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Nudgeless lane change

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Added toggles for nudgeless lane changes, lane detection, and one lane change per signal activation with a lane change delay factor.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 6266c08db4
commit a8387af5f0
9 changed files with 92 additions and 2 deletions
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31
selfdrive/frogpilot/ui/control_settings.cc
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@@ -42,6 +42,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"MTSCLimit", "Speed Change Hard Cap", "Set a hard cap for MTSC. If MTSC requests a speed decrease greater than this value, it ignores the requested speed from MTSC. Purely used as a failsafe to prevent false positives. Leave this off if you never experience false positives.", ""},
{"MTSCAggressiveness", "Turn Speed Aggressiveness", "Set turn speed aggressiveness. Higher values result in faster turns, lower values yield gentler turns.\n\nA change of +- 1% results in the velocity being raised or lowered by about 1 mph.", ""},
{"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.", ""},
{"LaneDetectionWidth", "Lane Detection Threshold", "Set the required lane width to be qualified as a lane.", ""},
{"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.", ""},
@@ -279,6 +285,24 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
std::vector<QString> reverseCruiseNames{tr("Control Via UI")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, reverseCruiseToggles, reverseCruiseNames);
} 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 == "LaneDetectionWidth") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, " feet", 10);
} else {
toggle = new ParamControl(param, title, desc, icon, this);
}
@@ -361,23 +385,30 @@ void FrogPilotControlsPanel::updateMetric() {
double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
params.putIntNonBlocking("CESpeed", std::nearbyint(params.getInt("CESpeed") * speedConversion));
params.putIntNonBlocking("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
params.putIntNonBlocking("LaneDetectionWidth", std::nearbyint(params.getInt("LaneDetectionWidth") * distanceConversion));
params.putIntNonBlocking("MTSCLimit", std::nearbyint(params.getInt("MTSCLimit") * speedConversion));
params.putIntNonBlocking("StoppingDistance", std::nearbyint(params.getInt("StoppingDistance") * distanceConversion));
}
FrogPilotParamValueControl *laneWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneDetectionWidth"]);
FrogPilotParamValueControl *mtscLimitToggle = static_cast<FrogPilotParamValueControl*>(toggles["MTSCLimit"]);
FrogPilotParamValueControl *stoppingDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["StoppingDistance"]);
if (isMetric) {
laneWidthToggle->updateControl(0, 30, " meters", 10);
mtscLimitToggle->updateControl(0, 99, " kph");
stoppingDistanceToggle->updateControl(0, 5, " meters");
} else {
laneWidthToggle->updateControl(0, 100, " feet", 10);
mtscLimitToggle->updateControl(0, 99, " mph");
stoppingDistanceToggle->updateControl(0, 10, " feet");
}
laneWidthToggle->refresh();
mtscLimitToggle->refresh();
stoppingDistanceToggle->refresh();