Custom driving personality profiles

Added toggles to customize the driving personality profiles.

selfdrive/frogpilot/functions/frogpilot_planner.py

@@ -101,6 +101,14 @@ class FrogPilotPlanner:
       if not params.get_bool("ExperimentalMode"):
         params.put_bool("ExperimentalMode", True)
 
+    self.custom_personalities = params.get_bool("CustomPersonalities")
+    self.aggressive_follow = params.get_int("AggressiveFollow") / 10
+    self.standard_follow = params.get_int("StandardFollow") / 10
+    self.relaxed_follow = params.get_int("RelaxedFollow") / 10
+    self.aggressive_jerk = params.get_int("AggressiveJerk") / 10
+    self.standard_jerk = params.get_int("StandardJerk") / 10
+    self.relaxed_jerk = params.get_int("RelaxedJerk") / 10
+
     lateral_tune = params.get_bool("LateralTune")
     self.average_desired_curvature = params.get_bool("AverageCurvature") and lateral_tune
 

selfdrive/frogpilot/ui/control_settings.cc

@@ -12,6 +12,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"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.", ""},
 
+    {"CustomPersonalities", "Custom Driving Personalities", "Customize the driving personality profiles to your driving style.", "../frogpilot/assets/toggle_icons/icon_custom.png"},
+
     {"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.", ""},
 
@@ -72,6 +74,46 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
       std::vector<QString> stopLightToggleNames{tr("With Lead")};
       toggle = new FrogPilotParamToggleControl(param, title, desc, icon, stopLightToggles, stopLightToggleNames);
 
+    } else if (param == "CustomPersonalities") {
+      FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(false);
+        }
+        aggressiveProfile->setVisible(true);
+        standardProfile->setVisible(true);
+        relaxedProfile->setVisible(true);
+      });
+      toggle = customPersonalitiesToggle;
+
+      FrogPilotParamValueControl *aggressiveFollow = new FrogPilotParamValueControl("AggressiveFollow", "Follow",
+      "Set the 'Aggressive' personality' following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.25 seconds.", "../frogpilot/assets/other_images/aggressive.png",
+      10, 50, std::map<int, QString>(), this, false, " sec", 10);
+      FrogPilotParamValueControl *aggressiveJerk = new FrogPilotParamValueControl("AggressiveJerk", " Jerk",
+      "Configure brake/gas pedal responsiveness for the 'Aggressive' personality. Higher values yield a more 'relaxed' response.\n\nStock: 0.5.", "", 1, 50,
+                                                                std::map<int, QString>(), this, false, "", 10);
+      aggressiveProfile = new FrogPilotDualParamControl(aggressiveFollow, aggressiveJerk, this, true);
+      addItem(aggressiveProfile);
+
+      FrogPilotParamValueControl *standardFollow = new FrogPilotParamValueControl("StandardFollow", "Follow",
+      "Set the 'Standard' personality following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.45 seconds.", "../frogpilot/assets/other_images/standard.png",
+      10, 50, std::map<int, QString>(), this, false, " sec", 10);
+      FrogPilotParamValueControl *standardJerk = new FrogPilotParamValueControl("StandardJerk", " Jerk",
+      "Adjust brake/gas pedal responsiveness for the 'Standard' personality. Higher values yield a more 'relaxed' response.\n\nStock: 1.0.", "", 1, 50,
+                                                              std::map<int, QString>(), this, false, "", 10);
+      standardProfile = new FrogPilotDualParamControl(standardFollow, standardJerk, this, true);
+      addItem(standardProfile);
+
+      FrogPilotParamValueControl *relaxedFollow = new FrogPilotParamValueControl("RelaxedFollow", "Follow",
+      "Set the 'Relaxed' personality following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.75 seconds.", "../frogpilot/assets/other_images/relaxed.png",
+      10, 50, std::map<int, QString>(), this, false, " sec", 10);
+      FrogPilotParamValueControl *relaxedJerk = new FrogPilotParamValueControl("RelaxedJerk", " Jerk",
+      "Set brake/gas pedal responsiveness for the 'Relaxed' personality. Higher values yield a more 'relaxed' response.\n\nStock: 1.0.", "", 1, 50,
+                                                             std::map<int, QString>(), this, false, "", 10);
+      relaxedProfile = new FrogPilotDualParamControl(relaxedFollow, relaxedJerk, this, true);
+      addItem(relaxedProfile);
+
     } else if (param == "LateralTune") {
       FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
       QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -179,15 +221,21 @@ void FrogPilotControlsPanel::updateMetric() {
 }
 
 void FrogPilotControlsPanel::parentToggleClicked() {
+  aggressiveProfile->setVisible(false);
   conditionalSpeedsImperial->setVisible(false);
   conditionalSpeedsMetric->setVisible(false);
+  standardProfile->setVisible(false);
+  relaxedProfile->setVisible(false);
 
   this->openParentToggle();
 }
 
 void FrogPilotControlsPanel::hideSubToggles() {
+  aggressiveProfile->setVisible(false);
   conditionalSpeedsImperial->setVisible(false);
   conditionalSpeedsMetric->setVisible(false);
+  standardProfile->setVisible(false);
+  relaxedProfile->setVisible(false);
 
   for (auto &[key, toggle] : toggles) {
     bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||

selfdrive/frogpilot/ui/control_settings.h

@@ -22,8 +22,11 @@ private:
   void updateMetric();
   void updateToggles();
 
+  FrogPilotDualParamControl *aggressiveProfile;
   FrogPilotDualParamControl *conditionalSpeedsImperial;
   FrogPilotDualParamControl *conditionalSpeedsMetric;
+  FrogPilotDualParamControl *standardProfile;
+  FrogPilotDualParamControl *relaxedProfile;
 
   std::set<QString> conditionalExperimentalKeys;
   std::set<QString> fireTheBabysitterKeys;