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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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13
selfdrive/ui/qt/onroad.cc
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@@ -178,7 +178,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
int margin = 40;
int radius = 30;
int offset = true ? 25 : 0;
int offset = scene.always_on_lateral ? 25 : 0;
if (alert.size == cereal::ControlsState::AlertSize::FULL) {
margin = 0;
radius = 0;
@@ -258,7 +258,7 @@ void ExperimentalButton::updateState(const UIState &s) {
void ExperimentalButton::paintEvent(QPaintEvent *event) {
QPainter p(this);
QPixmap img = experimental_mode ? experimental_img : engage_img;
drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);
}
@@ -548,7 +548,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
// base icon
int offset = UI_BORDER_SIZE + btn_size / 2;
offset += true ? 25 : 0;
offset += alwaysOnLateral ? 25 : 0;
int x = rightHandDM ? width() - offset : offset;
int y = height() - offset;
float opacity = dmActive ? 0.65 : 0.2;
@@ -739,9 +739,10 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
}
void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
alwaysOnLateral = scene.always_on_lateral_active;
experimentalMode = scene.experimental_mode;
if (true) {
if (alwaysOnLateral) {
drawStatusBar(p);
}
@@ -772,6 +773,10 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
p.setOpacity(1.0);
p.drawRoundedRect(statusBarRect, 30, 30);
if (alwaysOnLateral) {
newStatus = QString("Always On Lateral active") + (". Press the \"Cruise Control\" button to disable");
}
// Check if status has changed
if (newStatus != lastShownStatus) {
displayStatusText = true;