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This commit is contained in:
FrogAi
2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
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2
selfdrive/frogpilot/functions/conditional_experimental_mode.py
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@@ -200,7 +200,7 @@ class ConditionalExperimentalMode:
def update_frogpilot_params(self, is_metric, params):
self.curves = params.get_bool("CECurves")
self.curves_lead = params.get_bool("CECurvesLead")
self.experimental_mode_via_press = params.get_bool("ExperimentalModeViaPress")
self.experimental_mode_via_press = params.get_bool("ExperimentalModeActivation")
self.limit = params.get_int("CESpeed") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
self.limit_lead = params.get_int("CESpeedLead") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
self.navigation = params.get_bool("CENavigation")

6
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -55,7 +55,7 @@ def calculate_lane_width(lane, current_lane, road_edge):
class FrogPilotPlanner:
def __init__(self, params):
def __init__(self, params, params_memory):
self.cem = ConditionalExperimentalMode()
self.mtsc = MapTurnSpeedController()
@@ -69,7 +69,7 @@ class FrogPilotPlanner:
self.x_desired_trajectory = np.zeros(CONTROL_N)
self.update_frogpilot_params(params)
self.update_frogpilot_params(params, params_memory)
def update(self, sm, mpc):
carState, controlsState, modelData = sm['carState'], sm['controlsState'], sm['modelV2']
@@ -203,7 +203,7 @@ class FrogPilotPlanner:
pm.send('frogpilotLongitudinalPlan', frogpilot_longitudinal_plan_send)
def update_frogpilot_params(self, params):
def update_frogpilot_params(self, params, params_memory):
self.is_metric = params.get_bool("IsMetric")
self.blindspot_path = params.get_bool("CustomUI") and params.get_bool("BlindSpotPath")

34
selfdrive/frogpilot/ui/control_settings.cc
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@@ -15,7 +15,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"CustomPersonalities", "Custom Driving Personalities", "Customize the driving personality profiles to your driving style.", "../frogpilot/assets/toggle_icons/icon_custom.png"},
{"DeviceShutdown", "Device Shutdown Timer", "Configure the timer for automatic device shutdown when offroad conserving energy and preventing battery drain.", "../frogpilot/assets/toggle_icons/icon_time.png"},
{"ExperimentalModeViaPress", "Experimental Mode Via 'LKAS' Button / Screen", "Toggle Experimental Mode by double-clicking the 'Lane Departure'/'LKAS' button or double tapping screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},
{"ExperimentalModeActivation", "Experimental Mode Via", "Toggle Experimental Mode by double-clicking the 'Lane Departure'/'LKAS' button or double tapping screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},
{"FireTheBabysitter", "Fire the Babysitter", "Deactivate some of openpilot's 'Babysitter' protocols for more user autonomy.", "../frogpilot/assets/toggle_icons/icon_babysitter.png"},
{"NoLogging", "Disable All Logging", "Turn off all data tracking to enhance privacy or reduce thermal load.\n\nWARNING: This action will prevent drive recording and data cannot be recovered!", ""},
@@ -23,11 +23,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"MuteDM", "Mute Driver Monitoring", "Disable driver monitoring.", ""},
{"MuteOverheated", "Mute Overheated System Alert", "Disable alerts for the device being overheated.", ""},
{"MuteSeatbelt", "Mute Seatbelt Unlatched Alert", "Disable alerts for unlatched seatbelts.", ""},
{"OfflineMode", "Offline Mode", "Allow the device to be offline indefinitely.", ""},
{"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
{"AverageCurvature", "Average Desired Curvature", "Use Pfeiferj's distance-based curvature adjustment for improved curve handling.", ""},
{"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""},
{"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock / 100.0) + ")") : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
{"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
{"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
{"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
@@ -36,6 +37,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"SmoothBraking", "Smoother Braking Behind Lead", "Smoothen out the braking behavior when approaching slower vehicles.", ""},
{"Model", "Model Selector", "Choose your preferred openpilot model.", "../assets/offroad/icon_calibration.png"},
{"MTSCEnabled", "Map Turn Speed Control", "Slow down for anticipated curves detected by your downloaded maps.", "../frogpilot/assets/toggle_icons/icon_speed_map.png"},
{"NudgelessLaneChange", "Nudgeless Lane Change", "Enable lane changes without manual steering input.", "../frogpilot/assets/toggle_icons/icon_lane.png"},
@@ -44,6 +46,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"OneLaneChange", "One Lane Change Per Signal", "Limit to one nudgeless lane change per turn signal activation.", ""},
{"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
{"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
{"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
{"PauseLateralOnSignal", "Pause Lateral On Turn Signal Below", "Temporarily disable lateral control during turn signal use below the set speed.", ""},
{"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
@@ -72,7 +75,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 3, {{0, "None"}, {1, "Steering Wheel"}, {2, "Onroad UI Button"}, {3, "Wheel + Button"}}, this, true);
} else if (param == "AlwaysOnLateral") {
std::vector<QString> aolToggles{tr("AlwaysOnLateralMain")};
std::vector<QString> aolToggles{"AlwaysOnLateralMain"};
std::vector<QString> aolToggleNames{tr("Enable On Cruise Main")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, aolToggles, aolToggleNames);
@@ -112,11 +115,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
conditionalSpeedsMetric = new FrogPilotDualParamControl(CESpeedMetric, CESpeedLeadMetric, this);
addItem(conditionalSpeedsMetric);
std::vector<QString> curveToggles{tr("CECurvesLead")};
std::vector<QString> curveToggles{"CECurvesLead"};
std::vector<QString> curveToggleNames{tr("With Lead")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, curveToggles, curveToggleNames);
} else if (param == "CEStopLights") {
std::vector<QString> stopLightToggles{tr("CEStopLightsLead")};
std::vector<QString> stopLightToggles{"CEStopLightsLead"};
std::vector<QString> stopLightToggleNames{tr("With Lead")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, stopLightToggles, stopLightToggleNames);
@@ -167,6 +170,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, shutdownLabels, this, false);
} else if (param == "ExperimentalModeActivation") {
std::vector<QString> experimentalModeToggles{"ExperimentalModeViaLKAS", "ExperimentalModeViaScreen"};
std::vector<QString> experimentalModeNames{tr("LKAS Button"), tr("Screen")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, experimentalModeToggles, experimentalModeNames);
} else if (param == "FireTheBabysitter") {
FrogPilotParamManageControl *fireTheBabysitterToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(fireTheBabysitterToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -187,7 +195,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
});
toggle = lateralTuneToggle;
} else if (param == "SteerRatio") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 100);
toggle = new FrogPilotParamValueControlFloat(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 10.0);
} else if (param == "LongitudinalTune") {
FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -395,11 +403,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt"};
fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt", "OfflineMode"};
laneChangeKeys = {"LaneChangeTime", "LaneDetection", "OneLaneChange"};
lateralTuneKeys = {"AverageCurvature", "NNFF", "SteerRatio"};
longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance"};
qolKeys = {"HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
mtscKeys = {"MTSCAggressiveness"};
qolKeys = {"DisableOnroadUploads", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
speedLimitControllerKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"};
visionTurnControlKeys = {"CurveSensitivity", "TurnAggressiveness"};
@@ -418,10 +427,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
void FrogPilotControlsPanel::updateCarToggles() {
FrogPilotParamValueControl *steerRatioToggle = static_cast<FrogPilotParamValueControl*>(toggles["SteerRatio"]);
steerRatioStock = params.getInt("SteerRatioStock");
steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock / 100.0) + ")") : QString("Steer Ratio"));
steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 100);
FrogPilotParamValueControlFloat *steerRatioToggle = static_cast<FrogPilotParamValueControlFloat*>(toggles["SteerRatio"]);
steerRatioStock = params.getFloat("SteerRatioStock");
steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : QString("Steer Ratio"));
steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 10.0);
steerRatioToggle->refresh();
}
@@ -535,6 +544,7 @@ void FrogPilotControlsPanel::hideSubToggles() {
laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() ||
lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() ||
longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end() ||
mtscKeys.find(key.c_str()) != mtscKeys.end() ||
qolKeys.find(key.c_str()) != qolKeys.end() ||
speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end() ||
visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end();

3
selfdrive/frogpilot/ui/control_settings.h
View File

@@ -38,6 +38,7 @@ private:
std::set<QString> laneChangeKeys;
std::set<QString> lateralTuneKeys;
std::set<QString> longitudinalTuneKeys;
std::set<QString> mtscKeys;
std::set<QString> qolKeys;
std::set<QString> speedLimitControllerKeys;
std::set<QString> visionTurnControlKeys;
@@ -48,5 +49,5 @@ private:
Params paramsMemory{"/dev/shm/params"};
bool isMetric = params.getBool("IsMetric");
int steerRatioStock = params.getInt("SteerRatioStock");
float steerRatioStock = params.getFloat("SteerRatioStock");
};

6
selfdrive/frogpilot/ui/frogpilot_functions.cc
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@@ -79,8 +79,11 @@ void setDefaultParams() {
{"CustomUI", "1"},
{"DeviceShutdown", "9"},
{"DriverCamera", "0"},
{"DriveStats", "1"},
{"EVTable", FrogsGoMoo ? "0" : "1"},
{"ExperimentalModeViaPress", "1"},
{"ExperimentalModeActivation", "1"},
{"ExperimentalModeViaLKAS", "1"},
{"ExperimentalModeViaScreen", FrogsGoMoo ? "0" : "1"},
{"Fahrenheit", "0"},
{"FireTheBabysitter", FrogsGoMoo ? "1" : "0"},
{"FullMap", "0"},
@@ -149,6 +152,7 @@ void setDefaultParams() {
{"TurnDesires", "1"},
{"UnlimitedLength", "1"},
{"UseSI", FrogsGoMoo ? "1" : "0"},
{"UseVienna", "0"},
{"VisionTurnControl", "1"},
{"WheelIcon", FrogsGoMoo ? "1" : "0"}
};

114
selfdrive/frogpilot/ui/frogpilot_functions.h
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@@ -363,6 +363,120 @@ private:
}
};
class FrogPilotParamValueControlFloat : public ParamControl {
Q_OBJECT
public:
FrogPilotParamValueControlFloat(const QString &param, const QString &title, const QString &desc, const QString &icon,
const float &minValue, const float &maxValue, const std::map<int, QString> &valueLabels,
QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const float &division = 1.0f)
: ParamControl(param, title, desc, icon, parent),
minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
key = param.toStdString();
valueLabel = new QLabel(this);
hlayout->addWidget(valueLabel);
QPushButton *decrementButton = createButton("-", this);
QPushButton *incrementButton = createButton("+", this);
hlayout->addWidget(decrementButton);
hlayout->addWidget(incrementButton);
connect(decrementButton, &QPushButton::clicked, this, [=]() {
updateValue(-1.0f);
});
connect(incrementButton, &QPushButton::clicked, this, [=]() {
updateValue(1.0f);
});
toggle.hide();
}
void updateValue(float increment) {
value += increment * 0.1f;
if (loop) {
if (value < minValue) value = maxValue;
else if (value > maxValue) value = minValue;
} else {
value = std::max(minValue, std::min(maxValue, value));
}
params.putFloat(key, value);
refresh();
emit buttonPressed();
emit valueChanged(value);
}
void refresh() {
value = params.getFloat(key);
QString text;
auto it = valueLabelMappings.find(value);
if (division > 0.1f) {
text = QString::number(value, 'f', 1);
} else {
text = it != valueLabelMappings.end() ? it->second : QString::number(value, 'f', 1);
}
if (!labelText.isEmpty()) {
text += labelText;
}
valueLabel->setText(text);
valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
}
void updateControl(float newMinValue, float newMaxValue, const QString &newLabel, float newDivision = 1.0f) {
minValue = newMinValue;
maxValue = newMaxValue;
labelText = newLabel;
division = newDivision;
}
void showEvent(QShowEvent *event) override {
refresh();
}
signals:
void buttonPressed();
void valueChanged(float value);
private:
bool loop;
float division;
float maxValue;
float minValue;
float value;
QLabel *valueLabel;
QString labelText;
std::map<int, QString> valueLabelMappings;
std::string key;
Params params;
QPushButton *createButton(const QString &text, QWidget *parent) {
QPushButton *button = new QPushButton(text, parent);
button->setFixedSize(150, 100);
button->setAutoRepeat(true);
button->setAutoRepeatInterval(150);
button->setStyleSheet(R"(
QPushButton {
border-radius: 50px;
font-size: 50px;
font-weight: 500;
height: 100px;
padding: 0 25 0 25;
color: #E4E4E4;
background-color: #393939;
}
QPushButton:pressed {
background-color: #4a4a4a;
}
)");
return button;
}
};
class FrogPilotDualParamControl : public QFrame {
Q_OBJECT

6
selfdrive/frogpilot/ui/vehicle_settings.cc
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@@ -121,10 +121,10 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
});
}
gmKeys = {"EVTable", "GasRegenCmd", "LongPitch"};
toyotaKeys = {};
gmKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt"};
toyotaKeys = {"LockDoors", "SNGHack", "TSS2Tune"};
std::set<std::string> rebootKeys = {"LowerVolt", "TSS2Tune"};
std::set<std::string> rebootKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt", "TSS2Tune"};
for (const std::string &key : rebootKeys) {
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {

12
selfdrive/frogpilot/ui/visual_settings.cc
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@@ -18,6 +18,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
{"ShowFPS", "FPS Counter", "Display the Frames Per Second (FPS) of your onroad UI for monitoring system performance.", ""},
{"LeadInfo", "Lead Info and Logics", "Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance.", ""},
{"RoadNameUI", "Road Name", "See the name of the road you're on at the bottom of your screen. Sourced from OpenStreetMap.", ""},
{"UseVienna", "Use Vienna Speed Limit Signs", "Use the Vienna (EU) speed limit style signs as opposed to MUTCD (US).", ""},
{"DriverCamera", "Driver Camera On Reverse", "Show the driver's camera feed when you shift to reverse.", "../assets/img_driver_face_static.png"},
{"GreenLightAlert", "Green Light Alert", "Get an alert when a traffic light changes from red to green.", "../frogpilot/assets/toggle_icons/icon_green_light.png"},
@@ -152,7 +153,16 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
});
}
customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI"};
std::set<std::string> rebootKeys = {"DriveStats"};
for (const std::string &key : rebootKeys) {
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
Hardware::reboot();
}
});
}
customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UseVienna"};
customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
modelUIKeys = {"AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
qolKeys = {"DriveStats", "HideSpeed", "ShowSLCOffset"};