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Always on Lateral

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Added toggle for Always On Lateral / No disengage lateral on gas and brake.

Lots of credit goes to "pfeiferj"! Couldn't of done it without him!

https: //github.com/pfeiferj/openpilot
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent c33e3e45db
commit 42b3636995
28 changed files with 132 additions and 18 deletions
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selfdrive/frogpilot/assets/toggle_icons/icon_always_on_lateral.png Normal file
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21
selfdrive/frogpilot/ui/control_settings.cc
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@@ -3,6 +3,8 @@
FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
const std::vector<std::tuple<QString, QString, QString, QString>> controlToggles {
{"AlwaysOnLateral", "Always on Lateral", "Maintain openpilot lateral control when the brake or gas pedals are used.\n\nDeactivation occurs only through the 'Cruise Control' button.", "../frogpilot/assets/toggle_icons/icon_always_on_lateral.png"},
{"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"},
@@ -13,7 +15,22 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
for (const auto &[param, title, desc, icon] : controlToggles) {
ParamControl *toggle;
if (param == "LateralTune") {
if (param == "AlwaysOnLateral") {
std::vector<QString> aolToggles{tr("AlwaysOnLateralMain")};
std::vector<QString> aolToggleNames{tr("Enable On Cruise Main")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, aolToggles, aolToggleNames);
QObject::connect(static_cast<FrogPilotParamToggleControl*>(toggle), &FrogPilotParamToggleControl::buttonClicked, [this](const bool checked) {
if (checked) {
FrogPilotConfirmationDialog::toggleAlert("WARNING: This is very experimental and isn't guaranteed to work. If you run into any issues, please report it in the FrogPilot Discord!",
"I understand the risks.", this);
}
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
Hardware::reboot();
}
});
} else if (param == "LateralTune") {
FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
parentToggleClicked();
@@ -68,7 +85,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
});
}
std::set<std::string> rebootKeys = {};
std::set<std::string> rebootKeys = {"AlwaysOnLateral"};
for (const std::string &key : rebootKeys) {
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {