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Experimental Mode activation via steering wheel / onroad UI

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Added toggle to enable or disable Experimental Mode from the steering wheel or onroad UI.
This commit is contained in:
FrogAi
2024-03-06 18:30:45 -07:00
parent b1e7bb101e
commit af04cd6c65
18 changed files with 207 additions and 14 deletions
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74
selfdrive/ui/qt/onroad.cc
View File

@@ -6,6 +6,7 @@
#include <memory>
#include <sstream>
#include <QApplication>
#include <QDebug>
#include <QMouseEvent>
@@ -66,6 +67,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->
QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
QObject::connect(&clickTimer, &QTimer::timeout, this, [this]() {
clickTimer.stop();
QMouseEvent *event = new QMouseEvent(QEvent::MouseButtonPress, timeoutPoint, Qt::LeftButton, Qt::LeftButton, Qt::NoModifier);
QApplication::postEvent(this, event);
});
}
void OnroadWindow::updateState(const UIState &s) {
@@ -98,12 +105,33 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
// FrogPilot clickable widgets
bool widgetClicked = false;
// If the click wasn't for anything specific, change the value of "ExperimentalMode"
if (scene.experimental_mode_via_screen && e->pos() != timeoutPoint) {
if (clickTimer.isActive()) {
clickTimer.stop();
if (scene.conditional_experimental) {
int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 6) ? 0 : scene.conditional_status >= 7 ? 1 : 2;
paramsMemory.putIntNonBlocking("CEStatus", override_value);
} else {
bool experimentalMode = params.getBool("ExperimentalMode");
params.putBoolNonBlocking("ExperimentalMode", !experimentalMode);
}
} else {
clickTimer.start(500);
}
widgetClicked = true;
}
#ifdef ENABLE_MAPS
if (map != nullptr && !widgetClicked) {
// Switch between map and sidebar when using navigate on openpilot
bool sidebarVisible = geometry().x() > 0;
bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
map->setVisible(show_map && !map->isVisible());
if (!clickTimer.isActive()) {
map->setVisible(show_map && !map->isVisible());
}
}
#endif
// propagation event to parent(HomeWindow)
@@ -234,9 +262,14 @@ void ExperimentalButton::changeMode() {
Params paramsMemory = Params("/dev/shm/params");
const auto cp = (*uiState()->sm)["carParams"].getCarParams();
bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
bool can_change = hasLongitudinalControl(cp) && (params.getBool("ExperimentalModeConfirmed") || scene.experimental_mode_via_screen);
if (can_change) {
params.putBool("ExperimentalMode", !experimental_mode);
if (scene.conditional_experimental) {
int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 4) ? 0 : scene.conditional_status >= 5 ? 3 : 4;
paramsMemory.putIntNonBlocking("ConditionalStatus", override_value);
} else {
params.putBool("ExperimentalMode", !experimental_mode);
}
}
}
@@ -1136,15 +1169,17 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
{2, "Experimental Mode manually activated"},
{3, "Conditional Experimental overridden"},
{4, "Experimental Mode manually activated"},
{5, "Experimental Mode activated for" + (mapOpen ? " intersection" : QString(" upcoming intersection"))},
{6, "Experimental Mode activated for" + (mapOpen ? " turn" : QString(" upcoming turn"))},
{7, "Experimental Mode activated due to" + (mapOpen ? "SLC" : QString(" no speed limit set"))},
{8, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeedLead) + (is_metric ? " kph" : " mph"))},
{9, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeed) + (is_metric ? " kph" : " mph"))},
{10, "Experimental Mode activated for slower lead"},
{11, "Experimental Mode activated for turn" + (mapOpen ? "" : QString(" / lane change"))},
{12, "Experimental Mode activated for curve"},
{13, "Experimental Mode activated for stop" + (mapOpen ? "" : QString(" sign / stop light"))},
{5, "Conditional Experimental overridden"},
{6, "Experimental Mode manually activated"},
{7, "Experimental Mode activated for" + (mapOpen ? " intersection" : QString(" upcoming intersection"))},
{8, "Experimental Mode activated for" + (mapOpen ? " turn" : QString(" upcoming turn"))},
{9, "Experimental Mode activated due to" + (mapOpen ? "SLC" : QString(" no speed limit set"))},
{10, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeedLead) + (is_metric ? " kph" : " mph"))},
{11, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeed) + (is_metric ? " kph" : " mph"))},
{12, "Experimental Mode activated for slower lead"},
{13, "Experimental Mode activated for turn" + (mapOpen ? "" : QString(" / lane change"))},
{14, "Experimental Mode activated for curve"},
{15, "Experimental Mode activated for stop" + (mapOpen ? "" : QString(" sign / stop light"))},
};
// Update status text
@@ -1154,6 +1189,21 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
}
// Append suffix to the status
QString distanceSuffix = ". Long press the \"distance\" button to revert";
QString lkasSuffix = ". Double press the \"LKAS\" button to revert";
QString screenSuffix = ". Double tap the screen to revert";
if (!alwaysOnLateral && !mapOpen && status != STATUS_DISENGAGED && !newStatus.isEmpty()) {
if (conditionalStatus == 1 || conditionalStatus == 2) {
newStatus += screenSuffix;
} else if (conditionalStatus == 3 || conditionalStatus == 4) {
newStatus += distanceSuffix;
} else if (conditionalStatus == 5 || conditionalStatus == 6) {
newStatus += lkasSuffix;
}
}
// Check if status has changed
if (newStatus != lastShownStatus) {
displayStatusText = true;

3
selfdrive/ui/qt/onroad.h
View File

@@ -201,6 +201,9 @@ private:
UIScene &scene;
Params paramsMemory{"/dev/shm/params"};
QPoint timeoutPoint = QPoint(420, 69);
QTimer clickTimer;
private slots:
void offroadTransition(bool offroad);
void primeChanged(bool prime);