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Conditional Experimental Mode

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Added toggles for "Conditional Experimental Mode".

Conditions based on road curvature, turn signals, speed, lead speed, navigation instructions, and stop signs/stop lights are all individually toggleable.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent c844593f66
commit ccf674762e
17 changed files with 378 additions and 12 deletions
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53
selfdrive/frogpilot/ui/control_settings.cc
View File

@@ -5,6 +5,13 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
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"},
{"ConditionalExperimental", "Conditional Experimental Mode", "Automatically switches to 'Experimental Mode' under predefined conditions.", "../frogpilot/assets/toggle_icons/icon_conditional.png"},
{"CECurves", "Curve Detected Ahead", "Switch to 'Experimental Mode' when a curve is detected.", ""},
{"CENavigation", "Navigation Based", "Switch to 'Experimental Mode' based on navigation data. (i.e. Intersections, stop signs, etc.)", ""},
{"CESlowerLead", "Slower Lead Detected Ahead", "Switch to 'Experimental Mode' when a slower lead vehicle is detected ahead.", ""},
{"CEStopLights", "Stop Lights and Stop Signs", "Switch to 'Experimental Mode' when a stop light or stop sign is detected.", ""},
{"CESignal", "Turn Signal When Below Highway Speeds", "Switch to 'Experimental Mode' when using turn signals below highway speeds to help assit with turns.", ""},
{"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.", ""},
@@ -31,6 +38,40 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
});
} else if (param == "ConditionalExperimental") {
FrogPilotParamManageControl *conditionalExperimentalToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(conditionalExperimentalToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
parentToggleClicked();
conditionalSpeedsImperial->setVisible(!isMetric);
conditionalSpeedsMetric->setVisible(isMetric);
for (auto &[key, toggle] : toggles) {
toggle->setVisible(conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end());
}
});
toggle = conditionalExperimentalToggle;
} else if (param == "CECurves") {
FrogPilotParamValueControl *CESpeedImperial = new FrogPilotParamValueControl("CESpeed", "Below", "Switch to 'Experimental Mode' below this speed in absence of a lead vehicle.", "", 0, 99,
std::map<int, QString>(), this, false, " mph");
FrogPilotParamValueControl *CESpeedLeadImperial = new FrogPilotParamValueControl("CESpeedLead", " w/Lead", "Switch to 'Experimental Mode' below this speed when following a lead vehicle.", "", 0, 99,
std::map<int, QString>(), this, false, " mph");
conditionalSpeedsImperial = new FrogPilotDualParamControl(CESpeedImperial, CESpeedLeadImperial, this);
addItem(conditionalSpeedsImperial);
FrogPilotParamValueControl *CESpeedMetric = new FrogPilotParamValueControl("CESpeed", "Below", "Switch to 'Experimental Mode' below this speed in absence of a lead vehicle.", "", 0, 150,
std::map<int, QString>(), this, false, " kph");
FrogPilotParamValueControl *CESpeedLeadMetric = new FrogPilotParamValueControl("CESpeedLead", " w/Lead", "Switch to 'Experimental Mode' below this speed when following a lead vehicle.", "",
0, 150, std::map<int, QString>(), this, false, " kph");
conditionalSpeedsMetric = new FrogPilotDualParamControl(CESpeedMetric, CESpeedLeadMetric, this);
addItem(conditionalSpeedsMetric);
std::vector<QString> curveToggles{tr("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> stopLightToggleNames{tr("With Lead")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, stopLightToggles, stopLightToggleNames);
} else if (param == "LateralTune") {
FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -95,7 +136,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
});
}
conditionalExperimentalKeys = {};
conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
fireTheBabysitterKeys = {};
laneChangeKeys = {};
lateralTuneKeys = {"AverageCurvature"};
@@ -126,6 +167,8 @@ void FrogPilotControlsPanel::updateMetric() {
if (isMetric != previousIsMetric) {
double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
params.putInt("CESpeed", std::nearbyint(params.getInt("CESpeed") * speedConversion));
params.putInt("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
}
if (isMetric) {
@@ -136,12 +179,18 @@ void FrogPilotControlsPanel::updateMetric() {
}
void FrogPilotControlsPanel::parentToggleClicked() {
conditionalSpeedsImperial->setVisible(false);
conditionalSpeedsMetric->setVisible(false);
this->openParentToggle();
}
void FrogPilotControlsPanel::hideSubToggles() {
conditionalSpeedsImperial->setVisible(false);
conditionalSpeedsMetric->setVisible(false);
for (auto &[key, toggle] : toggles) {
const bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
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() ||

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

@@ -22,6 +22,9 @@ private:
void updateMetric();
void updateToggles();
FrogPilotDualParamControl *conditionalSpeedsImperial;
FrogPilotDualParamControl *conditionalSpeedsMetric;
std::set<QString> conditionalExperimentalKeys;
std::set<QString> fireTheBabysitterKeys;
std::set<QString> laneChangeKeys;