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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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30
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 = scene.always_on_lateral ? 25 : 0;
int offset = scene.always_on_lateral || scene.conditional_experimental ? 25 : 0;
if (alert.size == cereal::ControlsState::AlertSize::FULL) {
margin = 0;
radius = 0;
@@ -548,7 +548,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
// base icon
int offset = UI_BORDER_SIZE + btn_size / 2;
offset += alwaysOnLateral ? 25 : 0;
offset += alwaysOnLateral || conditionalExperimental ? 25 : 0;
int x = rightHandDM ? width() - offset : offset;
int y = height() - offset;
float opacity = dmActive ? 0.65 : 0.2;
@@ -655,7 +655,7 @@ void AnnotatedCameraWidget::paintGL() {
// for replay of old routes, never go to widecam
wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
}
CameraWidget::setStreamType(cameraView == 3 ? VISION_STREAM_DRIVER :
CameraWidget::setStreamType(cameraView == 3 ? VISION_STREAM_DRIVER :
wide_cam_requested && cameraView != 1 ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
@@ -742,9 +742,13 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
alwaysOnLateral = scene.always_on_lateral_active;
cameraView = scene.camera_view;
conditionalExperimental = scene.conditional_experimental;
conditionalSpeed = scene.conditional_speed;
conditionalSpeedLead = scene.conditional_speed_lead;
conditionalStatus = scene.conditional_status;
experimentalMode = scene.experimental_mode;
if (alwaysOnLateral) {
if (alwaysOnLateral || conditionalExperimental) {
drawStatusBar(p);
}
@@ -775,8 +779,26 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
p.setOpacity(1.0);
p.drawRoundedRect(statusBarRect, 30, 30);
QMap<int, QString> conditionalStatusMap = {
{0, "Conditional Experimental Mode ready"},
{1, "Conditional Experimental overridden"},
{2, "Experimental Mode manually activated"},
{3, "Conditional Experimental overridden"},
{4, "Experimental Mode manually activated"},
{5, "Experimental Mode activated for navigation" + (QString(" instructions input"))},
{6, "Experimental Mode activated due to" + (QString(" no speed limit set"))},
{7, "Experimental Mode activated due to" + (" speed being less than " + QString::number(conditionalSpeedLead) + (is_metric ? " kph" : " mph"))},
{8, "Experimental Mode activated due to" + (" speed being less than " + QString::number(conditionalSpeed) + (is_metric ? " kph" : " mph"))},
{9, "Experimental Mode activated for slower lead"},
{10, "Experimental Mode activated for turn" + (QString(" / lane change"))},
{11, "Experimental Mode activated for curve"},
{12, "Experimental Mode activated for stop" + (QString(" sign / stop light"))}
};
if (alwaysOnLateral) {
newStatus = QString("Always On Lateral active") + (". Press the \"Cruise Control\" button to disable");
} else if (conditionalExperimental) {
newStatus = conditionalStatusMap.contains(conditionalStatus) && status != STATUS_DISENGAGED ? conditionalStatusMap[conditionalStatus] : conditionalStatusMap[0];
}
// Check if status has changed