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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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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();