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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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20
selfdrive/ui/ui.cc
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@@ -349,6 +349,9 @@ void ui_update_frogpilot_params(UIState *s) {
scene.experimental_mode_via_screen = params.getBool("ExperimentalModeViaScreen") && params.getBool("ExperimentalModeActivation");
scene.fahrenheit = params.getBool("Fahrenheit");
bool longitudinal_tune = params.getBool("LongitudinalTune");
scene.traffic_mode = longitudinal_tune && params.getBool("TrafficMode");
scene.model_ui = params.getBool("ModelUI");
scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth");
scene.hide_lead_marker = scene.model_ui && params.getBool("HideLeadMarker");
@@ -401,7 +404,9 @@ void UIState::updateStatus() {
if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
status = STATUS_OVERRIDE;
} else if (scene.always_on_lateral_active) {
status = STATUS_LATERAL_ACTIVE;
status = STATUS_ALWAYS_ON_LATERAL_ACTIVE;
} else if (scene.traffic_mode_active) {
status = STATUS_TRAFFIC_MODE_ACTIVE;
} else {
status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
}
@@ -469,15 +474,10 @@ void UIState::update() {
}
// FrogPilot live variables that need to be constantly checked
if (scene.conditional_experimental) {
scene.conditional_status = paramsMemory.getInt("CEStatus");
}
if (scene.holiday_themes) {
scene.current_holiday_theme = paramsMemory.getInt("CurrentHolidayTheme");
}
if (scene.random_events) {
scene.current_random_event = paramsMemory.getInt("CurrentRandomEvent");
}
scene.conditional_status = scene.conditional_experimental ? paramsMemory.getInt("CEStatus") : 0;
scene.current_holiday_theme = scene.holiday_themes ? paramsMemory.getInt("CurrentHolidayTheme") : 0;
scene.current_random_event = scene.random_events ? paramsMemory.getInt("CurrentRandomEvent") : 0;
scene.traffic_mode_active = scene.conditional_experimental && scene.enabled && paramsMemory.getBool("TrafficModeActive");
}
void UIState::setPrimeType(PrimeType type) {