FrogPilot setup

2024-01-12 22:39:30 -07:00
parent 9d97e0ecc1
commit 7308c1b35c
60 changed files with 1660 additions and 49 deletions
--- a/selfdrive/frogpilot/ui/control_settings.cc
+++ b/selfdrive/frogpilot/ui/control_settings.cc
@@ -0,0 +1,128 @@
+#include "selfdrive/frogpilot/ui/control_settings.h"
+#include "selfdrive/ui/ui.h"
+
+FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
+  const std::vector<std::tuple<QString, QString, QString, QString>> controlToggles {
+    {"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"},
+  };
+
+  for (const auto &[param, title, desc, icon] : controlToggles) {
+    ParamControl *toggle;
+
+    if (param == "LateralTune") {
+      FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end());
+        }
+      });
+      toggle = lateralTuneToggle;
+
+    } else if (param == "LongitudinalTune") {
+      FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end());
+        }
+      });
+      toggle = longitudinalTuneToggle;
+
+    } else {
+      toggle = new ParamControl(param, title, desc, icon, this);
+    }
+
+    addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+
+    QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::buttonPressed, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
+      update();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+      update();
+    });
+  }
+
+  std::set<std::string> rebootKeys = {};
+  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();
+      }
+    });
+  }
+
+  conditionalExperimentalKeys = {};
+  fireTheBabysitterKeys = {};
+  laneChangeKeys = {};
+  lateralTuneKeys = {};
+  longitudinalTuneKeys = {};
+  speedLimitControllerKeys = {};
+  visionTurnControlKeys = {};
+
+  QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotControlsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotControlsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotControlsPanel::updateMetric);
+
+  hideSubToggles();
+  updateMetric();
+}
+
+void FrogPilotControlsPanel::updateToggles() {
+  std::thread([this]() {
+    paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+  }).detach();
+}
+
+void FrogPilotControlsPanel::updateMetric() {
+  bool previousIsMetric = isMetric;
+  isMetric = params.getBool("IsMetric");
+
+  if (isMetric != previousIsMetric) {
+    double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
+    double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
+  }
+
+  if (isMetric) {
+  } else {
+  }
+
+  previousIsMetric = isMetric;
+}
+
+void FrogPilotControlsPanel::parentToggleClicked() {
+  this->openParentToggle();
+}
+
+void FrogPilotControlsPanel::hideSubToggles() {
+  for (auto &[key, toggle] : toggles) {
+    const bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
+                            fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end() ||
+                            laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() ||
+                            lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() ||
+                            longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end() ||
+                            speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end() ||
+                            visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end();
+    toggle->setVisible(!subToggles);
+  }
+
+  this->closeParentToggle();
+}
+
+void FrogPilotControlsPanel::hideEvent(QHideEvent *event) {
+  hideSubToggles();
+}