Experimental Mode activation via steering wheel / onroad UI

Added toggle to enable or disable Experimental Mode from the steering wheel or onroad UI.

selfdrive/frogpilot/functions/conditional_experimental_mode.py

@@ -37,15 +37,22 @@ class ConditionalExperimentalMode:
     lead = radarState.leadOne
     v_lead = lead.vLead
 
+    # Set the value of "overridden"
+    if self.experimental_mode_via_press:
+      overridden = self.params_memory.get_int("CEStatus")
+    else:
+      overridden = 0
+
     # Update Experimental Mode based on the current driving conditions
     condition_met = self.check_conditions(carState, frogpilotNavigation, lead, modelData, stop_distance, v_ego)
-    if (not self.experimental_mode and condition_met) and enabled:
+    if ((not self.experimental_mode and condition_met and overridden not in (1, 3, 5)) or overridden in (2, 4, 6)) and enabled:
       self.experimental_mode = True
-    elif (self.experimental_mode and not condition_met) or not enabled:
+    elif (self.experimental_mode and not condition_met and overridden not in (2, 4, 6)) or overridden in (1, 3, 5) or not enabled:
       self.experimental_mode = False
       self.status_value = 0
 
     # Update the onroad status bar
+    self.status_value = overridden if overridden in (1, 2, 3, 4, 5, 6) else self.status_value
     if self.status_value != self.previous_status_value:
       self.params_memory.put_int("CEStatus", self.status_value)
       self.previous_status_value = self.status_value
@@ -177,6 +184,8 @@ class ConditionalExperimentalMode:
     self.curves = params.get_bool("CECurves")
     self.curves_lead = self.curves and params.get_bool("CECurvesLead")
 
+    self.experimental_mode_via_press = params.get_bool("ExperimentalModeActivation")
+
     self.limit = params.get_int("CESpeed") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
     self.limit_lead = params.get_int("CESpeedLead") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
 

selfdrive/frogpilot/functions/frogpilot_functions.py

@@ -80,6 +80,25 @@ class FrogPilotFunctions:
 
     return min(distance_to_lane, distance_to_road_edge)
 
+  @staticmethod
+  def update_cestatus_distance(self):
+    # Set "CEStatus" to work with "Conditional Experimental Mode"
+    conditional_status = params_memory.get_int("CEStatus")
+    override_value = 0 if conditional_status in (1, 2, 3, 4, 5, 6) else 3 if conditional_status >= 7 else 4
+    params_memory.put_int("CEStatus", override_value)
+
+  @staticmethod
+  def update_cestatus_lkas(self):
+    # Set "CEStatus" to work with "Conditional Experimental Mode"
+    conditional_status = params_memory.get_int("CEStatus")
+    override_value = 0 if conditional_status in (1, 2, 3, 4, 5, 6) else 5 if conditional_status >= 7 else 6
+    params_memory.put_int("CEStatus", override_value)
+
+  def update_experimental_mode(self):
+    experimental_mode = self.params.get_bool("ExperimentalMode")
+    # Invert the value of "ExperimentalMode"
+    self.params.put_bool("ExperimentalMode", not experimental_mode)
+
   @staticmethod
   def road_curvature(modelData, v_ego):
     predicted_velocities = np.array(modelData.velocity.x)

selfdrive/frogpilot/ui/control_settings.cc

@@ -14,6 +14,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"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 Activation", "Toggle Experimental Mode with either buttons on ethe steering wheel or the screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},
+    {"ExperimentalModeViaLKAS", "Double Clicking the LKAS Button", "Enable/disable 'Experimental Mode' by double clicking the 'LKAS' button on your steering wheel.", ""},
+    {"ExperimentalModeViaScreen", "Double Taping the Onroad UI", "Enable/disable 'Experimental Mode' by double taping the onroad UI within a 0.5 second time frame.", ""},
+    {"ExperimentalModeViaDistance", "Long Pressing the Distance Button", "Enable/disable 'Experimental Mode' by holding down the 'distance' button on your steering wheel for 0.5 seconds.", ""},
+
     {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
 
     {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
@@ -142,6 +147,16 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
       }
       toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, shutdownLabels, this, false);
 
+    } else if (param == "ExperimentalModeActivation") {
+      FrogPilotParamManageControl *experimentalModeActivationToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(experimentalModeActivationToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(experimentalModeActivationKeys.find(key.c_str()) != experimentalModeActivationKeys.end());
+        }
+      });
+      toggle = experimentalModeActivationToggle;
+
     } else if (param == "LateralTune") {
       FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
       QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -293,6 +308,7 @@ void FrogPilotControlsPanel::hideSubToggles() {
 
   for (auto &[key, toggle] : toggles) {
     bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
+                      experimentalModeActivationKeys.find(key.c_str()) != experimentalModeActivationKeys.end() ||
                       fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end() ||
                       laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() ||
                       lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() ||

selfdrive/frogpilot/ui/control_settings.h

@@ -36,6 +36,7 @@ private:
   FrogPilotDualParamControl *relaxedProfile;
 
   std::set<QString> conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
+  std::set<QString> experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen"};
   std::set<QString> fireTheBabysitterKeys = {};
   std::set<QString> laneChangeKeys = {};
   std::set<QString> lateralTuneKeys = {};