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Traffic Mode

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Added toggle to change the longitudinal behavior to be more focused on driving in traffic.
This commit is contained in:
FrogAi
2024-03-15 19:56:43 -07:00
parent 3e5c66abeb
commit bed144260f
13 changed files with 64 additions and 25 deletions
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11
selfdrive/ui/qt/onroad.cc
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@@ -493,6 +493,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
(scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
(scene.conditional_status == 1 ? QColor(255, 246, 0, 255) :
(experimental_mode ? QColor(218, 111, 37, 241) :
(scene.traffic_mode && scene.traffic_mode_active ? QColor(201, 34, 49, 255) :
(scene.navigate_on_openpilot ? QColor(49, 161, 238, 255) : QColor(0, 0, 0, 166)))))) :
QColor(0, 0, 0, 166);
@@ -658,6 +659,8 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
), 6));
} else if (scene.reverse_cruise) {
p.setPen(QPen(QColor(0, 150, 255), 6));
} else if (trafficModeActive) {
p.setPen(QPen(redColor(255), 6));
} else {
p.setPen(QPen(whiteColor(75), 6));
}
@@ -906,6 +909,10 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
pe.setColorAt(0.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.1));
} else if (trafficModeActive) {
pe.setColorAt(0.0, QColor::fromHslF(355 / 360., 0.71, 0.46, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(355 / 360., 0.71, 0.46, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(355 / 360., 0.71, 0.46, 0.1));
} else if (scene.navigate_on_openpilot) {
pe.setColorAt(0.0, QColor::fromHslF(205 / 360., 0.85, 0.56, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.5));
@@ -1347,6 +1354,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
slcSpeedLimitOffset = scene.speed_limit_offset * (is_metric ? MS_TO_KPH : MS_TO_MPH);
useViennaSLCSign = scene.use_vienna_slc_sign;
trafficModeActive = scene.traffic_mode && scene.traffic_mode_active;
turnSignalLeft = scene.turn_signal_left;
turnSignalRight = scene.turn_signal_right;
@@ -1602,7 +1611,7 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
double currentAcceleration = std::round(scene.acceleration * 100) / 100;
static double maxAcceleration = 0.0;
if (currentAcceleration > maxAcceleration && status == STATUS_ENGAGED) {
if (currentAcceleration > maxAcceleration && (status == STATUS_ENGAGED || status == STATUS_TRAFFIC_MODE_ACTIVE)) {
maxAcceleration = currentAcceleration;
isFiveSecondsPassed = false;
timer.start();