggle->setTitle("Speed Limit Offset (0-34 kph)");
|
||||
offset2Toggle->setTitle("Speed Limit Offset (35-54 kph)");
|
||||
offset3Toggle->setTitle("Speed Limit Offset (55-64 kph)");
|
||||
offset4Toggle->setTitle("Speed Limit Offset (65-99 kph)");
|
||||
|
||||
offset1Toggle->setDescription("Set speed limit offset for limits between 0-34 kph.");
|
||||
offset2Toggle->setDescription("Set speed limit offset for limits between 35-54 kph.");
|
||||
offset3Toggle->setDescription("Set speed limit offset for limits between 55-64 kph.");
|
||||
offset4Toggle->setDescription("Set speed limit offset for limits between 65-99 kph.");
|
||||
|
||||
offset1Toggle->updateControl(0, 150, " kph");
|
||||
offset2Toggle->updateControl(0, 150, " kph");
|
||||
offset3Toggle->updateControl(0, 150, " kph");
|
||||
offset4Toggle->updateControl(0, 150, " kph");
|
||||
pauseLateralToggle->updateControl(0, 150, " kph");
|
||||
setSpeedOffsetToggle->updateControl(0, 150, " kph");
|
||||
stoppingDistanceToggle->updateControl(0, 5, " meters");
|
||||
} else {
|
||||
offset1Toggle->setTitle("Speed Limit Offset (0-34 mph)");
|
||||
offset2Toggle->setTitle("Speed Limit Offset (35-54 mph)");
|
||||
offset3Toggle->setTitle("Speed Limit Offset (55-64 mph)");
|
||||
offset4Toggle->setTitle("Speed Limit Offset (65-99 mph)");
|
||||
|
||||
offset1Toggle->setDescription("Set speed limit offset for limits between 0-34 mph.");
|
||||
offset2Toggle->setDescription("Set speed limit offset for limits between 35-54 mph.");
|
||||
offset3Toggle->setDescription("Set speed limit offset for limits between 55-64 mph.");
|
||||
offset4Toggle->setDescription("Set speed limit offset for limits between 65-99 mph.");
|
||||
|
||||
offset1Toggle->updateControl(0, 99, " mph");
|
||||
offset2Toggle->updateControl(0, 99, " mph");
|
||||
offset3Toggle->updateControl(0, 99, " mph");
|
||||
offset4Toggle->updateControl(0, 99, " mph");
|
||||
pauseLateralToggle->updateControl(0, 99, " mph");
|
||||
setSpeedOffsetToggle->updateControl(0, 99, " mph");
|
||||
stoppingDistanceToggle->updateControl(0, 10, " feet");
|
||||
}
|
||||
|
||||
offset1Toggle->refresh();
|
||||
offset2Toggle->refresh();
|
||||
offset3Toggle->refresh();
|
||||
offset4Toggle->refresh();
|
||||
pauseLateralToggle->refresh();
|
||||
setSpeedOffsetToggle->refresh();
|
||||
stoppingDistanceToggle->refresh();
|
||||
|
||||
previousIsMetric = isMetric;
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::parentToggleClicked() {
|
||||
aggressiveProfile->setVisible(false);
|
||||
conditionalSpeedsImperial->setVisible(false);
|
||||
conditionalSpeedsMetric->setVisible(false);
|
||||
modelSelectorButton->setVisible(false);
|
||||
slscPriorityButton->setVisible(false);
|
||||
standardProfile->setVisible(false);
|
||||
relaxedProfile->setVisible(false);
|
||||
|
||||
this->openParentToggle();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::hideSubToggles() {
|
||||
aggressiveProfile->setVisible(false);
|
||||
conditionalSpeedsImperial->setVisible(false);
|
||||
conditionalSpeedsMetric->setVisible(false);
|
||||
modelSelectorButton->setVisible(true);
|
||||
slscPriorityButton->setVisible(false);
|
||||
standardProfile->setVisible(false);
|
||||
relaxedProfile->setVisible(false);
|
||||
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
|
||||
fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end() ||
|
||||
laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() ||
|
||||
lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() ||
|
||||
longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end() ||
|
||||
mtscKeys.find(key.c_str()) != mtscKeys.end() ||
|
||||
qolKeys.find(key.c_str()) != qolKeys.end() ||
|
||||
speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end() ||
|
||||
visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end();
|
||||
toggle->setVisible(!subToggles);
|
||||
}
|
||||
|
||||
this->closeParentToggle();
|
||||
}
|
||||
|
||||
void FrogPilotControlsPanel::hideEvent(QHideEvent *event) {
|
||||
hideSubToggles();
|
||||
}
|
||||
54
scp/ui/control_settings.h
Normal file
54
scp/ui/control_settings.h
Normal file
@@ -0,0 +1,54 @@
|
||||
#pragma once
|
||||
|
||||
#include <set>
|
||||
|
||||
#include "selfdrive/oscarpilot/settings/settings.h"
|
||||
#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
|
||||
#include "selfdrive/ui/qt/offroad/settings.h"
|
||||
|
||||
class FrogPilotControlsPanel : public FrogPilotListWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit FrogPilotControlsPanel(OscarSettingsWindow *parent);
|
||||
|
||||
signals:
|
||||
void closeParentToggle();
|
||||
void openParentToggle();
|
||||
|
||||
private:
|
||||
void hideEvent(QHideEvent *event);
|
||||
void hideSubToggles();
|
||||
void parentToggleClicked();
|
||||
void updateCarToggles();
|
||||
void updateMetric();
|
||||
void updateToggles();
|
||||
|
||||
ButtonControl *slscPriorityButton;
|
||||
|
||||
FrogPilotButtonIconControl *modelSelectorButton;
|
||||
|
||||
FrogPilotDualParamControl *aggressiveProfile;
|
||||
FrogPilotDualParamControl *conditionalSpeedsImperial;
|
||||
FrogPilotDualParamControl *conditionalSpeedsMetric;
|
||||
FrogPilotDualParamControl *standardProfile;
|
||||
FrogPilotDualParamControl *relaxedProfile;
|
||||
|
||||
std::set<QString> conditionalExperimentalKeys;
|
||||
std::set<QString> fireTheBabysitterKeys;
|
||||
std::set<QString> laneChangeKeys;
|
||||
std::set<QString> lateralTuneKeys;
|
||||
std::set<QString> longitudinalTuneKeys;
|
||||
std::set<QString> mtscKeys;
|
||||
std::set<QString> qolKeys;
|
||||
std::set<QString> speedLimitControllerKeys;
|
||||
std::set<QString> visionTurnControlKeys;
|
||||
|
||||
std::map<std::string, ParamControl*> toggles;
|
||||
|
||||
Params params;
|
||||
Params paramsMemory{"/dev/shm/params"};
|
||||
|
||||
bool isMetric = params.getBool("IsMetric");
|
||||
float steerRatioStock = params.getFloat("SteerRatioStock");
|
||||
};
|
||||
53
scp/ui/control_settings.h.org
Normal file
53
scp/ui/control_settings.h.org
Normal file
@@ -0,0 +1,53 @@
|
||||
#pragma once
|
||||
|
||||
#include <set>
|
||||
|
||||
#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
|
||||
#include "selfdrive/ui/qt/offroad/settings.h"
|
||||
|
||||
class FrogPilotControlsPanel : public FrogPilotListWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit FrogPilotControlsPanel(SettingsWindow *parent);
|
||||
|
||||
signals:
|
||||
void closeParentToggle();
|
||||
void openParentToggle();
|
||||
|
||||
private:
|
||||
void hideEvent(QHideEvent *event);
|
||||
void hideSubToggles();
|
||||
void parentToggleClicked();
|
||||
void updateCarToggles();
|
||||
void updateMetric();
|
||||
void updateToggles();
|
||||
|
||||
ButtonControl *slscPriorityButton;
|
||||
|
||||
FrogPilotButtonIconControl *modelSelectorButton;
|
||||
|
||||
FrogPilotDualParamControl *aggressiveProfile;
|
||||
FrogPilotDualParamControl *conditionalSpeedsImperial;
|
||||
FrogPilotDualParamControl *conditionalSpeedsMetric;
|
||||
FrogPilotDualParamControl *standardProfile;
|
||||
FrogPilotDualParamControl *relaxedProfile;
|
||||
|
||||
std::set<QString> conditionalExperimentalKeys;
|
||||
std::set<QString> fireTheBabysitterKeys;
|
||||
std::set<QString> laneChangeKeys;
|
||||
std::set<QString> lateralTuneKeys;
|
||||
std::set<QString> longitudinalTuneKeys;
|
||||
std::set<QString> mtscKeys;
|
||||
std::set<QString> qolKeys;
|
||||
std::set<QString> speedLimitControllerKeys;
|
||||
std::set<QString> visionTurnControlKeys;
|
||||
|
||||
std::map<std::string, ParamControl*> toggles;
|
||||
|
||||
Params params;
|
||||
Params paramsMemory{"/dev/shm/params"};
|
||||
|
||||
bool isMetric = params.getBool("IsMetric");
|
||||
float steerRatioStock = params.getFloat("SteerRatioStock");
|
||||
};
|
||||
177
scp/ui/frogpilot_functions.cc
Normal file
177
scp/ui/frogpilot_functions.cc
Normal file
@@ -0,0 +1,177 @@
|
||||
#include <filesystem>
|
||||
|
||||
#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
|
||||
#include "selfdrive/ui/ui.h"
|
||||
|
||||
bool FrogPilotConfirmationDialog::toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent) {
|
||||
ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Reboot Later"), false, parent);
|
||||
return d.exec();
|
||||
}
|
||||
|
||||
bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent) {
|
||||
ConfirmationDialog d = ConfirmationDialog(prompt_text, button_text, "", false, parent);
|
||||
return d.exec();
|
||||
}
|
||||
|
||||
bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent) {
|
||||
ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Yes"), tr("No"), false, parent);
|
||||
return d.exec();
|
||||
}
|
||||
|
||||
FrogPilotButtonIconControl::FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc, const QString &icon, QWidget *parent) : AbstractControl(title, desc, icon, parent) {
|
||||
btn.setText(text);
|
||||
btn.setStyleSheet(R"(
|
||||
QPushButton {
|
||||
padding: 0;
|
||||
border-radius: 50px;
|
||||
font-size: 35px;
|
||||
font-weight: 500;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
QPushButton:disabled {
|
||||
color: #33E4E4E4;
|
||||
}
|
||||
)");
|
||||
btn.setFixedSize(250, 100);
|
||||
QObject::connect(&btn, &QPushButton::clicked, this, &FrogPilotButtonIconControl::clicked);
|
||||
hlayout->addWidget(&btn);
|
||||
}
|
||||
|
||||
void setDefaultParams() {
|
||||
Params params = Params();
|
||||
bool FrogsGoMoo = params.get("DongleId").substr(0, 3) == "be6";
|
||||
|
||||
bool brianbot = params.get("DongleId").substr(0, 6) == "90bb71";
|
||||
|
||||
std::map<std::string, std::string> defaultValues {
|
||||
{"AccelerationPath", brianbot ? "1" : "0"},
|
||||
{"AccelerationProfile", brianbot ? "2" : "2"},
|
||||
{"AdjacentPath", FrogsGoMoo ? "1" : "0"},
|
||||
{"AdjustablePersonalities", "0"},
|
||||
{"AggressiveAcceleration", "1"},
|
||||
{"AggressiveFollow", FrogsGoMoo ? "10" : "12"},
|
||||
{"AggressiveJerk", FrogsGoMoo ? "6" : "5"},
|
||||
{"AlwaysOnLateral", "1"},
|
||||
{"AlwaysOnLateralMain", brianbot ? "1" : "0"},
|
||||
{"AverageCurvature", brianbot ? "1" : "0"},
|
||||
{"BlindSpotPath", "1"},
|
||||
{"CameraView", FrogsGoMoo ? "1" : "0"},
|
||||
{"CECurves", "1"},
|
||||
{"CECurvesLead", "0"},
|
||||
{"CENavigation", "1"},
|
||||
{"CESignal", "1"},
|
||||
{"CESlowerLead", "0"},
|
||||
{"CESpeed", "0"},
|
||||
{"CESpeedLead", "0"},
|
||||
{"CEStopLights", "0"},
|
||||
{"CEStopLightsLead", FrogsGoMoo ? "0" : "0"},
|
||||
{"Compass", FrogsGoMoo ? "1" : "0"},
|
||||
{"ConditionalExperimental", "1"},
|
||||
{"CurveSensitivity", FrogsGoMoo ? "125" : "100"},
|
||||
{"CustomColors", "1"},
|
||||
{"CustomIcons", "1"},
|
||||
{"CustomPersonalities", "0"},
|
||||
{"CustomSignals", "0"},
|
||||
{"CustomSounds", "1"},
|
||||
{"CustomTheme", "1"},
|
||||
{"CustomUI", "0"},
|
||||
{"DeviceShutdown", "1"},
|
||||
{"DisableOnroadUploads", "1"},
|
||||
{"DriverCamera", "0"},
|
||||
{"DriveStats", "1"},
|
||||
{"EVTable", FrogsGoMoo ? "0" : "1"},
|
||||
{"ExperimentalModeActivation", "1"},
|
||||
{"ExperimentalModeViaLKAS", "0"},
|
||||
{"ExperimentalModeViaScreen", FrogsGoMoo ? "0" : "1"},
|
||||
{"Fahrenheit", "0"},
|
||||
{"FireTheBabysitter", FrogsGoMoo ? "1" : "0"},
|
||||
{"FullMap", "0"},
|
||||
{"GasRegenCmd", "0"},
|
||||
{"GoatScream", "0"},
|
||||
{"GreenLightAlert", "0"},
|
||||
{"HideSpeed", "0"},
|
||||
{"HigherBitrate", "0"},
|
||||
{"LaneChangeTime", "0"},
|
||||
{"LaneDetection", "1"},
|
||||
{"LaneLinesWidth", "4"},
|
||||
{"LateralTune", "1"},
|
||||
{"LeadInfo", FrogsGoMoo ? "1" : "0"},
|
||||
{"LockDoors", "0"},
|
||||
{"LongitudinalTune", "1"},
|
||||
{"LongPitch", FrogsGoMoo ? "0" : "1"},
|
||||
{"LowerVolt", FrogsGoMoo ? "0" : "1"},
|
||||
{"Model", "3"},
|
||||
{"ModelUI", "1"},
|
||||
{"MTSCEnabled", "1"},
|
||||
{"MuteDM", FrogsGoMoo ? "1" : "1"},
|
||||
{"MuteDoor", FrogsGoMoo ? "1" : "1"},
|
||||
{"MuteOverheated", FrogsGoMoo ? "1" : "0"},
|
||||
{"MuteSeatbelt", FrogsGoMoo ? "1" : "0"},
|
||||
{"NNFF", FrogsGoMoo ? "1" : "1"},
|
||||
{"NoLogging", "1"},
|
||||
{"NudgelessLaneChange", "0"},
|
||||
{"NumericalTemp", FrogsGoMoo ? "1" : "0"},
|
||||
{"Offset1", "3"},
|
||||
{"Offset2", FrogsGoMoo ? "7" : "5"},
|
||||
{"Offset3", "7"},
|
||||
{"Offset4", FrogsGoMoo ? "20" : "7"},
|
||||
{"OneLaneChange", "1"},
|
||||
{"PathEdgeWidth", "20"},
|
||||
{"PathWidth", "61"},
|
||||
{"PauseLateralOnSignal", "20"},
|
||||
{"PreferredSchedule", "0"},
|
||||
{"QOLControls", "1"},
|
||||
{"QOLVisuals", "1"},
|
||||
{"RandomEvents", FrogsGoMoo ? "1" : "0"},
|
||||
{"RelaxedFollow", "30"},
|
||||
{"RelaxedJerk", "50"},
|
||||
{"ReverseCruise", "0"},
|
||||
{"RoadEdgesWidth", "2"},
|
||||
{"RoadNameUI", "1"},
|
||||
{"RotatingWheel", "1"},
|
||||
{"ScreenBrightness", "101"},
|
||||
{"SearchInput", "0"},
|
||||
{"ShowCPU", FrogsGoMoo ? "1" : "0"},
|
||||
{"ShowFPS", FrogsGoMoo ? "1" : "0"},
|
||||
{"ShowGPU", "0"},
|
||||
{"ShowMemoryUsage", FrogsGoMoo ? "1" : "0"},
|
||||
{"Sidebar", FrogsGoMoo ? "1" : "0"},
|
||||
{"SilentMode", "0"},
|
||||
{"SLCFallback", "2"},
|
||||
{"SLCOverride", FrogsGoMoo ? "2" : "1"},
|
||||
{"SLCPriority", "1"},
|
||||
{"SmoothBraking", "1"},
|
||||
{"SNGHack", FrogsGoMoo ? "0" : "1"},
|
||||
{"SpeedLimitController", "1"},
|
||||
{"StandardFollow", "15"},
|
||||
{"StandardJerk", "10"},
|
||||
{"StoppingDistance", FrogsGoMoo ? "6" : "0"},
|
||||
{"TSS2Tune", "1"},
|
||||
{"TurnAggressiveness", FrogsGoMoo ? "150" : "100"}, // Test 90?
|
||||
{"TurnDesires", "0"},
|
||||
{"UnlimitedLength", "1"},
|
||||
{"UseSI", FrogsGoMoo ? "1" : "0"},
|
||||
{"UseVienna", "0"},
|
||||
{"VisionTurnControl", "1"},
|
||||
{"WheelIcon", FrogsGoMoo ? "1" : "0"}
|
||||
};
|
||||
|
||||
bool rebootRequired = false;
|
||||
for (const auto &[key, value] : defaultValues) {
|
||||
if (params.get(key).empty()) {
|
||||
params.put(key, value);
|
||||
rebootRequired = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (rebootRequired) {
|
||||
while (!std::filesystem::exists("/data/openpilot/prebuilt")) {
|
||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
}
|
||||
Hardware::reboot();
|
||||
}
|
||||
}
|
||||
177
scp/ui/frogpilot_functions.cc.org
Normal file
177
scp/ui/frogpilot_functions.cc.org
Normal file
@@ -0,0 +1,177 @@
|
||||
#include <filesystem>
|
||||
|
||||
#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
|
||||
#include "selfdrive/ui/ui.h"
|
||||
|
||||
bool FrogPilotConfirmationDialog::toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent) {
|
||||
ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Reboot Later"), false, parent);
|
||||
return d.exec();
|
||||
}
|
||||
|
||||
bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent) {
|
||||
ConfirmationDialog d = ConfirmationDialog(prompt_text, button_text, "", false, parent);
|
||||
return d.exec();
|
||||
}
|
||||
|
||||
bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent) {
|
||||
ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Yes"), tr("No"), false, parent);
|
||||
return d.exec();
|
||||
}
|
||||
|
||||
FrogPilotButtonIconControl::FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc, const QString &icon, QWidget *parent) : AbstractControl(title, desc, icon, parent) {
|
||||
btn.setText(text);
|
||||
btn.setStyleSheet(R"(
|
||||
QPushButton {
|
||||
padding: 0;
|
||||
border-radius: 50px;
|
||||
font-size: 35px;
|
||||
font-weight: 500;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
QPushButton:disabled {
|
||||
color: #33E4E4E4;
|
||||
}
|
||||
)");
|
||||
btn.setFixedSize(250, 100);
|
||||
QObject::connect(&btn, &QPushButton::clicked, this, &FrogPilotButtonIconControl::clicked);
|
||||
hlayout->addWidget(&btn);
|
||||
}
|
||||
|
||||
void setDefaultParams() {
|
||||
Params params = Params();
|
||||
bool FrogsGoMoo = params.get("DongleId").substr(0, 3) == "be6";
|
||||
|
||||
bool brianbot = params.get("DongleId").substr(0, 6) == "90bb71";
|
||||
|
||||
std::map<std::string, std::string> defaultValues {
|
||||
{"AccelerationPath", brianbot ? "1" : "0"},
|
||||
{"AccelerationProfile", brianbot ? "2" : "2"},
|
||||
{"AdjacentPath", FrogsGoMoo ? "1" : "0"},
|
||||
{"AdjustablePersonalities", "0"},
|
||||
{"AggressiveAcceleration", "1"},
|
||||
{"AggressiveFollow", FrogsGoMoo ? "10" : "12"},
|
||||
{"AggressiveJerk", FrogsGoMoo ? "6" : "5"},
|
||||
{"AlwaysOnLateral", "1"},
|
||||
{"AlwaysOnLateralMain", brianbot ? "1" : "0"},
|
||||
{"AverageCurvature", brianbot ? "1" : "0"},
|
||||
{"BlindSpotPath", "1"},
|
||||
{"CameraView", FrogsGoMoo ? "1" : "0"},
|
||||
{"CECurves", "1"},
|
||||
{"CECurvesLead", "0"},
|
||||
{"CENavigation", "1"},
|
||||
{"CESignal", "1"},
|
||||
{"CESlowerLead", "0"},
|
||||
{"CESpeed", "0"},
|
||||
{"CESpeedLead", "0"},
|
||||
{"CEStopLights", "0"},
|
||||
{"CEStopLightsLead", FrogsGoMoo ? "0" : "0"},
|
||||
{"Compass", FrogsGoMoo ? "1" : "0"},
|
||||
{"ConditionalExperimental", "1"},
|
||||
{"CurveSensitivity", FrogsGoMoo ? "125" : "100"},
|
||||
{"CustomColors", "1"},
|
||||
{"CustomIcons", "1"},
|
||||
{"CustomPersonalities", "0"},
|
||||
{"CustomSignals", "0"},
|
||||
{"CustomSounds", "1"},
|
||||
{"CustomTheme", "1"},
|
||||
{"CustomUI", "0"},
|
||||
{"DeviceShutdown", "1"},
|
||||
{"DisableOnroadUploads", "1"},
|
||||
{"DriverCamera", "0"},
|
||||
{"DriveStats", "1"},
|
||||
{"EVTable", FrogsGoMoo ? "0" : "1"},
|
||||
{"ExperimentalModeActivation", "1"},
|
||||
{"ExperimentalModeViaLKAS", "0"},
|
||||
{"ExperimentalModeViaScreen", FrogsGoMoo ? "0" : "1"},
|
||||
{"Fahrenheit", "0"},
|
||||
{"FireTheBabysitter", FrogsGoMoo ? "1" : "0"},
|
||||
{"FullMap", "0"},
|
||||
{"GasRegenCmd", "0"},
|
||||
{"GoatScream", "0"},
|
||||
{"GreenLightAlert", "0"},
|
||||
{"HideSpeed", "0"},
|
||||
{"HigherBitrate", "0"},
|
||||
{"LaneChangeTime", "0"},
|
||||
{"LaneDetection", "1"},
|
||||
{"LaneLinesWidth", "4"},
|
||||
{"LateralTune", "1"},
|
||||
{"LeadInfo", FrogsGoMoo ? "1" : "0"},
|
||||
{"LockDoors", "0"},
|
||||
{"LongitudinalTune", "1"},
|
||||
{"LongPitch", FrogsGoMoo ? "0" : "1"},
|
||||
{"LowerVolt", FrogsGoMoo ? "0" : "1"},
|
||||
{"Model", "3"},
|
||||
{"ModelUI", "1"},
|
||||
{"MTSCEnabled", "1"},
|
||||
{"MuteDM", FrogsGoMoo ? "1" : "1"},
|
||||
{"MuteDoor", FrogsGoMoo ? "1" : "1"},
|
||||
{"MuteOverheated", FrogsGoMoo ? "1" : "0"},
|
||||
{"MuteSeatbelt", FrogsGoMoo ? "1" : "0"},
|
||||
{"NNFF", FrogsGoMoo ? "1" : "1"},
|
||||
{"NoLogging", "1"},
|
||||
{"NudgelessLaneChange", "0"},
|
||||
{"NumericalTemp", FrogsGoMoo ? "1" : "0"},
|
||||
{"Offset1", "3"},
|
||||
{"Offset2", FrogsGoMoo ? "7" : "5"},
|
||||
{"Offset3", "7"},
|
||||
{"Offset4", FrogsGoMoo ? "20" : "7"},
|
||||
{"OneLaneChange", "1"},
|
||||
{"PathEdgeWidth", "20"},
|
||||
{"PathWidth", "61"},
|
||||
{"PauseLateralOnSignal", "20"},
|
||||
{"PreferredSchedule", "0"},
|
||||
{"QOLControls", "1"},
|
||||
{"QOLVisuals", "1"},
|
||||
{"RandomEvents", FrogsGoMoo ? "1" : "0"},
|
||||
{"RelaxedFollow", "30"},
|
||||
{"RelaxedJerk", "50"},
|
||||
{"ReverseCruise", "0"},
|
||||
{"RoadEdgesWidth", "2"},
|
||||
{"RoadNameUI", "1"},
|
||||
{"RotatingWheel", "1"},
|
||||
{"ScreenBrightness", "101"},
|
||||
{"SearchInput", "0"},
|
||||
{"ShowCPU", FrogsGoMoo ? "1" : "0"},
|
||||
{"ShowFPS", FrogsGoMoo ? "1" : "0"},
|
||||
{"ShowGPU", "0"},
|
||||
{"ShowMemoryUsage", FrogsGoMoo ? "1" : "0"},
|
||||
{"Sidebar", FrogsGoMoo ? "1" : "0"},
|
||||
{"SilentMode", "0"},
|
||||
{"SLCFallback", "2"},
|
||||
{"SLCOverride", FrogsGoMoo ? "2" : "1"},
|
||||
{"SLCPriority", "1"},
|
||||
{"SmoothBraking", "1"},
|
||||
{"SNGHack", FrogsGoMoo ? "0" : "1"},
|
||||
{"SpeedLimitController", "1"},
|
||||
{"StandardFollow", "15"},
|
||||
{"StandardJerk", "10"},
|
||||
{"StoppingDistance", FrogsGoMoo ? "6" : "0"},
|
||||
{"TSS2Tune", "1"},
|
||||
{"TurnAggressiveness", FrogsGoMoo ? "150" : "100"}, // Test 90?
|
||||
{"TurnDesires", "0"},
|
||||
{"UnlimitedLength", "1"},
|
||||
{"UseSI", FrogsGoMoo ? "1" : "0"},
|
||||
{"UseVienna", "0"},
|
||||
{"VisionTurnControl", "1"},
|
||||
{"WheelIcon", FrogsGoMoo ? "1" : "0"}
|
||||
};
|
||||
|
||||
bool rebootRequired = false;
|
||||
for (const auto &[key, value] : defaultValues) {
|
||||
if (params.get(key).empty()) {
|
||||
params.put(key, value);
|
||||
rebootRequired = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (rebootRequired) {
|
||||
while (!std::filesystem::exists("/data/openpilot/prebuilt")) {
|
||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
}
|
||||
Hardware::reboot();
|
||||
}
|
||||
}
|
||||
661
scp/ui/frogpilot_functions.h
Normal file
661
scp/ui/frogpilot_functions.h
Normal file
@@ -0,0 +1,661 @@
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/qt/widgets/controls.h"
|
||||
|
||||
class FrogPilotConfirmationDialog : public ConfirmationDialog {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit FrogPilotConfirmationDialog(const QString &prompt_text, const QString &confirm_text,
|
||||
const QString &cancel_text, const bool rich, QWidget* parent);
|
||||
static bool toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent);
|
||||
static bool toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent);
|
||||
static bool yesorno(const QString &prompt_text, QWidget *parent);
|
||||
};
|
||||
|
||||
class FrogPilotListWidget : public QWidget {
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit FrogPilotListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) {
|
||||
outer_layout.setMargin(0);
|
||||
outer_layout.setSpacing(0);
|
||||
outer_layout.addLayout(&inner_layout);
|
||||
inner_layout.setMargin(0);
|
||||
inner_layout.setSpacing(25); // default spacing is 25
|
||||
outer_layout.addStretch();
|
||||
}
|
||||
inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
|
||||
inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
|
||||
inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
|
||||
|
||||
private:
|
||||
void paintEvent(QPaintEvent *) override {
|
||||
QPainter p(this);
|
||||
p.setPen(Qt::gray);
|
||||
|
||||
int visibleWidgetCount = 0;
|
||||
std::vector<QRect> visibleRects;
|
||||
|
||||
for (int i = 0; i < inner_layout.count(); ++i) {
|
||||
QWidget *widget = inner_layout.itemAt(i)->widget();
|
||||
if (widget && widget->isVisible()) {
|
||||
visibleWidgetCount++;
|
||||
visibleRects.push_back(inner_layout.itemAt(i)->geometry());
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < visibleWidgetCount - 1; ++i) {
|
||||
int bottom = visibleRects[i].bottom() + inner_layout.spacing() / 2;
|
||||
p.drawLine(visibleRects[i].left() + 40, bottom, visibleRects[i].right() - 40, bottom);
|
||||
}
|
||||
}
|
||||
QVBoxLayout outer_layout;
|
||||
QVBoxLayout inner_layout;
|
||||
};
|
||||
|
||||
class FrogPilotButtonIconControl : public AbstractControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
|
||||
inline void setText(const QString &text) { btn.setText(text); }
|
||||
inline QString text() const { return btn.text(); }
|
||||
|
||||
signals:
|
||||
void clicked();
|
||||
|
||||
public slots:
|
||||
void setEnabled(bool enabled) { btn.setEnabled(enabled); }
|
||||
|
||||
private:
|
||||
QPushButton btn;
|
||||
};
|
||||
|
||||
class FrogPilotButtonParamControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
public:
|
||||
FrogPilotButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const std::vector<QString> &button_texts, const int minimum_button_width = 225)
|
||||
: ParamControl(param, title, desc, icon) {
|
||||
const QString style = R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 40px;
|
||||
font-weight: 500;
|
||||
height:100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
QPushButton:checked:enabled {
|
||||
background-color: #0048FF;
|
||||
}
|
||||
QPushButton:disabled {
|
||||
color: #33E4E4E4;
|
||||
}
|
||||
)";
|
||||
|
||||
key = param.toStdString();
|
||||
int value = atoi(params.get(key).c_str());
|
||||
|
||||
button_group = new QButtonGroup(this);
|
||||
button_group->setExclusive(true);
|
||||
for (size_t i = 0; i < button_texts.size(); i++) {
|
||||
QPushButton *button = new QPushButton(button_texts[i], this);
|
||||
button->setCheckable(true);
|
||||
button->setChecked(i == value);
|
||||
button->setStyleSheet(style);
|
||||
button->setMinimumWidth(minimum_button_width);
|
||||
hlayout->addWidget(button);
|
||||
button_group->addButton(button, i);
|
||||
}
|
||||
|
||||
QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
|
||||
if (checked) {
|
||||
params.put(key, std::to_string(id));
|
||||
refresh();
|
||||
emit buttonClicked(id);
|
||||
}
|
||||
});
|
||||
|
||||
toggle.hide();
|
||||
}
|
||||
|
||||
void setEnabled(bool enable) {
|
||||
for (auto btn : button_group->buttons()) {
|
||||
btn->setEnabled(enable);
|
||||
}
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonClicked(int id);
|
||||
|
||||
private:
|
||||
std::string key;
|
||||
Params params;
|
||||
QButtonGroup *button_group;
|
||||
};
|
||||
|
||||
class FrogPilotParamManageControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotParamManageControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr)
|
||||
: ParamControl(param, title, desc, icon, parent),
|
||||
key(param.toStdString()),
|
||||
manageButton(new ButtonControl(tr(""), tr("MANAGE"), tr(""))) {
|
||||
hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, manageButton);
|
||||
|
||||
connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) {
|
||||
refresh();
|
||||
});
|
||||
|
||||
connect(manageButton, &ButtonControl::clicked, this, &FrogPilotParamManageControl::manageButtonClicked);
|
||||
}
|
||||
|
||||
void refresh() {
|
||||
ParamControl::refresh();
|
||||
manageButton->setVisible(params.getBool(key));
|
||||
}
|
||||
|
||||
void showEvent(QShowEvent *event) override {
|
||||
ParamControl::showEvent(event);
|
||||
refresh();
|
||||
}
|
||||
|
||||
signals:
|
||||
void manageButtonClicked();
|
||||
|
||||
private:
|
||||
std::string key;
|
||||
Params params;
|
||||
ButtonControl *manageButton;
|
||||
};
|
||||
|
||||
class FrogPilotParamToggleControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
public:
|
||||
FrogPilotParamToggleControl(const QString ¶m, const QString &title, const QString &desc,
|
||||
const QString &icon, const std::vector<QString> &button_params,
|
||||
const std::vector<QString> &button_texts, QWidget *parent = nullptr,
|
||||
const int minimum_button_width = 225)
|
||||
: ParamControl(param, title, desc, icon, parent) {
|
||||
|
||||
connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) {
|
||||
refreshButtons(state);
|
||||
});
|
||||
|
||||
const QString style = R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 40px;
|
||||
font-weight: 500;
|
||||
height:100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
QPushButton:checked:enabled {
|
||||
background-color: #0048FF;
|
||||
}
|
||||
QPushButton:disabled {
|
||||
color: #33E4E4E4;
|
||||
}
|
||||
)";
|
||||
|
||||
button_group = new QButtonGroup(this);
|
||||
button_group->setExclusive(false);
|
||||
|
||||
std::map<QString, bool> paramState;
|
||||
for (const QString &button_param : button_params) {
|
||||
paramState[button_param] = params.getBool(button_param.toStdString());
|
||||
}
|
||||
|
||||
for (int i = 0; i < button_texts.size(); ++i) {
|
||||
QPushButton *button = new QPushButton(button_texts[i], this);
|
||||
button->setCheckable(true);
|
||||
button->setChecked(paramState[button_params[i]]);
|
||||
button->setStyleSheet(style);
|
||||
button->setMinimumWidth(minimum_button_width);
|
||||
button_group->addButton(button, i);
|
||||
|
||||
connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) {
|
||||
params.putBool(button_params[i].toStdString(), checked);
|
||||
button_group->button(i)->setChecked(checked);
|
||||
emit buttonClicked(checked);
|
||||
});
|
||||
|
||||
hlayout->insertWidget(hlayout->indexOf(&toggle), button);
|
||||
}
|
||||
}
|
||||
|
||||
void refreshButtons(bool state) {
|
||||
for (QAbstractButton *button : button_group->buttons()) {
|
||||
button->setVisible(state);
|
||||
}
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonClicked(const bool checked);
|
||||
|
||||
private:
|
||||
Params params;
|
||||
QButtonGroup *button_group;
|
||||
};
|
||||
|
||||
class FrogPilotParamValueControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotParamValueControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const int &minValue, const int &maxValue, const std::map<int, QString> &valueLabels,
|
||||
QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const int &division = 1)
|
||||
: ParamControl(param, title, desc, icon, parent),
|
||||
minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
|
||||
key = param.toStdString();
|
||||
|
||||
valueLabel = new QLabel(this);
|
||||
hlayout->addWidget(valueLabel);
|
||||
|
||||
QPushButton *decrementButton = createButton("-", this);
|
||||
QPushButton *incrementButton = createButton("+", this);
|
||||
|
||||
hlayout->addWidget(decrementButton);
|
||||
hlayout->addWidget(incrementButton);
|
||||
|
||||
connect(decrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(-1);
|
||||
});
|
||||
|
||||
connect(incrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(1);
|
||||
});
|
||||
|
||||
toggle.hide();
|
||||
}
|
||||
|
||||
void updateValue(int increment) {
|
||||
value = value + increment;
|
||||
|
||||
if (loop) {
|
||||
if (value < minValue) value = maxValue;
|
||||
else if (value > maxValue) value = minValue;
|
||||
} else {
|
||||
value = std::max(minValue, std::min(maxValue, value));
|
||||
}
|
||||
|
||||
params.putInt(key, value);
|
||||
refresh();
|
||||
emit buttonPressed();
|
||||
emit valueChanged(value);
|
||||
}
|
||||
|
||||
void refresh() {
|
||||
value = params.getInt(key);
|
||||
|
||||
QString text;
|
||||
auto it = valueLabelMappings.find(value);
|
||||
if (division > 1) {
|
||||
text = QString::number(value / (division * 1.0), 'g');
|
||||
} else {
|
||||
text = it != valueLabelMappings.end() ? it->second : QString::number(value);
|
||||
}
|
||||
if (!labelText.isEmpty()) {
|
||||
text += labelText;
|
||||
}
|
||||
valueLabel->setText(text);
|
||||
valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
|
||||
}
|
||||
|
||||
void updateControl(int newMinValue, int newMaxValue, const QString &newLabel, int newDivision = 1) {
|
||||
minValue = newMinValue;
|
||||
maxValue = newMaxValue;
|
||||
labelText = newLabel;
|
||||
division = newDivision;
|
||||
}
|
||||
|
||||
void showEvent(QShowEvent *event) override {
|
||||
refresh();
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonPressed();
|
||||
void valueChanged(int value);
|
||||
|
||||
private:
|
||||
bool loop;
|
||||
int division;
|
||||
int maxValue;
|
||||
int minValue;
|
||||
int value;
|
||||
QLabel *valueLabel;
|
||||
QString labelText;
|
||||
std::map<int, QString> valueLabelMappings;
|
||||
std::string key;
|
||||
Params params;
|
||||
|
||||
QPushButton *createButton(const QString &text, QWidget *parent) {
|
||||
QPushButton *button = new QPushButton(text, parent);
|
||||
button->setFixedSize(150, 100);
|
||||
button->setAutoRepeat(true);
|
||||
button->setAutoRepeatInterval(150);
|
||||
button->setStyleSheet(R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 50px;
|
||||
font-weight: 500;
|
||||
height: 100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
)");
|
||||
return button;
|
||||
}
|
||||
};
|
||||
|
||||
class FrogPilotParamValueControlFloat : public ParamControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotParamValueControlFloat(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const float &minValue, const float &maxValue, const std::map<int, QString> &valueLabels,
|
||||
QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const float &division = 1.0f)
|
||||
: ParamControl(param, title, desc, icon, parent),
|
||||
minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
|
||||
key = param.toStdString();
|
||||
|
||||
valueLabel = new QLabel(this);
|
||||
hlayout->addWidget(valueLabel);
|
||||
|
||||
QPushButton *decrementButton = createButton("-", this);
|
||||
QPushButton *incrementButton = createButton("+", this);
|
||||
|
||||
hlayout->addWidget(decrementButton);
|
||||
hlayout->addWidget(incrementButton);
|
||||
|
||||
connect(decrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(-1.0f);
|
||||
});
|
||||
|
||||
connect(incrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(1.0f);
|
||||
});
|
||||
|
||||
toggle.hide();
|
||||
}
|
||||
|
||||
void updateValue(float increment) {
|
||||
value += increment * 0.1f;
|
||||
|
||||
if (loop) {
|
||||
if (value < minValue) value = maxValue;
|
||||
else if (value > maxValue) value = minValue;
|
||||
} else {
|
||||
value = std::max(minValue, std::min(maxValue, value));
|
||||
}
|
||||
|
||||
params.putFloat(key, value);
|
||||
refresh();
|
||||
emit buttonPressed();
|
||||
emit valueChanged(value);
|
||||
}
|
||||
|
||||
void refresh() {
|
||||
value = params.getFloat(key);
|
||||
|
||||
QString text;
|
||||
auto it = valueLabelMappings.find(value);
|
||||
if (division > 0.1f) {
|
||||
text = QString::number(value, 'f', 1);
|
||||
} else {
|
||||
text = it != valueLabelMappings.end() ? it->second : QString::number(value, 'f', 1);
|
||||
}
|
||||
if (!labelText.isEmpty()) {
|
||||
text += labelText;
|
||||
}
|
||||
valueLabel->setText(text);
|
||||
valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
|
||||
}
|
||||
|
||||
void updateControl(float newMinValue, float newMaxValue, const QString &newLabel, float newDivision = 1.0f) {
|
||||
minValue = newMinValue;
|
||||
maxValue = newMaxValue;
|
||||
labelText = newLabel;
|
||||
division = newDivision;
|
||||
}
|
||||
|
||||
void showEvent(QShowEvent *event) override {
|
||||
refresh();
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonPressed();
|
||||
void valueChanged(float value);
|
||||
|
||||
private:
|
||||
bool loop;
|
||||
float division;
|
||||
float maxValue;
|
||||
float minValue;
|
||||
float value;
|
||||
QLabel *valueLabel;
|
||||
QString labelText;
|
||||
std::map<int, QString> valueLabelMappings;
|
||||
std::string key;
|
||||
Params params;
|
||||
|
||||
QPushButton *createButton(const QString &text, QWidget *parent) {
|
||||
QPushButton *button = new QPushButton(text, parent);
|
||||
button->setFixedSize(150, 100);
|
||||
button->setAutoRepeat(true);
|
||||
button->setAutoRepeatInterval(150);
|
||||
button->setStyleSheet(R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 50px;
|
||||
font-weight: 500;
|
||||
height: 100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
)");
|
||||
return button;
|
||||
}
|
||||
};
|
||||
|
||||
class FrogPilotDualParamControl : public QFrame {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotDualParamControl(ParamControl *control1, ParamControl *control2, QWidget *parent = nullptr, bool split=false)
|
||||
: QFrame(parent) {
|
||||
QHBoxLayout *hlayout = new QHBoxLayout(this);
|
||||
|
||||
control1->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred);
|
||||
control1->setMaximumWidth(split ? 800 : 700);
|
||||
|
||||
control2->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
|
||||
control2->setMaximumWidth(800);
|
||||
|
||||
hlayout->addWidget(control1);
|
||||
hlayout->addWidget(control2);
|
||||
}
|
||||
};
|
||||
|
||||
class FrogPilotParamValueToggleControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotParamValueToggleControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const int &minValue, const int &maxValue, const std::map<int, QString> &valueLabels,
|
||||
QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const int &division = 1,
|
||||
const std::vector<QString> &button_params = std::vector<QString>(), const std::vector<QString> &button_texts = std::vector<QString>(),
|
||||
const int minimum_button_width = 225)
|
||||
: ParamControl(param, title, desc, icon, parent),
|
||||
minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
|
||||
key = param.toStdString();
|
||||
|
||||
const QString style = R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 40px;
|
||||
font-weight: 500;
|
||||
height:100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
QPushButton:checked:enabled {
|
||||
background-color: #0048FF;
|
||||
}
|
||||
QPushButton:disabled {
|
||||
color: #33E4E4E4;
|
||||
}
|
||||
)";
|
||||
|
||||
button_group = new QButtonGroup(this);
|
||||
button_group->setExclusive(false);
|
||||
|
||||
std::map<QString, bool> paramState;
|
||||
for (const QString &button_param : button_params) {
|
||||
paramState[button_param] = params.getBool(button_param.toStdString());
|
||||
}
|
||||
|
||||
for (int i = 0; i < button_texts.size(); ++i) {
|
||||
QPushButton *button = new QPushButton(button_texts[i], this);
|
||||
button->setCheckable(true);
|
||||
button->setChecked(paramState[button_params[i]]);
|
||||
button->setStyleSheet(style);
|
||||
button->setMinimumWidth(minimum_button_width);
|
||||
button_group->addButton(button, i);
|
||||
|
||||
connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) {
|
||||
params.putBool(button_params[i].toStdString(), checked);
|
||||
button_group->button(i)->setChecked(checked);
|
||||
});
|
||||
|
||||
hlayout->addWidget(button);
|
||||
}
|
||||
|
||||
valueLabel = new QLabel(this);
|
||||
hlayout->addWidget(valueLabel);
|
||||
|
||||
QPushButton *decrementButton = createButton("-", this);
|
||||
QPushButton *incrementButton = createButton("+", this);
|
||||
|
||||
hlayout->addWidget(decrementButton);
|
||||
hlayout->addWidget(incrementButton);
|
||||
|
||||
connect(decrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(-1);
|
||||
});
|
||||
|
||||
connect(incrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(1);
|
||||
});
|
||||
|
||||
toggle.hide();
|
||||
}
|
||||
|
||||
void updateValue(int increment) {
|
||||
value = value + increment;
|
||||
|
||||
if (loop) {
|
||||
if (value < minValue) value = maxValue;
|
||||
else if (value > maxValue) value = minValue;
|
||||
} else {
|
||||
value = std::max(minValue, std::min(maxValue, value));
|
||||
}
|
||||
|
||||
params.putInt(key, value);
|
||||
refresh();
|
||||
emit buttonPressed();
|
||||
emit valueChanged(value);
|
||||
}
|
||||
|
||||
void refresh() {
|
||||
value = params.getInt(key);
|
||||
|
||||
QString text;
|
||||
auto it = valueLabelMappings.find(value);
|
||||
if (division > 1) {
|
||||
text = QString::number(value / (division * 1.0), 'g');
|
||||
} else {
|
||||
text = it != valueLabelMappings.end() ? it->second : QString::number(value);
|
||||
}
|
||||
if (!labelText.isEmpty()) {
|
||||
text += labelText;
|
||||
}
|
||||
valueLabel->setText(text);
|
||||
valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
|
||||
}
|
||||
|
||||
void updateControl(int newMinValue, int newMaxValue, const QString &newLabel, int newDivision) {
|
||||
minValue = newMinValue;
|
||||
maxValue = newMaxValue;
|
||||
labelText = newLabel;
|
||||
division = newDivision;
|
||||
}
|
||||
|
||||
void showEvent(QShowEvent *event) override {
|
||||
refresh();
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonPressed();
|
||||
void valueChanged(int value);
|
||||
|
||||
private:
|
||||
bool loop;
|
||||
int division;
|
||||
int maxValue;
|
||||
int minValue;
|
||||
int value;
|
||||
QButtonGroup *button_group;
|
||||
QLabel *valueLabel;
|
||||
QString labelText;
|
||||
std::map<int, QString> valueLabelMappings;
|
||||
std::string key;
|
||||
Params params;
|
||||
|
||||
QPushButton *createButton(const QString &text, QWidget *parent) {
|
||||
QPushButton *button = new QPushButton(text, parent);
|
||||
button->setFixedSize(150, 100);
|
||||
button->setAutoRepeat(true);
|
||||
button->setAutoRepeatInterval(150);
|
||||
button->setStyleSheet(R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 50px;
|
||||
font-weight: 500;
|
||||
height: 100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
)");
|
||||
return button;
|
||||
}
|
||||
};
|
||||
|
||||
void setDefaultParams();
|
||||
661
scp/ui/frogpilot_functions.h.org
Normal file
661
scp/ui/frogpilot_functions.h.org
Normal file
@@ -0,0 +1,661 @@
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/qt/widgets/controls.h"
|
||||
|
||||
class FrogPilotConfirmationDialog : public ConfirmationDialog {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit FrogPilotConfirmationDialog(const QString &prompt_text, const QString &confirm_text,
|
||||
const QString &cancel_text, const bool rich, QWidget* parent);
|
||||
static bool toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent);
|
||||
static bool toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent);
|
||||
static bool yesorno(const QString &prompt_text, QWidget *parent);
|
||||
};
|
||||
|
||||
class FrogPilotListWidget : public QWidget {
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit FrogPilotListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) {
|
||||
outer_layout.setMargin(0);
|
||||
outer_layout.setSpacing(0);
|
||||
outer_layout.addLayout(&inner_layout);
|
||||
inner_layout.setMargin(0);
|
||||
inner_layout.setSpacing(25); // default spacing is 25
|
||||
outer_layout.addStretch();
|
||||
}
|
||||
inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
|
||||
inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
|
||||
inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
|
||||
|
||||
private:
|
||||
void paintEvent(QPaintEvent *) override {
|
||||
QPainter p(this);
|
||||
p.setPen(Qt::gray);
|
||||
|
||||
int visibleWidgetCount = 0;
|
||||
std::vector<QRect> visibleRects;
|
||||
|
||||
for (int i = 0; i < inner_layout.count(); ++i) {
|
||||
QWidget *widget = inner_layout.itemAt(i)->widget();
|
||||
if (widget && widget->isVisible()) {
|
||||
visibleWidgetCount++;
|
||||
visibleRects.push_back(inner_layout.itemAt(i)->geometry());
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < visibleWidgetCount - 1; ++i) {
|
||||
int bottom = visibleRects[i].bottom() + inner_layout.spacing() / 2;
|
||||
p.drawLine(visibleRects[i].left() + 40, bottom, visibleRects[i].right() - 40, bottom);
|
||||
}
|
||||
}
|
||||
QVBoxLayout outer_layout;
|
||||
QVBoxLayout inner_layout;
|
||||
};
|
||||
|
||||
class FrogPilotButtonIconControl : public AbstractControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
|
||||
inline void setText(const QString &text) { btn.setText(text); }
|
||||
inline QString text() const { return btn.text(); }
|
||||
|
||||
signals:
|
||||
void clicked();
|
||||
|
||||
public slots:
|
||||
void setEnabled(bool enabled) { btn.setEnabled(enabled); }
|
||||
|
||||
private:
|
||||
QPushButton btn;
|
||||
};
|
||||
|
||||
class FrogPilotButtonParamControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
public:
|
||||
FrogPilotButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const std::vector<QString> &button_texts, const int minimum_button_width = 225)
|
||||
: ParamControl(param, title, desc, icon) {
|
||||
const QString style = R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 40px;
|
||||
font-weight: 500;
|
||||
height:100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
QPushButton:checked:enabled {
|
||||
background-color: #0048FF;
|
||||
}
|
||||
QPushButton:disabled {
|
||||
color: #33E4E4E4;
|
||||
}
|
||||
)";
|
||||
|
||||
key = param.toStdString();
|
||||
int value = atoi(params.get(key).c_str());
|
||||
|
||||
button_group = new QButtonGroup(this);
|
||||
button_group->setExclusive(true);
|
||||
for (size_t i = 0; i < button_texts.size(); i++) {
|
||||
QPushButton *button = new QPushButton(button_texts[i], this);
|
||||
button->setCheckable(true);
|
||||
button->setChecked(i == value);
|
||||
button->setStyleSheet(style);
|
||||
button->setMinimumWidth(minimum_button_width);
|
||||
hlayout->addWidget(button);
|
||||
button_group->addButton(button, i);
|
||||
}
|
||||
|
||||
QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
|
||||
if (checked) {
|
||||
params.put(key, std::to_string(id));
|
||||
refresh();
|
||||
emit buttonClicked(id);
|
||||
}
|
||||
});
|
||||
|
||||
toggle.hide();
|
||||
}
|
||||
|
||||
void setEnabled(bool enable) {
|
||||
for (auto btn : button_group->buttons()) {
|
||||
btn->setEnabled(enable);
|
||||
}
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonClicked(int id);
|
||||
|
||||
private:
|
||||
std::string key;
|
||||
Params params;
|
||||
QButtonGroup *button_group;
|
||||
};
|
||||
|
||||
class FrogPilotParamManageControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotParamManageControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr)
|
||||
: ParamControl(param, title, desc, icon, parent),
|
||||
key(param.toStdString()),
|
||||
manageButton(new ButtonControl(tr(""), tr("MANAGE"), tr(""))) {
|
||||
hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, manageButton);
|
||||
|
||||
connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) {
|
||||
refresh();
|
||||
});
|
||||
|
||||
connect(manageButton, &ButtonControl::clicked, this, &FrogPilotParamManageControl::manageButtonClicked);
|
||||
}
|
||||
|
||||
void refresh() {
|
||||
ParamControl::refresh();
|
||||
manageButton->setVisible(params.getBool(key));
|
||||
}
|
||||
|
||||
void showEvent(QShowEvent *event) override {
|
||||
ParamControl::showEvent(event);
|
||||
refresh();
|
||||
}
|
||||
|
||||
signals:
|
||||
void manageButtonClicked();
|
||||
|
||||
private:
|
||||
std::string key;
|
||||
Params params;
|
||||
ButtonControl *manageButton;
|
||||
};
|
||||
|
||||
class FrogPilotParamToggleControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
public:
|
||||
FrogPilotParamToggleControl(const QString ¶m, const QString &title, const QString &desc,
|
||||
const QString &icon, const std::vector<QString> &button_params,
|
||||
const std::vector<QString> &button_texts, QWidget *parent = nullptr,
|
||||
const int minimum_button_width = 225)
|
||||
: ParamControl(param, title, desc, icon, parent) {
|
||||
|
||||
connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) {
|
||||
refreshButtons(state);
|
||||
});
|
||||
|
||||
const QString style = R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 40px;
|
||||
font-weight: 500;
|
||||
height:100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
QPushButton:checked:enabled {
|
||||
background-color: #0048FF;
|
||||
}
|
||||
QPushButton:disabled {
|
||||
color: #33E4E4E4;
|
||||
}
|
||||
)";
|
||||
|
||||
button_group = new QButtonGroup(this);
|
||||
button_group->setExclusive(false);
|
||||
|
||||
std::map<QString, bool> paramState;
|
||||
for (const QString &button_param : button_params) {
|
||||
paramState[button_param] = params.getBool(button_param.toStdString());
|
||||
}
|
||||
|
||||
for (int i = 0; i < button_texts.size(); ++i) {
|
||||
QPushButton *button = new QPushButton(button_texts[i], this);
|
||||
button->setCheckable(true);
|
||||
button->setChecked(paramState[button_params[i]]);
|
||||
button->setStyleSheet(style);
|
||||
button->setMinimumWidth(minimum_button_width);
|
||||
button_group->addButton(button, i);
|
||||
|
||||
connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) {
|
||||
params.putBool(button_params[i].toStdString(), checked);
|
||||
button_group->button(i)->setChecked(checked);
|
||||
emit buttonClicked(checked);
|
||||
});
|
||||
|
||||
hlayout->insertWidget(hlayout->indexOf(&toggle), button);
|
||||
}
|
||||
}
|
||||
|
||||
void refreshButtons(bool state) {
|
||||
for (QAbstractButton *button : button_group->buttons()) {
|
||||
button->setVisible(state);
|
||||
}
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonClicked(const bool checked);
|
||||
|
||||
private:
|
||||
Params params;
|
||||
QButtonGroup *button_group;
|
||||
};
|
||||
|
||||
class FrogPilotParamValueControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotParamValueControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const int &minValue, const int &maxValue, const std::map<int, QString> &valueLabels,
|
||||
QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const int &division = 1)
|
||||
: ParamControl(param, title, desc, icon, parent),
|
||||
minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
|
||||
key = param.toStdString();
|
||||
|
||||
valueLabel = new QLabel(this);
|
||||
hlayout->addWidget(valueLabel);
|
||||
|
||||
QPushButton *decrementButton = createButton("-", this);
|
||||
QPushButton *incrementButton = createButton("+", this);
|
||||
|
||||
hlayout->addWidget(decrementButton);
|
||||
hlayout->addWidget(incrementButton);
|
||||
|
||||
connect(decrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(-1);
|
||||
});
|
||||
|
||||
connect(incrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(1);
|
||||
});
|
||||
|
||||
toggle.hide();
|
||||
}
|
||||
|
||||
void updateValue(int increment) {
|
||||
value = value + increment;
|
||||
|
||||
if (loop) {
|
||||
if (value < minValue) value = maxValue;
|
||||
else if (value > maxValue) value = minValue;
|
||||
} else {
|
||||
value = std::max(minValue, std::min(maxValue, value));
|
||||
}
|
||||
|
||||
params.putInt(key, value);
|
||||
refresh();
|
||||
emit buttonPressed();
|
||||
emit valueChanged(value);
|
||||
}
|
||||
|
||||
void refresh() {
|
||||
value = params.getInt(key);
|
||||
|
||||
QString text;
|
||||
auto it = valueLabelMappings.find(value);
|
||||
if (division > 1) {
|
||||
text = QString::number(value / (division * 1.0), 'g');
|
||||
} else {
|
||||
text = it != valueLabelMappings.end() ? it->second : QString::number(value);
|
||||
}
|
||||
if (!labelText.isEmpty()) {
|
||||
text += labelText;
|
||||
}
|
||||
valueLabel->setText(text);
|
||||
valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
|
||||
}
|
||||
|
||||
void updateControl(int newMinValue, int newMaxValue, const QString &newLabel, int newDivision = 1) {
|
||||
minValue = newMinValue;
|
||||
maxValue = newMaxValue;
|
||||
labelText = newLabel;
|
||||
division = newDivision;
|
||||
}
|
||||
|
||||
void showEvent(QShowEvent *event) override {
|
||||
refresh();
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonPressed();
|
||||
void valueChanged(int value);
|
||||
|
||||
private:
|
||||
bool loop;
|
||||
int division;
|
||||
int maxValue;
|
||||
int minValue;
|
||||
int value;
|
||||
QLabel *valueLabel;
|
||||
QString labelText;
|
||||
std::map<int, QString> valueLabelMappings;
|
||||
std::string key;
|
||||
Params params;
|
||||
|
||||
QPushButton *createButton(const QString &text, QWidget *parent) {
|
||||
QPushButton *button = new QPushButton(text, parent);
|
||||
button->setFixedSize(150, 100);
|
||||
button->setAutoRepeat(true);
|
||||
button->setAutoRepeatInterval(150);
|
||||
button->setStyleSheet(R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 50px;
|
||||
font-weight: 500;
|
||||
height: 100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
)");
|
||||
return button;
|
||||
}
|
||||
};
|
||||
|
||||
class FrogPilotParamValueControlFloat : public ParamControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotParamValueControlFloat(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const float &minValue, const float &maxValue, const std::map<int, QString> &valueLabels,
|
||||
QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const float &division = 1.0f)
|
||||
: ParamControl(param, title, desc, icon, parent),
|
||||
minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
|
||||
key = param.toStdString();
|
||||
|
||||
valueLabel = new QLabel(this);
|
||||
hlayout->addWidget(valueLabel);
|
||||
|
||||
QPushButton *decrementButton = createButton("-", this);
|
||||
QPushButton *incrementButton = createButton("+", this);
|
||||
|
||||
hlayout->addWidget(decrementButton);
|
||||
hlayout->addWidget(incrementButton);
|
||||
|
||||
connect(decrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(-1.0f);
|
||||
});
|
||||
|
||||
connect(incrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(1.0f);
|
||||
});
|
||||
|
||||
toggle.hide();
|
||||
}
|
||||
|
||||
void updateValue(float increment) {
|
||||
value += increment * 0.1f;
|
||||
|
||||
if (loop) {
|
||||
if (value < minValue) value = maxValue;
|
||||
else if (value > maxValue) value = minValue;
|
||||
} else {
|
||||
value = std::max(minValue, std::min(maxValue, value));
|
||||
}
|
||||
|
||||
params.putFloat(key, value);
|
||||
refresh();
|
||||
emit buttonPressed();
|
||||
emit valueChanged(value);
|
||||
}
|
||||
|
||||
void refresh() {
|
||||
value = params.getFloat(key);
|
||||
|
||||
QString text;
|
||||
auto it = valueLabelMappings.find(value);
|
||||
if (division > 0.1f) {
|
||||
text = QString::number(value, 'f', 1);
|
||||
} else {
|
||||
text = it != valueLabelMappings.end() ? it->second : QString::number(value, 'f', 1);
|
||||
}
|
||||
if (!labelText.isEmpty()) {
|
||||
text += labelText;
|
||||
}
|
||||
valueLabel->setText(text);
|
||||
valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
|
||||
}
|
||||
|
||||
void updateControl(float newMinValue, float newMaxValue, const QString &newLabel, float newDivision = 1.0f) {
|
||||
minValue = newMinValue;
|
||||
maxValue = newMaxValue;
|
||||
labelText = newLabel;
|
||||
division = newDivision;
|
||||
}
|
||||
|
||||
void showEvent(QShowEvent *event) override {
|
||||
refresh();
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonPressed();
|
||||
void valueChanged(float value);
|
||||
|
||||
private:
|
||||
bool loop;
|
||||
float division;
|
||||
float maxValue;
|
||||
float minValue;
|
||||
float value;
|
||||
QLabel *valueLabel;
|
||||
QString labelText;
|
||||
std::map<int, QString> valueLabelMappings;
|
||||
std::string key;
|
||||
Params params;
|
||||
|
||||
QPushButton *createButton(const QString &text, QWidget *parent) {
|
||||
QPushButton *button = new QPushButton(text, parent);
|
||||
button->setFixedSize(150, 100);
|
||||
button->setAutoRepeat(true);
|
||||
button->setAutoRepeatInterval(150);
|
||||
button->setStyleSheet(R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 50px;
|
||||
font-weight: 500;
|
||||
height: 100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
)");
|
||||
return button;
|
||||
}
|
||||
};
|
||||
|
||||
class FrogPilotDualParamControl : public QFrame {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotDualParamControl(ParamControl *control1, ParamControl *control2, QWidget *parent = nullptr, bool split=false)
|
||||
: QFrame(parent) {
|
||||
QHBoxLayout *hlayout = new QHBoxLayout(this);
|
||||
|
||||
control1->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred);
|
||||
control1->setMaximumWidth(split ? 800 : 700);
|
||||
|
||||
control2->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
|
||||
control2->setMaximumWidth(800);
|
||||
|
||||
hlayout->addWidget(control1);
|
||||
hlayout->addWidget(control2);
|
||||
}
|
||||
};
|
||||
|
||||
class FrogPilotParamValueToggleControl : public ParamControl {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FrogPilotParamValueToggleControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
const int &minValue, const int &maxValue, const std::map<int, QString> &valueLabels,
|
||||
QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const int &division = 1,
|
||||
const std::vector<QString> &button_params = std::vector<QString>(), const std::vector<QString> &button_texts = std::vector<QString>(),
|
||||
const int minimum_button_width = 225)
|
||||
: ParamControl(param, title, desc, icon, parent),
|
||||
minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
|
||||
key = param.toStdString();
|
||||
|
||||
const QString style = R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 40px;
|
||||
font-weight: 500;
|
||||
height:100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
QPushButton:checked:enabled {
|
||||
background-color: #0048FF;
|
||||
}
|
||||
QPushButton:disabled {
|
||||
color: #33E4E4E4;
|
||||
}
|
||||
)";
|
||||
|
||||
button_group = new QButtonGroup(this);
|
||||
button_group->setExclusive(false);
|
||||
|
||||
std::map<QString, bool> paramState;
|
||||
for (const QString &button_param : button_params) {
|
||||
paramState[button_param] = params.getBool(button_param.toStdString());
|
||||
}
|
||||
|
||||
for (int i = 0; i < button_texts.size(); ++i) {
|
||||
QPushButton *button = new QPushButton(button_texts[i], this);
|
||||
button->setCheckable(true);
|
||||
button->setChecked(paramState[button_params[i]]);
|
||||
button->setStyleSheet(style);
|
||||
button->setMinimumWidth(minimum_button_width);
|
||||
button_group->addButton(button, i);
|
||||
|
||||
connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) {
|
||||
params.putBool(button_params[i].toStdString(), checked);
|
||||
button_group->button(i)->setChecked(checked);
|
||||
});
|
||||
|
||||
hlayout->addWidget(button);
|
||||
}
|
||||
|
||||
valueLabel = new QLabel(this);
|
||||
hlayout->addWidget(valueLabel);
|
||||
|
||||
QPushButton *decrementButton = createButton("-", this);
|
||||
QPushButton *incrementButton = createButton("+", this);
|
||||
|
||||
hlayout->addWidget(decrementButton);
|
||||
hlayout->addWidget(incrementButton);
|
||||
|
||||
connect(decrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(-1);
|
||||
});
|
||||
|
||||
connect(incrementButton, &QPushButton::clicked, this, [=]() {
|
||||
updateValue(1);
|
||||
});
|
||||
|
||||
toggle.hide();
|
||||
}
|
||||
|
||||
void updateValue(int increment) {
|
||||
value = value + increment;
|
||||
|
||||
if (loop) {
|
||||
if (value < minValue) value = maxValue;
|
||||
else if (value > maxValue) value = minValue;
|
||||
} else {
|
||||
value = std::max(minValue, std::min(maxValue, value));
|
||||
}
|
||||
|
||||
params.putInt(key, value);
|
||||
refresh();
|
||||
emit buttonPressed();
|
||||
emit valueChanged(value);
|
||||
}
|
||||
|
||||
void refresh() {
|
||||
value = params.getInt(key);
|
||||
|
||||
QString text;
|
||||
auto it = valueLabelMappings.find(value);
|
||||
if (division > 1) {
|
||||
text = QString::number(value / (division * 1.0), 'g');
|
||||
} else {
|
||||
text = it != valueLabelMappings.end() ? it->second : QString::number(value);
|
||||
}
|
||||
if (!labelText.isEmpty()) {
|
||||
text += labelText;
|
||||
}
|
||||
valueLabel->setText(text);
|
||||
valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
|
||||
}
|
||||
|
||||
void updateControl(int newMinValue, int newMaxValue, const QString &newLabel, int newDivision) {
|
||||
minValue = newMinValue;
|
||||
maxValue = newMaxValue;
|
||||
labelText = newLabel;
|
||||
division = newDivision;
|
||||
}
|
||||
|
||||
void showEvent(QShowEvent *event) override {
|
||||
refresh();
|
||||
}
|
||||
|
||||
signals:
|
||||
void buttonPressed();
|
||||
void valueChanged(int value);
|
||||
|
||||
private:
|
||||
bool loop;
|
||||
int division;
|
||||
int maxValue;
|
||||
int minValue;
|
||||
int value;
|
||||
QButtonGroup *button_group;
|
||||
QLabel *valueLabel;
|
||||
QString labelText;
|
||||
std::map<int, QString> valueLabelMappings;
|
||||
std::string key;
|
||||
Params params;
|
||||
|
||||
QPushButton *createButton(const QString &text, QWidget *parent) {
|
||||
QPushButton *button = new QPushButton(text, parent);
|
||||
button->setFixedSize(150, 100);
|
||||
button->setAutoRepeat(true);
|
||||
button->setAutoRepeatInterval(150);
|
||||
button->setStyleSheet(R"(
|
||||
QPushButton {
|
||||
border-radius: 50px;
|
||||
font-size: 50px;
|
||||
font-weight: 500;
|
||||
height: 100px;
|
||||
padding: 0 25 0 25;
|
||||
color: #E4E4E4;
|
||||
background-color: #393939;
|
||||
}
|
||||
QPushButton:pressed {
|
||||
background-color: #4a4a4a;
|
||||
}
|
||||
)");
|
||||
return button;
|
||||
}
|
||||
};
|
||||
|
||||
void setDefaultParams();
|
||||
185
scp/ui/vehicle_settings.cc
Normal file
185
scp/ui/vehicle_settings.cc
Normal file
@@ -0,0 +1,185 @@
|
||||
#include <QDir>
|
||||
#include <QRegularExpression>
|
||||
#include <QTextStream>
|
||||
|
||||
#include "selfdrive/frogpilot/ui/vehicle_settings.h"
|
||||
#include "selfdrive/ui/ui.h"
|
||||
|
||||
QStringList getCarNames(const QString &carMake) {
|
||||
QMap<QString, QString> makeMap;
|
||||
makeMap["acura"] = "honda";
|
||||
makeMap["audi"] = "volkswagen";
|
||||
makeMap["buick"] = "gm";
|
||||
makeMap["cadillac"] = "gm";
|
||||
makeMap["chevrolet"] = "gm";
|
||||
makeMap["chrysler"] = "chrysler";
|
||||
makeMap["dodge"] = "chrysler";
|
||||
makeMap["ford"] = "ford";
|
||||
makeMap["gm"] = "gm";
|
||||
makeMap["gmc"] = "gm";
|
||||
makeMap["genesis"] = "hyundai";
|
||||
makeMap["honda"] = "honda";
|
||||
makeMap["hyundai"] = "hyundai";
|
||||
makeMap["infiniti"] = "nissan";
|
||||
makeMap["jeep"] = "chrysler";
|
||||
makeMap["kia"] = "hyundai";
|
||||
makeMap["lexus"] = "toyota";
|
||||
makeMap["lincoln"] = "ford";
|
||||
makeMap["man"] = "volkswagen";
|
||||
makeMap["mazda"] = "mazda";
|
||||
makeMap["nissan"] = "nissan";
|
||||
makeMap["ram"] = "chrysler";
|
||||
makeMap["seat"] = "volkswagen";
|
||||
makeMap["subaru"] = "subaru";
|
||||
makeMap["tesla"] = "tesla";
|
||||
makeMap["toyota"] = "toyota";
|
||||
makeMap["volkswagen"] = "volkswagen";
|
||||
makeMap["skoda"] = "volkswagen";
|
||||
|
||||
QString dirPath = "../../selfdrive/car";
|
||||
QDir dir(dirPath);
|
||||
QString targetFolder = makeMap.value(carMake, carMake);
|
||||
QStringList names;
|
||||
|
||||
foreach (const QString &folder, dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot)) {
|
||||
if (folder == targetFolder) {
|
||||
QFile file(dirPath + "/" + folder + "/values.py");
|
||||
if (file.open(QIODevice::ReadOnly | QIODevice::Text)) {
|
||||
QRegularExpression regex("class CAR\\(StrEnum\\):([\\s\\S]*?)(?=^\\w)", QRegularExpression::MultilineOption);
|
||||
QRegularExpressionMatch match = regex.match(QTextStream(&file).readAll());
|
||||
file.close();
|
||||
|
||||
if (match.hasMatch()) {
|
||||
QRegularExpression nameRegex("=\\s*\"([^\"]+)\"");
|
||||
QRegularExpressionMatchIterator it = nameRegex.globalMatch(match.captured(1));
|
||||
while (it.hasNext()) {
|
||||
names << it.next().captured(1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::sort(names.begin(), names.end());
|
||||
return names;
|
||||
}
|
||||
|
||||
FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
|
||||
selectMakeButton = new ButtonControl(tr("Select Make"), tr("SELECT"));
|
||||
QObject::connect(selectMakeButton, &ButtonControl::clicked, [this]() {
|
||||
std::string currentMake = params.get("CarMake");
|
||||
QStringList makes = {
|
||||
"Acura", "Audi", "BMW", "Buick", "Cadillac", "Chevrolet", "Chrysler", "Dodge", "Ford", "GM", "GMC",
|
||||
"Genesis", "Honda", "Hyundai", "Infiniti", "Jeep", "Kia", "Lexus", "Lincoln", "MAN", "Mazda",
|
||||
"Mercedes", "Nissan", "Ram", "SEAT", "Subaru", "Tesla", "Toyota", "Volkswagen", "Volvo", "Škoda",
|
||||
};
|
||||
|
||||
QString newMakeSelection = MultiOptionDialog::getSelection(tr("Select a Make"), makes, QString::fromStdString(currentMake), this);
|
||||
if (!newMakeSelection.isEmpty()) {
|
||||
carMake = newMakeSelection;
|
||||
params.put("CarMake", carMake.toStdString());
|
||||
selectMakeButton->setValue(newMakeSelection);
|
||||
setModels();
|
||||
}
|
||||
});
|
||||
addItem(selectMakeButton);
|
||||
|
||||
selectModelButton = new ButtonControl(tr("Select Model"), tr("SELECT"));
|
||||
QString modelSelection = QString::fromStdString(params.get("CarModel"));
|
||||
QObject::connect(selectModelButton, &ButtonControl::clicked, [this]() {
|
||||
std::string currentModel = params.get("CarModel");
|
||||
QString newModelSelection = MultiOptionDialog::getSelection(tr("Select a Model"), models, QString::fromStdString(currentModel), this);
|
||||
if (!newModelSelection.isEmpty()) {
|
||||
params.put("CarModel", newModelSelection.toStdString());
|
||||
selectModelButton->setValue(newModelSelection);
|
||||
}
|
||||
});
|
||||
selectModelButton->setValue(modelSelection);
|
||||
addItem(selectModelButton);
|
||||
selectModelButton->setVisible(false);
|
||||
|
||||
std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
|
||||
{"EVTable", "EV Lookup Tables", "Smoothen out the gas and brake controls for EV vehicles.", ""},
|
||||
{"GasRegenCmd", "Gas Regen Cmd", "", ""},
|
||||
{"LongPitch", "Long Pitch Compensation", "Reduce speed and acceleration error for greater passenger comfort and improved vehicle efficiency.", ""},
|
||||
{"LowerVolt", "Lower Volt Enable Speed", "Lower the Volt's minimum enable speed to enable openpilot at any speed.", ""},
|
||||
|
||||
{"LockDoors", "Lock Doors In Drive", "Automatically lock the doors when in drive and unlock when in park.", ""},
|
||||
{"SNGHack", "Stop and Go Hack", "Enable the 'Stop and Go' hack for vehicles without stock stop and go functionality.", ""},
|
||||
{"TSS2Tune", "TSS2 Tune", "Tuning profile based on the tuning profile from DragonPilot for TSS2 vehicles.", ""}
|
||||
};
|
||||
|
||||
for (auto &[param, title, desc, icon] : vehicleToggles) {
|
||||
ParamControl *toggle = new ParamControl(param, title, desc, icon, this);
|
||||
|
||||
addItem(toggle);
|
||||
toggle->setVisible(false);
|
||||
toggles[param.toStdString()] = toggle;
|
||||
|
||||
QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
}
|
||||
|
||||
gmKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt"};
|
||||
toyotaKeys = {"LockDoors", "SNGHack", "TSS2Tune"};
|
||||
|
||||
std::set<std::string> rebootKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt", "TSS2Tune"};
|
||||
for (const std::string &key : rebootKeys) {
|
||||
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
|
||||
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
|
||||
Hardware::reboot();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, [this](bool offroad) {
|
||||
if (!offroad) {
|
||||
std::thread([this]() {
|
||||
while (carMake.isEmpty()) {
|
||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
carMake = QString::fromStdString(params.get("CarMake"));
|
||||
}
|
||||
setModels();
|
||||
}).detach();
|
||||
}
|
||||
});
|
||||
|
||||
carMake = QString::fromStdString(params.get("CarMake"));
|
||||
if (!carMake.isEmpty()) {
|
||||
setModels();
|
||||
}
|
||||
}
|
||||
|
||||
void FrogPilotVehiclesPanel::updateToggles() {
|
||||
std::thread([this]() {
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", true);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", false);
|
||||
}).detach();
|
||||
}
|
||||
|
||||
void FrogPilotVehiclesPanel::setModels() {
|
||||
models = getCarNames(carMake.toLower());
|
||||
setToggles();
|
||||
}
|
||||
|
||||
void FrogPilotVehiclesPanel::setToggles() {
|
||||
selectMakeButton->setValue(carMake);
|
||||
selectModelButton->setVisible(!carMake.isEmpty());
|
||||
|
||||
bool gm = carMake == "Buick" || carMake == "Cadillac" || carMake == "Chevrolet" || carMake == "GM" || carMake == "GMC";
|
||||
bool toyota = carMake == "Lexus" || carMake == "Toyota";
|
||||
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(false);
|
||||
|
||||
if (gm) {
|
||||
toggle->setVisible(gmKeys.find(key.c_str()) != gmKeys.end());
|
||||
} else if (toyota) {
|
||||
toggle->setVisible(toyotaKeys.find(key.c_str()) != toyotaKeys.end());
|
||||
}
|
||||
}
|
||||
|
||||
update();
|
||||
}
|
||||
185
scp/ui/vehicle_settings.cc.org
Normal file
185
scp/ui/vehicle_settings.cc.org
Normal file
@@ -0,0 +1,185 @@
|
||||
#include <QDir>
|
||||
#include <QRegularExpression>
|
||||
#include <QTextStream>
|
||||
|
||||
#include "selfdrive/frogpilot/ui/vehicle_settings.h"
|
||||
#include "selfdrive/ui/ui.h"
|
||||
|
||||
QStringList getCarNames(const QString &carMake) {
|
||||
QMap<QString, QString> makeMap;
|
||||
makeMap["acura"] = "honda";
|
||||
makeMap["audi"] = "volkswagen";
|
||||
makeMap["buick"] = "gm";
|
||||
makeMap["cadillac"] = "gm";
|
||||
makeMap["chevrolet"] = "gm";
|
||||
makeMap["chrysler"] = "chrysler";
|
||||
makeMap["dodge"] = "chrysler";
|
||||
makeMap["ford"] = "ford";
|
||||
makeMap["gm"] = "gm";
|
||||
makeMap["gmc"] = "gm";
|
||||
makeMap["genesis"] = "hyundai";
|
||||
makeMap["honda"] = "honda";
|
||||
makeMap["hyundai"] = "hyundai";
|
||||
makeMap["infiniti"] = "nissan";
|
||||
makeMap["jeep"] = "chrysler";
|
||||
makeMap["kia"] = "hyundai";
|
||||
makeMap["lexus"] = "toyota";
|
||||
makeMap["lincoln"] = "ford";
|
||||
makeMap["man"] = "volkswagen";
|
||||
makeMap["mazda"] = "mazda";
|
||||
makeMap["nissan"] = "nissan";
|
||||
makeMap["ram"] = "chrysler";
|
||||
makeMap["seat"] = "volkswagen";
|
||||
makeMap["subaru"] = "subaru";
|
||||
makeMap["tesla"] = "tesla";
|
||||
makeMap["toyota"] = "toyota";
|
||||
makeMap["volkswagen"] = "volkswagen";
|
||||
makeMap["skoda"] = "volkswagen";
|
||||
|
||||
QString dirPath = "../../selfdrive/car";
|
||||
QDir dir(dirPath);
|
||||
QString targetFolder = makeMap.value(carMake, carMake);
|
||||
QStringList names;
|
||||
|
||||
foreach (const QString &folder, dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot)) {
|
||||
if (folder == targetFolder) {
|
||||
QFile file(dirPath + "/" + folder + "/values.py");
|
||||
if (file.open(QIODevice::ReadOnly | QIODevice::Text)) {
|
||||
QRegularExpression regex("class CAR\\(StrEnum\\):([\\s\\S]*?)(?=^\\w)", QRegularExpression::MultilineOption);
|
||||
QRegularExpressionMatch match = regex.match(QTextStream(&file).readAll());
|
||||
file.close();
|
||||
|
||||
if (match.hasMatch()) {
|
||||
QRegularExpression nameRegex("=\\s*\"([^\"]+)\"");
|
||||
QRegularExpressionMatchIterator it = nameRegex.globalMatch(match.captured(1));
|
||||
while (it.hasNext()) {
|
||||
names << it.next().captured(1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::sort(names.begin(), names.end());
|
||||
return names;
|
||||
}
|
||||
|
||||
FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
|
||||
selectMakeButton = new ButtonControl(tr("Select Make"), tr("SELECT"));
|
||||
QObject::connect(selectMakeButton, &ButtonControl::clicked, [this]() {
|
||||
std::string currentMake = params.get("CarMake");
|
||||
QStringList makes = {
|
||||
"Acura", "Audi", "BMW", "Buick", "Cadillac", "Chevrolet", "Chrysler", "Dodge", "Ford", "GM", "GMC",
|
||||
"Genesis", "Honda", "Hyundai", "Infiniti", "Jeep", "Kia", "Lexus", "Lincoln", "MAN", "Mazda",
|
||||
"Mercedes", "Nissan", "Ram", "SEAT", "Subaru", "Tesla", "Toyota", "Volkswagen", "Volvo", "Škoda",
|
||||
};
|
||||
|
||||
QString newMakeSelection = MultiOptionDialog::getSelection(tr("Select a Make"), makes, QString::fromStdString(currentMake), this);
|
||||
if (!newMakeSelection.isEmpty()) {
|
||||
carMake = newMakeSelection;
|
||||
params.put("CarMake", carMake.toStdString());
|
||||
selectMakeButton->setValue(newMakeSelection);
|
||||
setModels();
|
||||
}
|
||||
});
|
||||
addItem(selectMakeButton);
|
||||
|
||||
selectModelButton = new ButtonControl(tr("Select Model"), tr("SELECT"));
|
||||
QString modelSelection = QString::fromStdString(params.get("CarModel"));
|
||||
QObject::connect(selectModelButton, &ButtonControl::clicked, [this]() {
|
||||
std::string currentModel = params.get("CarModel");
|
||||
QString newModelSelection = MultiOptionDialog::getSelection(tr("Select a Model"), models, QString::fromStdString(currentModel), this);
|
||||
if (!newModelSelection.isEmpty()) {
|
||||
params.put("CarModel", newModelSelection.toStdString());
|
||||
selectModelButton->setValue(newModelSelection);
|
||||
}
|
||||
});
|
||||
selectModelButton->setValue(modelSelection);
|
||||
addItem(selectModelButton);
|
||||
selectModelButton->setVisible(false);
|
||||
|
||||
std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
|
||||
{"EVTable", "EV Lookup Tables", "Smoothen out the gas and brake controls for EV vehicles.", ""},
|
||||
{"GasRegenCmd", "Gas Regen Cmd", "", ""},
|
||||
{"LongPitch", "Long Pitch Compensation", "Reduce speed and acceleration error for greater passenger comfort and improved vehicle efficiency.", ""},
|
||||
{"LowerVolt", "Lower Volt Enable Speed", "Lower the Volt's minimum enable speed to enable openpilot at any speed.", ""},
|
||||
|
||||
{"LockDoors", "Lock Doors In Drive", "Automatically lock the doors when in drive and unlock when in park.", ""},
|
||||
{"SNGHack", "Stop and Go Hack", "Enable the 'Stop and Go' hack for vehicles without stock stop and go functionality.", ""},
|
||||
{"TSS2Tune", "TSS2 Tune", "Tuning profile based on the tuning profile from DragonPilot for TSS2 vehicles.", ""}
|
||||
};
|
||||
|
||||
for (auto &[param, title, desc, icon] : vehicleToggles) {
|
||||
ParamControl *toggle = new ParamControl(param, title, desc, icon, this);
|
||||
|
||||
addItem(toggle);
|
||||
toggle->setVisible(false);
|
||||
toggles[param.toStdString()] = toggle;
|
||||
|
||||
QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
}
|
||||
|
||||
gmKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt"};
|
||||
toyotaKeys = {"LockDoors", "SNGHack", "TSS2Tune"};
|
||||
|
||||
std::set<std::string> rebootKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt", "TSS2Tune"};
|
||||
for (const std::string &key : rebootKeys) {
|
||||
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
|
||||
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
|
||||
Hardware::reboot();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, [this](bool offroad) {
|
||||
if (!offroad) {
|
||||
std::thread([this]() {
|
||||
while (carMake.isEmpty()) {
|
||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
carMake = QString::fromStdString(params.get("CarMake"));
|
||||
}
|
||||
setModels();
|
||||
}).detach();
|
||||
}
|
||||
});
|
||||
|
||||
carMake = QString::fromStdString(params.get("CarMake"));
|
||||
if (!carMake.isEmpty()) {
|
||||
setModels();
|
||||
}
|
||||
}
|
||||
|
||||
void FrogPilotVehiclesPanel::updateToggles() {
|
||||
std::thread([this]() {
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", true);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", false);
|
||||
}).detach();
|
||||
}
|
||||
|
||||
void FrogPilotVehiclesPanel::setModels() {
|
||||
models = getCarNames(carMake.toLower());
|
||||
setToggles();
|
||||
}
|
||||
|
||||
void FrogPilotVehiclesPanel::setToggles() {
|
||||
selectMakeButton->setValue(carMake);
|
||||
selectModelButton->setVisible(!carMake.isEmpty());
|
||||
|
||||
bool gm = carMake == "Buick" || carMake == "Cadillac" || carMake == "Chevrolet" || carMake == "GM" || carMake == "GMC";
|
||||
bool toyota = carMake == "Lexus" || carMake == "Toyota";
|
||||
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(false);
|
||||
|
||||
if (gm) {
|
||||
toggle->setVisible(gmKeys.find(key.c_str()) != gmKeys.end());
|
||||
} else if (toyota) {
|
||||
toggle->setVisible(toyotaKeys.find(key.c_str()) != toyotaKeys.end());
|
||||
}
|
||||
}
|
||||
|
||||
update();
|
||||
}
|
||||
34
scp/ui/vehicle_settings.h
Normal file
34
scp/ui/vehicle_settings.h
Normal file
@@ -0,0 +1,34 @@
|
||||
#pragma once
|
||||
|
||||
#include <set>
|
||||
|
||||
#include <QStringList>
|
||||
|
||||
#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
|
||||
#include "selfdrive/ui/qt/offroad/settings.h"
|
||||
|
||||
class FrogPilotVehiclesPanel : public FrogPilotListWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit FrogPilotVehiclesPanel(SettingsWindow *parent);
|
||||
|
||||
private:
|
||||
void setModels();
|
||||
void setToggles();
|
||||
void updateToggles();
|
||||
|
||||
ButtonControl *selectMakeButton;
|
||||
ButtonControl *selectModelButton;
|
||||
|
||||
QString carMake;
|
||||
QStringList models;
|
||||
|
||||
std::map<std::string, ParamControl*> toggles;
|
||||
|
||||
std::set<QString> gmKeys;
|
||||
std::set<QString> toyotaKeys;
|
||||
|
||||
Params params;
|
||||
Params paramsMemory{"/dev/shm/params"};
|
||||
};
|
||||
34
scp/ui/vehicle_settings.h.org
Normal file
34
scp/ui/vehicle_settings.h.org
Normal file
@@ -0,0 +1,34 @@
|
||||
#pragma once
|
||||
|
||||
#include <set>
|
||||
|
||||
#include <QStringList>
|
||||
|
||||
#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
|
||||
#include "selfdrive/ui/qt/offroad/settings.h"
|
||||
|
||||
class FrogPilotVehiclesPanel : public FrogPilotListWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit FrogPilotVehiclesPanel(SettingsWindow *parent);
|
||||
|
||||
private:
|
||||
void setModels();
|
||||
void setToggles();
|
||||
void updateToggles();
|
||||
|
||||
ButtonControl *selectMakeButton;
|
||||
ButtonControl *selectModelButton;
|
||||
|
||||
QString carMake;
|
||||
QStringList models;
|
||||
|
||||
std::map<std::string, ParamControl*> toggles;
|
||||
|
||||
std::set<QString> gmKeys;
|
||||
std::set<QString> toyotaKeys;
|
||||
|
||||
Params params;
|
||||
Params paramsMemory{"/dev/shm/params"};
|
||||
};
|
||||
242
scp/ui/visual_settings.cc
Normal file
242
scp/ui/visual_settings.cc
Normal file
@@ -0,0 +1,242 @@
|
||||
#include "selfdrive/frogpilot/ui/visual_settings.h"
|
||||
#include "selfdrive/ui/ui.h"
|
||||
|
||||
FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
|
||||
const std::vector<std::tuple<QString, QString, QString, QString>> visualToggles {
|
||||
{"CustomTheme", "Custom Themes", "Enable the ability to use custom themes.", "../frogpilot/assets/wheel_images/frog.png"},
|
||||
{"CustomColors", "Color Theme", "Switch out the standard openpilot color scheme with a custom color scheme.\n\nWant to submit your own color scheme? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
|
||||
{"CustomIcons", "Icon Pack", "Switch out the standard openpilot icons with a set of custom icons.\n\nWant to submit your own icon pack? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
|
||||
{"CustomSignals", "Turn Signals", "Add custom animations for your turn signals for a personal touch!\n\nWant to submit your own turn signal animation? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
|
||||
{"CustomSounds", "Sound Pack", "Switch out the standard openpilot sounds with a set of custom sounds.\n\nWant to submit your own sound pack? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
|
||||
|
||||
{"CameraView", "Camera View", "Choose your preferred camera view for the onroad UI. This is a visual change only and doesn't impact openpilot.", "../frogpilot/assets/toggle_icons/icon_camera.png"},
|
||||
{"Compass", "Compass", "Add a compass to your onroad UI.", "../frogpilot/assets/toggle_icons/icon_compass.png"},
|
||||
|
||||
{"CustomUI", "Custom Onroad UI", "Customize the Onroad UI with some additional visual functions.", "../assets/offroad/icon_road.png"},
|
||||
{"AdjacentPath", "Adjacent Paths", "Display paths to the left and right of your car, visualizing where the model detects lanes.", ""},
|
||||
{"BlindSpotPath", "Blind Spot Path", "Visualize your blind spots with a red path when another vehicle is detected nearby.", ""},
|
||||
{"ShowFPS", "FPS Counter", "Display the Frames Per Second (FPS) of your onroad UI for monitoring system performance.", ""},
|
||||
{"LeadInfo", "Lead Info and Logics", "Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance.", ""},
|
||||
{"RoadNameUI", "Road Name", "See the name of the road you're on at the bottom of your screen. Sourced from OpenStreetMap.", ""},
|
||||
{"UseVienna", "Use Vienna Speed Limit Signs", "Use the Vienna (EU) speed limit style signs as opposed to MUTCD (US).", ""},
|
||||
|
||||
{"DriverCamera", "Driver Camera On Reverse", "Show the driver's camera feed when you shift to reverse.", "../assets/img_driver_face_static.png"},
|
||||
{"GreenLightAlert", "Green Light Alert", "Get an alert when a traffic light changes from red to green.", "../frogpilot/assets/toggle_icons/icon_green_light.png"},
|
||||
|
||||
{"ModelUI", "Model UI", "Personalize how the model's visualizations appear on your screen.", "../assets/offroad/icon_calibration.png"},
|
||||
{"AccelerationPath", "Acceleration Path", "Visualize the car's intended acceleration or deceleration with a color-coded path.", ""},
|
||||
{"LaneLinesWidth", "Lane Lines", "Adjust the visual thickness of lane lines on your display.\n\nDefault matches the MUTCD average of 4 inches.", ""},
|
||||
{"PathEdgeWidth", "Path Edges", "Adjust the width of the path edges shown on your UI to represent different driving modes and statuses.\n\nDefault is 20% of the total path.\n\nBlue = Navigation\nLight Blue = Always On Lateral\nGreen = Default with 'FrogPilot Colors'\nLight Green = Default with stock colors\nOrange = Experimental Mode Active\nYellow = Conditional Overriden", ""},
|
||||
{"PathWidth", "Path Width", "Customize the width of the driving path shown on your UI.\n\nDefault matches the width of a 2019 Lexus ES 350.", ""},
|
||||
{"RoadEdgesWidth", "Road Edges", "Adjust the visual thickness of road edges on your display.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.", ""},
|
||||
{"UnlimitedLength", "'Unlimited' Road UI Length", "Extend the display of the path, lane lines, and road edges as far as the system can detect, providing a more expansive view of the road ahead.", ""},
|
||||
|
||||
{"QOLVisuals", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
|
||||
{"DriveStats", "Drive Stats In Home Screen", "Display your device's drive stats in the home screen.", ""},
|
||||
{"HideSpeed", "Hide Speed", "Hide the speed indicator in the onroad UI.", ""},
|
||||
{"ShowSLCOffset", "Show Speed Limit Offset", "Show the speed limit offset seperated from the speed limit in the onroad UI when using 'Speed Limit Controller'.", ""},
|
||||
|
||||
{"RandomEvents", "Random Events", "Enjoy a bit of unpredictability with random events that can occur during certain driving conditions.", "../frogpilot/assets/toggle_icons/icon_random.png"},
|
||||
{"ScreenBrightness", "Screen Brightness", "Customize your screen brightness.", "../frogpilot/assets/toggle_icons/icon_light.png"},
|
||||
{"SilentMode", "Silent Mode", "Mute openpilot sounds for a quieter driving experience.", "../frogpilot/assets/toggle_icons/icon_mute.png"},
|
||||
{"WheelIcon", "Steering Wheel Icon", "Replace the default steering wheel icon with a custom design, adding a unique touch to your interface.", "../assets/offroad/icon_openpilot.png"},
|
||||
};
|
||||
|
||||
for (const auto &[param, title, desc, icon] : visualToggles) {
|
||||
ParamControl *toggle;
|
||||
|
||||
if (param == "CameraView") {
|
||||
std::vector<QString> cameraOptions{tr("Auto"), tr("Standard"), tr("Wide"), tr("Driver")};
|
||||
FrogPilotButtonParamControl *preferredCamera = new FrogPilotButtonParamControl(param, title, desc, icon, cameraOptions);
|
||||
toggle = preferredCamera;
|
||||
|
||||
} else if (param == "CustomTheme") {
|
||||
FrogPilotParamManageControl *customThemeToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(customThemeToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(customThemeKeys.find(key.c_str()) != customThemeKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = customThemeToggle;
|
||||
} else if (param == "CustomColors" || param == "CustomIcons" || param == "CustomSignals" || param == "CustomSounds") {
|
||||
std::vector<QString> themeOptions{tr("Stock"), tr("Frog"), tr("Tesla"), tr("Stalin")};
|
||||
FrogPilotButtonParamControl *themeSelection = new FrogPilotButtonParamControl(param, title, desc, icon, themeOptions);
|
||||
toggle = themeSelection;
|
||||
|
||||
if (param == "CustomSounds") {
|
||||
QObject::connect(static_cast<FrogPilotButtonParamControl*>(toggle), &FrogPilotButtonParamControl::buttonClicked, [this](int id) {
|
||||
if (id == 1) {
|
||||
if (FrogPilotConfirmationDialog::yesorno("Do you want to enable the bonus 'Goat' sound effect?", this)) {
|
||||
params.putBool("GoatScream", true);
|
||||
} else {
|
||||
params.putBool("GoatScream", false);
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
} else if (param == "CustomUI") {
|
||||
FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = customUIToggle;
|
||||
} else if (param == "LeadInfo") {
|
||||
std::vector<QString> leadInfoToggles{tr("UseSI")};
|
||||
std::vector<QString> leadInfoToggleNames{tr("Use SI Values")};
|
||||
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, leadInfoToggles, leadInfoToggleNames);
|
||||
|
||||
} else if (param == "ModelUI") {
|
||||
FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(modelUIKeys.find(key.c_str()) != modelUIKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = modelUIToggle;
|
||||
} else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, std::map<int, QString>(), this, false, " inches");
|
||||
} else if (param == "PathEdgeWidth") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, "%");
|
||||
} else if (param == "PathWidth") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, " feet", 10);
|
||||
|
||||
} else if (param == "QOLVisuals") {
|
||||
FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(qolKeys.find(key.c_str()) != qolKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = qolToggle;
|
||||
|
||||
} else if (param == "ScreenBrightness") {
|
||||
std::map<int, QString> brightnessLabels;
|
||||
for (int i = 0; i <= 101; ++i) {
|
||||
brightnessLabels[i] = i == 0 ? "Screen Off" : i == 101 ? "Auto" : QString::number(i) + "%";
|
||||
}
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 101, brightnessLabels, this, false);
|
||||
|
||||
} else if (param == "WheelIcon") {
|
||||
std::vector<QString> wheelToggles{"RotatingWheel"};
|
||||
std::vector<QString> wheelToggleNames{tr("Rotating")};
|
||||
std::map<int, QString> steeringWheelLabels = {{0, "Stock"}, {1, "Lexus"}, {2, "Toyota"}, {3, "Frog"}, {4, "Rocket"}, {5, "Hyundai"}, {6, "Stalin"}};
|
||||
toggle = new FrogPilotParamValueToggleControl(param, title, desc, icon, 0, 6, steeringWheelLabels, this, true, "", 1, wheelToggles, wheelToggleNames);
|
||||
|
||||
} else {
|
||||
toggle = new ParamControl(param, title, desc, icon, this);
|
||||
}
|
||||
|
||||
addItem(toggle);
|
||||
toggles[param.toStdString()] = toggle;
|
||||
|
||||
QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
|
||||
QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::buttonPressed, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
|
||||
QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
|
||||
update();
|
||||
});
|
||||
|
||||
QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, [this]() {
|
||||
update();
|
||||
});
|
||||
}
|
||||
|
||||
std::set<std::string> rebootKeys = {"DriveStats"};
|
||||
for (const std::string &key : rebootKeys) {
|
||||
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
|
||||
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
|
||||
Hardware::reboot();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UseVienna"};
|
||||
customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
|
||||
modelUIKeys = {"AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
|
||||
qolKeys = {"DriveStats", "HideSpeed", "ShowSLCOffset"};
|
||||
|
||||
QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotVisualsPanel::hideSubToggles);
|
||||
QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideSubToggles);
|
||||
QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotVisualsPanel::updateMetric);
|
||||
|
||||
hideSubToggles();
|
||||
updateMetric();
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::updateToggles() {
|
||||
std::thread([this]() {
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", true);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", false);
|
||||
}).detach();
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::updateMetric() {
|
||||
bool previousIsMetric = isMetric;
|
||||
isMetric = params.getBool("IsMetric");
|
||||
|
||||
if (isMetric != previousIsMetric) {
|
||||
double distanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
|
||||
double speedConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
|
||||
params.putInt("LaneLinesWidth", std::nearbyint(params.getInt("LaneLinesWidth") * distanceConversion));
|
||||
params.putInt("RoadEdgesWidth", std::nearbyint(params.getInt("RoadEdgesWidth") * distanceConversion));
|
||||
params.putInt("PathWidth", std::nearbyint(params.getInt("PathWidth") * speedConversion));
|
||||
}
|
||||
|
||||
FrogPilotParamValueControl *laneLinesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneLinesWidth"]);
|
||||
FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["RoadEdgesWidth"]);
|
||||
FrogPilotParamValueControl *pathWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["PathWidth"]);
|
||||
|
||||
if (isMetric) {
|
||||
laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the Vienna average of 10 centimeters.");
|
||||
roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the Vienna average lane line width of 10 centimeters.");
|
||||
|
||||
laneLinesWidthToggle->updateControl(0, 60, " centimeters");
|
||||
roadEdgesWidthToggle->updateControl(0, 60, " centimeters");
|
||||
pathWidthToggle->updateControl(0, 30, " meters");
|
||||
} else {
|
||||
laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the MUTCD average of 4 inches.");
|
||||
roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.");
|
||||
|
||||
laneLinesWidthToggle->updateControl(0, 24, " inches");
|
||||
roadEdgesWidthToggle->updateControl(0, 24, " inches");
|
||||
pathWidthToggle->updateControl(0, 100, " feet");
|
||||
}
|
||||
|
||||
laneLinesWidthToggle->refresh();
|
||||
roadEdgesWidthToggle->refresh();
|
||||
|
||||
previousIsMetric = isMetric;
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::parentToggleClicked() {
|
||||
this->openParentToggle();
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::hideSubToggles() {
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
bool subToggles = modelUIKeys.find(key.c_str()) != modelUIKeys.end() ||
|
||||
customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end() ||
|
||||
customThemeKeys.find(key.c_str()) != customThemeKeys.end() ||
|
||||
qolKeys.find(key.c_str()) != qolKeys.end();
|
||||
toggle->setVisible(!subToggles);
|
||||
}
|
||||
|
||||
this->closeParentToggle();
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::hideEvent(QHideEvent *event) {
|
||||
hideSubToggles();
|
||||
}
|
||||
242
scp/ui/visual_settings.cc.org
Normal file
242
scp/ui/visual_settings.cc.org
Normal file
@@ -0,0 +1,242 @@
|
||||
#include "selfdrive/frogpilot/ui/visual_settings.h"
|
||||
#include "selfdrive/ui/ui.h"
|
||||
|
||||
FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
|
||||
const std::vector<std::tuple<QString, QString, QString, QString>> visualToggles {
|
||||
{"CustomTheme", "Custom Themes", "Enable the ability to use custom themes.", "../frogpilot/assets/wheel_images/frog.png"},
|
||||
{"CustomColors", "Color Theme", "Switch out the standard openpilot color scheme with a custom color scheme.\n\nWant to submit your own color scheme? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
|
||||
{"CustomIcons", "Icon Pack", "Switch out the standard openpilot icons with a set of custom icons.\n\nWant to submit your own icon pack? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
|
||||
{"CustomSignals", "Turn Signals", "Add custom animations for your turn signals for a personal touch!\n\nWant to submit your own turn signal animation? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
|
||||
{"CustomSounds", "Sound Pack", "Switch out the standard openpilot sounds with a set of custom sounds.\n\nWant to submit your own sound pack? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
|
||||
|
||||
{"CameraView", "Camera View", "Choose your preferred camera view for the onroad UI. This is a visual change only and doesn't impact openpilot.", "../frogpilot/assets/toggle_icons/icon_camera.png"},
|
||||
{"Compass", "Compass", "Add a compass to your onroad UI.", "../frogpilot/assets/toggle_icons/icon_compass.png"},
|
||||
|
||||
{"CustomUI", "Custom Onroad UI", "Customize the Onroad UI with some additional visual functions.", "../assets/offroad/icon_road.png"},
|
||||
{"AdjacentPath", "Adjacent Paths", "Display paths to the left and right of your car, visualizing where the model detects lanes.", ""},
|
||||
{"BlindSpotPath", "Blind Spot Path", "Visualize your blind spots with a red path when another vehicle is detected nearby.", ""},
|
||||
{"ShowFPS", "FPS Counter", "Display the Frames Per Second (FPS) of your onroad UI for monitoring system performance.", ""},
|
||||
{"LeadInfo", "Lead Info and Logics", "Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance.", ""},
|
||||
{"RoadNameUI", "Road Name", "See the name of the road you're on at the bottom of your screen. Sourced from OpenStreetMap.", ""},
|
||||
{"UseVienna", "Use Vienna Speed Limit Signs", "Use the Vienna (EU) speed limit style signs as opposed to MUTCD (US).", ""},
|
||||
|
||||
{"DriverCamera", "Driver Camera On Reverse", "Show the driver's camera feed when you shift to reverse.", "../assets/img_driver_face_static.png"},
|
||||
{"GreenLightAlert", "Green Light Alert", "Get an alert when a traffic light changes from red to green.", "../frogpilot/assets/toggle_icons/icon_green_light.png"},
|
||||
|
||||
{"ModelUI", "Model UI", "Personalize how the model's visualizations appear on your screen.", "../assets/offroad/icon_calibration.png"},
|
||||
{"AccelerationPath", "Acceleration Path", "Visualize the car's intended acceleration or deceleration with a color-coded path.", ""},
|
||||
{"LaneLinesWidth", "Lane Lines", "Adjust the visual thickness of lane lines on your display.\n\nDefault matches the MUTCD average of 4 inches.", ""},
|
||||
{"PathEdgeWidth", "Path Edges", "Adjust the width of the path edges shown on your UI to represent different driving modes and statuses.\n\nDefault is 20% of the total path.\n\nBlue = Navigation\nLight Blue = Always On Lateral\nGreen = Default with 'FrogPilot Colors'\nLight Green = Default with stock colors\nOrange = Experimental Mode Active\nYellow = Conditional Overriden", ""},
|
||||
{"PathWidth", "Path Width", "Customize the width of the driving path shown on your UI.\n\nDefault matches the width of a 2019 Lexus ES 350.", ""},
|
||||
{"RoadEdgesWidth", "Road Edges", "Adjust the visual thickness of road edges on your display.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.", ""},
|
||||
{"UnlimitedLength", "'Unlimited' Road UI Length", "Extend the display of the path, lane lines, and road edges as far as the system can detect, providing a more expansive view of the road ahead.", ""},
|
||||
|
||||
{"QOLVisuals", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
|
||||
{"DriveStats", "Drive Stats In Home Screen", "Display your device's drive stats in the home screen.", ""},
|
||||
{"HideSpeed", "Hide Speed", "Hide the speed indicator in the onroad UI.", ""},
|
||||
{"ShowSLCOffset", "Show Speed Limit Offset", "Show the speed limit offset seperated from the speed limit in the onroad UI when using 'Speed Limit Controller'.", ""},
|
||||
|
||||
{"RandomEvents", "Random Events", "Enjoy a bit of unpredictability with random events that can occur during certain driving conditions.", "../frogpilot/assets/toggle_icons/icon_random.png"},
|
||||
{"ScreenBrightness", "Screen Brightness", "Customize your screen brightness.", "../frogpilot/assets/toggle_icons/icon_light.png"},
|
||||
{"SilentMode", "Silent Mode", "Mute openpilot sounds for a quieter driving experience.", "../frogpilot/assets/toggle_icons/icon_mute.png"},
|
||||
{"WheelIcon", "Steering Wheel Icon", "Replace the default steering wheel icon with a custom design, adding a unique touch to your interface.", "../assets/offroad/icon_openpilot.png"},
|
||||
};
|
||||
|
||||
for (const auto &[param, title, desc, icon] : visualToggles) {
|
||||
ParamControl *toggle;
|
||||
|
||||
if (param == "CameraView") {
|
||||
std::vector<QString> cameraOptions{tr("Auto"), tr("Standard"), tr("Wide"), tr("Driver")};
|
||||
FrogPilotButtonParamControl *preferredCamera = new FrogPilotButtonParamControl(param, title, desc, icon, cameraOptions);
|
||||
toggle = preferredCamera;
|
||||
|
||||
} else if (param == "CustomTheme") {
|
||||
FrogPilotParamManageControl *customThemeToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(customThemeToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(customThemeKeys.find(key.c_str()) != customThemeKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = customThemeToggle;
|
||||
} else if (param == "CustomColors" || param == "CustomIcons" || param == "CustomSignals" || param == "CustomSounds") {
|
||||
std::vector<QString> themeOptions{tr("Stock"), tr("Frog"), tr("Tesla"), tr("Stalin")};
|
||||
FrogPilotButtonParamControl *themeSelection = new FrogPilotButtonParamControl(param, title, desc, icon, themeOptions);
|
||||
toggle = themeSelection;
|
||||
|
||||
if (param == "CustomSounds") {
|
||||
QObject::connect(static_cast<FrogPilotButtonParamControl*>(toggle), &FrogPilotButtonParamControl::buttonClicked, [this](int id) {
|
||||
if (id == 1) {
|
||||
if (FrogPilotConfirmationDialog::yesorno("Do you want to enable the bonus 'Goat' sound effect?", this)) {
|
||||
params.putBool("GoatScream", true);
|
||||
} else {
|
||||
params.putBool("GoatScream", false);
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
} else if (param == "CustomUI") {
|
||||
FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = customUIToggle;
|
||||
} else if (param == "LeadInfo") {
|
||||
std::vector<QString> leadInfoToggles{tr("UseSI")};
|
||||
std::vector<QString> leadInfoToggleNames{tr("Use SI Values")};
|
||||
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, leadInfoToggles, leadInfoToggleNames);
|
||||
|
||||
} else if (param == "ModelUI") {
|
||||
FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(modelUIKeys.find(key.c_str()) != modelUIKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = modelUIToggle;
|
||||
} else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, std::map<int, QString>(), this, false, " inches");
|
||||
} else if (param == "PathEdgeWidth") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, "%");
|
||||
} else if (param == "PathWidth") {
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, " feet", 10);
|
||||
|
||||
} else if (param == "QOLVisuals") {
|
||||
FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
|
||||
QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
|
||||
parentToggleClicked();
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
toggle->setVisible(qolKeys.find(key.c_str()) != qolKeys.end());
|
||||
}
|
||||
});
|
||||
toggle = qolToggle;
|
||||
|
||||
} else if (param == "ScreenBrightness") {
|
||||
std::map<int, QString> brightnessLabels;
|
||||
for (int i = 0; i <= 101; ++i) {
|
||||
brightnessLabels[i] = i == 0 ? "Screen Off" : i == 101 ? "Auto" : QString::number(i) + "%";
|
||||
}
|
||||
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 101, brightnessLabels, this, false);
|
||||
|
||||
} else if (param == "WheelIcon") {
|
||||
std::vector<QString> wheelToggles{"RotatingWheel"};
|
||||
std::vector<QString> wheelToggleNames{tr("Rotating")};
|
||||
std::map<int, QString> steeringWheelLabels = {{0, "Stock"}, {1, "Lexus"}, {2, "Toyota"}, {3, "Frog"}, {4, "Rocket"}, {5, "Hyundai"}, {6, "Stalin"}};
|
||||
toggle = new FrogPilotParamValueToggleControl(param, title, desc, icon, 0, 6, steeringWheelLabels, this, true, "", 1, wheelToggles, wheelToggleNames);
|
||||
|
||||
} else {
|
||||
toggle = new ParamControl(param, title, desc, icon, this);
|
||||
}
|
||||
|
||||
addItem(toggle);
|
||||
toggles[param.toStdString()] = toggle;
|
||||
|
||||
QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
|
||||
QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::buttonPressed, [this]() {
|
||||
updateToggles();
|
||||
});
|
||||
|
||||
QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
|
||||
update();
|
||||
});
|
||||
|
||||
QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, [this]() {
|
||||
update();
|
||||
});
|
||||
}
|
||||
|
||||
std::set<std::string> rebootKeys = {"DriveStats"};
|
||||
for (const std::string &key : rebootKeys) {
|
||||
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
|
||||
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
|
||||
Hardware::reboot();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UseVienna"};
|
||||
customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
|
||||
modelUIKeys = {"AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
|
||||
qolKeys = {"DriveStats", "HideSpeed", "ShowSLCOffset"};
|
||||
|
||||
QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotVisualsPanel::hideSubToggles);
|
||||
QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideSubToggles);
|
||||
QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotVisualsPanel::updateMetric);
|
||||
|
||||
hideSubToggles();
|
||||
updateMetric();
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::updateToggles() {
|
||||
std::thread([this]() {
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", true);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
paramsMemory.putBool("FrogPilotTogglesUpdated", false);
|
||||
}).detach();
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::updateMetric() {
|
||||
bool previousIsMetric = isMetric;
|
||||
isMetric = params.getBool("IsMetric");
|
||||
|
||||
if (isMetric != previousIsMetric) {
|
||||
double distanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
|
||||
double speedConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
|
||||
params.putInt("LaneLinesWidth", std::nearbyint(params.getInt("LaneLinesWidth") * distanceConversion));
|
||||
params.putInt("RoadEdgesWidth", std::nearbyint(params.getInt("RoadEdgesWidth") * distanceConversion));
|
||||
params.putInt("PathWidth", std::nearbyint(params.getInt("PathWidth") * speedConversion));
|
||||
}
|
||||
|
||||
FrogPilotParamValueControl *laneLinesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneLinesWidth"]);
|
||||
FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["RoadEdgesWidth"]);
|
||||
FrogPilotParamValueControl *pathWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["PathWidth"]);
|
||||
|
||||
if (isMetric) {
|
||||
laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the Vienna average of 10 centimeters.");
|
||||
roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the Vienna average lane line width of 10 centimeters.");
|
||||
|
||||
laneLinesWidthToggle->updateControl(0, 60, " centimeters");
|
||||
roadEdgesWidthToggle->updateControl(0, 60, " centimeters");
|
||||
pathWidthToggle->updateControl(0, 30, " meters");
|
||||
} else {
|
||||
laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the MUTCD average of 4 inches.");
|
||||
roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.");
|
||||
|
||||
laneLinesWidthToggle->updateControl(0, 24, " inches");
|
||||
roadEdgesWidthToggle->updateControl(0, 24, " inches");
|
||||
pathWidthToggle->updateControl(0, 100, " feet");
|
||||
}
|
||||
|
||||
laneLinesWidthToggle->refresh();
|
||||
roadEdgesWidthToggle->refresh();
|
||||
|
||||
previousIsMetric = isMetric;
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::parentToggleClicked() {
|
||||
this->openParentToggle();
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::hideSubToggles() {
|
||||
for (auto &[key, toggle] : toggles) {
|
||||
bool subToggles = modelUIKeys.find(key.c_str()) != modelUIKeys.end() ||
|
||||
customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end() ||
|
||||
customThemeKeys.find(key.c_str()) != customThemeKeys.end() ||
|
||||
qolKeys.find(key.c_str()) != qolKeys.end();
|
||||
toggle->setVisible(!subToggles);
|
||||
}
|
||||
|
||||
this->closeParentToggle();
|
||||
}
|
||||
|
||||
void FrogPilotVisualsPanel::hideEvent(QHideEvent *event) {
|
||||
hideSubToggles();
|
||||
}
|
||||
36
scp/ui/visual_settings.h
Normal file
36
scp/ui/visual_settings.h
Normal file
@@ -0,0 +1,36 @@
|
||||
#pragma once
|
||||
|
||||
#include <set>
|
||||
|
||||
#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
|
||||
#include "selfdrive/ui/qt/offroad/settings.h"
|
||||
|
||||
class FrogPilotVisualsPanel : public FrogPilotListWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit FrogPilotVisualsPanel(SettingsWindow *parent);
|
||||
|
||||
signals:
|
||||
void closeParentToggle();
|
||||
void openParentToggle();
|
||||
|
||||
private:
|
||||
void hideEvent(QHideEvent *event);
|
||||
void hideSubToggles();
|
||||
void parentToggleClicked();
|
||||
void updateMetric();
|
||||
void updateToggles();
|
||||
|
||||
std::set<QString> customOnroadUIKeys;
|
||||
std::set<QString> customThemeKeys;
|
||||
std::set<QString> modelUIKeys;
|
||||
std::set<QString> qolKeys;
|
||||
|
||||
std::map<std::string, ParamControl*> toggles;
|
||||
|
||||
Params params;
|
||||
Params paramsMemory{"/dev/shm/params"};
|
||||
|
||||
bool isMetric = params.getBool("IsMetric");
|
||||
};
|
||||
36
scp/ui/visual_settings.h.org
Normal file
36
scp/ui/visual_settings.h.org
Normal file
@@ -0,0 +1,36 @@
|
||||
#pragma once
|
||||
|
||||
#include <set>
|
||||
|
||||
#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
|
||||
#include "selfdrive/ui/qt/offroad/settings.h"
|
||||
|
||||
class FrogPilotVisualsPanel : public FrogPilotListWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit FrogPilotVisualsPanel(SettingsWindow *parent);
|
||||
|
||||
signals:
|
||||
void closeParentToggle();
|
||||
void openParentToggle();
|
||||
|
||||
private:
|
||||
void hideEvent(QHideEvent *event);
|
||||
void hideSubToggles();
|
||||
void parentToggleClicked();
|
||||
void updateMetric();
|
||||
void updateToggles();
|
||||
|
||||
std::set<QString> customOnroadUIKeys;
|
||||
std::set<QString> customThemeKeys;
|
||||
std::set<QString> modelUIKeys;
|
||||
std::set<QString> qolKeys;
|
||||
|
||||
std::map<std::string, ParamControl*> toggles;
|
||||
|
||||
Params params;
|
||||
Params paramsMemory{"/dev/shm/params"};
|
||||
|
||||
bool isMetric = params.getBool("IsMetric");
|
||||
};
|
||||
Reference in New Issue
Block a user