mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-07-26 20:32:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

September 4th, 2024 Patch

Browse Source
This commit is contained in:
FrogAi
2024-09-03 21:35:44 -07:00
parent 1acc93990f
commit 2da496e862
17 changed files with 196 additions and 343 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cereal/custom.capnp
+25 -26
View File
@@ -50,32 +50,31 @@ struct FrogPilotPlan @0x80ae746ee2596b11 {
accelerationJerk @0 :Float32;
accelerationJerkStock @1 :Float32;
adjustedCruise @2 :Float32;
alwaysOnLateralActive @3 :Bool;
dangerJerk @4 :Float32;
desiredFollowDistance @5 :Float32;
experimentalMode @6 :Bool;
forcingStop @7 :Bool;
frogpilotEvents @8: List(Car.CarEvent);
lateralCheck @9 :Bool;
laneWidthLeft @10 :Float32;
laneWidthRight @11 :Float32;
maxAcceleration @12 :Float32;
minAcceleration @13 :Float32;
redLight @14 :Bool;
safeObstacleDistance @15 :Int32;
safeObstacleDistanceStock @16 :Int32;
slcOverridden @17 :Bool;
slcOverriddenSpeed @18 :Float32;
slcSpeedLimit @19 :Float32;
slcSpeedLimitOffset @20 :Float32;
speedJerk @21 :Float32;
speedJerkStock @22 :Float32;
speedLimitChanged @23 :Bool;
stoppedEquivalenceFactor @24 :Int32;
tFollow @25 :Float32;
unconfirmedSlcSpeedLimit @26 :Float32;
vCruise @27 :Float32;
vtscControllingCurve @28 :Bool;
dangerJerk @3 :Float32;
desiredFollowDistance @4 :Float32;
experimentalMode @5 :Bool;
forcingStop @6 :Bool;
frogpilotEvents @7: List(Car.CarEvent);
lateralCheck @8 :Bool;
laneWidthLeft @9 :Float32;
laneWidthRight @10 :Float32;
maxAcceleration @11 :Float32;
minAcceleration @12 :Float32;
redLight @13 :Bool;
safeObstacleDistance @14 :Int32;
safeObstacleDistanceStock @15 :Int32;
slcOverridden @16 :Bool;
slcOverriddenSpeed @17 :Float32;
slcSpeedLimit @18 :Float32;
slcSpeedLimitOffset @19 :Float32;
speedJerk @20 :Float32;
speedJerkStock @21 :Float32;
speedLimitChanged @22 :Bool;
stoppedEquivalenceFactor @23 :Int32;
tFollow @24 :Float32;
unconfirmedSlcSpeedLimit @25 :Float32;
vCruise @26 :Float32;
vtscControllingCurve @27 :Bool;
}
struct CustomReserved5 @0xa5cd762cd951a455 {
selfdrive/car/toyota/carstate.py
+6 -7
View File
@@ -76,7 +76,7 @@ class CarState(CarStateBase):
self.zss_angle_offset = 0
self.zss_threshold_count = 0
def update(self, cp, cp_cam, frogpilot_toggles):
def update(self, cp, cp_cam, CC, frogpilot_toggles):
ret = car.CarState.new_message()
fp_ret = custom.FrogPilotCarState.new_message()
@@ -229,15 +229,14 @@ class CarState(CarStateBase):
self.pcm_neutral_force = cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"]
# ZSS Support - Credit goes to the DragonPilot team!
if self.CP.flags & ToyotaFlags.ZSS and self.zss_threshold_count < ZSS_THRESHOLD_COUNT:
if self.CP.flags & ToyotaFlags.ZSS and self.zss_threshold_count <= ZSS_THRESHOLD_COUNT:
zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]
# Only compute ZSS offset when cruise is active
cruise_active = ret.cruiseState.available
if cruise_active and not self.zss_cruise_active_last:
self.zss_compute = True # Cruise was just activated, so allow offset to be recomputed
# Only compute ZSS offset when control is active
if CC.latActive and not self.zss_cruise_active_last:
self.zss_threshold_count = 0
self.zss_cruise_active_last = cruise_active
self.zss_compute = True # Control was just activated, so allow offset to be recomputed
self.zss_cruise_active_last = CC.latActive
# Compute ZSS offset
if self.zss_compute:
selfdrive/car/toyota/interface.py
+1 -1
View File
@@ -175,7 +175,7 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self, c, frogpilot_toggles):
ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles)
ret, fp_ret = self.CS.update(self.cp, self.cp_cam, c, frogpilot_toggles)
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
ret.buttonEvents = [
selfdrive/controls/controlsd.py
+12 -5
View File
@@ -53,6 +53,7 @@ EventName = car.CarEvent.EventName
ButtonType = car.CarState.ButtonEvent.Type
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
SafetyModel = car.CarParams.SafetyModel
GearShifter = car.CarState.GearShifter
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError}
@@ -555,8 +556,8 @@ class Controls:
# Check if openpilot is engaged and actuators are enabled
self.enabled = self.state in ENABLED_STATES
self.active = self.state in ACTIVE_STATES or self.always_on_lateral_active
if self.active:
self.active = self.state in ACTIVE_STATES
if self.active or self.always_on_lateral_active:
self.current_alert_types.append(ET.WARNING)
def state_control(self, CS):
@@ -583,7 +584,7 @@ class Controls:
# Check which actuators can be enabled
standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CC.latActive = (self.active or self.always_on_lateral_active) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
(not standstill or self.joystick_mode) and self.sm['frogpilotPlan'].lateralCheck
CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
@@ -710,7 +711,13 @@ class Controls:
return CC, lac_log, FPCC
def update_frogpilot_variables(self, CS):
self.always_on_lateral_active = self.sm['frogpilotPlan'].alwaysOnLateralActive and self.sm.all_checks(['frogpilotPlan'])
self.always_on_lateral_active |= self.frogpilot_toggles.always_on_lateral_main or CS.cruiseState.enabled
self.always_on_lateral_active &= self.frogpilot_toggles.always_on_lateral and CS.cruiseState.available
self.always_on_lateral_active &= CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
self.always_on_lateral_active &= self.sm['frogpilotPlan'].lateralCheck
self.always_on_lateral_active &= not (self.frogpilot_toggles.always_on_lateral_lkas and self.sm['frogpilotCarState'].alwaysOnLateralDisabled)
self.always_on_lateral_active &= not (CS.brakePressed and CS.vEgo < self.frogpilot_toggles.always_on_lateral_pause_speed) or CS.standstill
if self.frogpilot_toggles.conditional_experimental_mode:
self.experimental_mode = self.sm['frogpilotPlan'].experimentalMode
@@ -728,7 +735,7 @@ class Controls:
self.resume_previously_pressed = self.resume_pressed
FPCC = custom.FrogPilotCarControl.new_message()
FPCC.alwaysOnLateralActive = self.always_on_lateral_active
FPCC.alwaysOnLateralActive = bool(self.always_on_lateral_active)
FPCC.fcwEventTriggered = self.fcw_event_triggered
FPCC.noEntryEventTriggered = self.no_entry_alert_triggered
FPCC.resumePressed = self.resume_previously_pressed
selfdrive/frogpilot/controls/frogpilot_planner.py
+8 -16
View File
@@ -30,7 +30,8 @@ class FrogPilotPlanner:
self.frogpilot_vcruise = FrogPilotVCruise(self)
self.lead_one = Lead()
self.always_on_lateral_active = False
self.tracking_lead_mac = WeightedMovingAverageCalculator(window_size=5)
self.lateral_check = False
self.lead_departing = False
self.model_stopped = False
@@ -43,8 +44,6 @@ class FrogPilotPlanner:
self.tracking_lead_distance = 0
self.v_cruise = 0
self.tracking_lead_mac = WeightedMovingAverageCalculator(window_size=4)
def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, radarState, frogpilot_toggles):
if frogpilot_toggles.radarless_model:
model_leads = list(modelData.leadsV3)
@@ -69,15 +68,8 @@ class FrogPilotPlanner:
if frogpilot_toggles.openpilot_longitudinal:
self.frogpilot_acceleration.update(controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_toggles)
self.always_on_lateral_active |= frogpilot_toggles.always_on_lateral_main or carState.cruiseState.enabled
self.always_on_lateral_active &= frogpilot_toggles.always_on_lateral and carState.cruiseState.available
self.always_on_lateral_active &= driving_gear
self.always_on_lateral_active &= self.lateral_check
self.always_on_lateral_active &= not (frogpilot_toggles.always_on_lateral_lkas and frogpilotCarState.alwaysOnLateralDisabled)
self.always_on_lateral_active &= not (carState.brakePressed and v_ego < frogpilot_toggles.always_on_lateral_pause_speed) or carState.standstill
run_cem = frogpilot_toggles.conditional_experimental_mode or frogpilot_toggles.force_stops or frogpilot_toggles.green_light_alert or frogpilot_toggles.show_stopping_point
if run_cem and (controlsState.enabled or self.always_on_lateral_active) and driving_gear:
if run_cem and (controlsState.enabled or frogpilotCarControl.alwaysOnLateralActive) and driving_gear:
self.cem.update(carState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles)
else:
self.cem.stop_light_detected = False
@@ -119,7 +111,8 @@ class FrogPilotPlanner:
else:
self.taking_curve_quickly = False
self.tracking_lead = self.set_lead_status(lead_distance, stopping_distance, v_ego)
self.tracking_lead = self.set_lead_status(carState, lead_distance, stopping_distance, v_ego)
if frogpilot_toggles.openpilot_longitudinal:
self.v_cruise = self.frogpilot_vcruise.update(carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego, frogpilot_toggles)
else:
@@ -129,8 +122,9 @@ class FrogPilotPlanner:
if self.frogpilot_events.frame == 1: # Force update to check the current state of "Always On Lateral" and holiday theme
update_frogpilot_toggles()
def set_lead_status(self, lead_distance, stopping_distance, v_ego):
following_lead = self.lead_one.status and 1 < lead_distance < self.model_length + stopping_distance
def set_lead_status(self, carState, lead_distance, stopping_distance, v_ego):
following_lead = self.lead_one.status
following_lead &= 1 < lead_distance < self.model_length + stopping_distance or carState.standstill and self.tracking_lead
following_lead &= v_ego > CRUISING_SPEED or self.tracking_lead
self.tracking_lead_mac.add_data(following_lead)
@@ -151,8 +145,6 @@ class FrogPilotPlanner:
frogpilotPlan.adjustedCruise = float(min(self.frogpilot_vcruise.mtsc_target, self.frogpilot_vcruise.vtsc_target) * (CV.MS_TO_KPH if frogpilot_toggles.is_metric else CV.MS_TO_MPH))
frogpilotPlan.vtscControllingCurve = bool(self.frogpilot_vcruise.mtsc_target > self.frogpilot_vcruise.vtsc_target)
frogpilotPlan.alwaysOnLateralActive = self.always_on_lateral_active
frogpilotPlan.desiredFollowDistance = self.frogpilot_following.safe_obstacle_distance - self.frogpilot_following.stopped_equivalence_factor
frogpilotPlan.safeObstacleDistance = self.frogpilot_following.safe_obstacle_distance
frogpilotPlan.safeObstacleDistanceStock = self.frogpilot_following.safe_obstacle_distance_stock
selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
+6 -5
View File
@@ -1,3 +1,5 @@
from openpilot.common.params import Params
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import WeightedMovingAverageCalculator
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, THRESHOLD
@@ -5,10 +7,9 @@ class ConditionalExperimentalMode:
def __init__(self, FrogPilotPlanner):
self.frogpilot_planner = FrogPilotPlanner
self.params_memory = self.frogpilot_planner.params_memory
self.params_memory = Params("/dev/shm/params")
self.curvature_wmac = WeightedMovingAverageCalculator(window_size=5)
self.slow_lead_wmac = WeightedMovingAverageCalculator(window_size=3)
self.stop_light_wmac = WeightedMovingAverageCalculator(window_size=5)
self.curve_detected = False
@@ -61,6 +62,8 @@ class ConditionalExperimentalMode:
self.status_value = 17
return True
return False
def update_conditions(self, tracking_lead, v_ego, v_lead, frogpilot_toggles):
self.curve_detection(tracking_lead, v_ego, frogpilot_toggles)
self.slow_lead(tracking_lead, v_lead, frogpilot_toggles)
@@ -82,10 +85,8 @@ class ConditionalExperimentalMode:
slower_lead = self.frogpilot_planner.frogpilot_following.slower_lead and frogpilot_toggles.conditional_slower_lead
stopped_lead = frogpilot_toggles.conditional_stopped_lead and v_lead < 1
self.slow_lead_wmac.add_data(slower_lead or stopped_lead)
self.slow_lead_detected = self.slow_lead_wmac.get_weighted_average() >= THRESHOLD
self.slow_lead_detected = slower_lead or stopped_lead
else:
self.slow_lead_wmac.reset_data()
self.slow_lead_detected = False
def stop_sign_and_light(self, tracking_lead, v_ego, frogpilot_toggles):
selfdrive/frogpilot/ui/qt/offroad/control_settings.cc
+17 -15
View File
@@ -208,7 +208,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
std::vector<QString> navigationToggleNames{tr("Intersections"), tr("Turns"), tr("With Lead")};
controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, navigationToggles, navigationToggleNames);
} else if (param == "CEModelStopTime") {
controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map<int, QString>(), this, false, tr(" seconds"));
std::map<int, QString> modelStopTimeLabels;
for (int i = 0; i <= 10; i++) {
modelStopTimeLabels[i] = (i == 0) ? tr("Off") : QString::number(i) + " seconds";
}
controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, modelStopTimeLabels, this, false);
} else if (param == "DeviceManagement") {
FrogPilotParamManageControl *deviceManagementToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -268,8 +272,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
});
controlToggle = reinterpret_cast<AbstractControl*>(personalitiesInfoBtn);
} else if (param == "ResetTrafficPersonality" || param == "ResetAggressivePersonality" || param == "ResetStandardPersonality" || param == "ResetRelaxedPersonality") {
std::vector<QString> personalityOptions{tr("Reset")};
FrogPilotButtonsControl *profileBtn = new FrogPilotButtonsControl(title, desc, icon, personalityOptions);
FrogPilotButtonsControl *profileBtn = new FrogPilotButtonsControl(title, {tr("Reset")}, desc);
controlToggle = profileBtn;
} else if (param == "TrafficPersonalityProfile") {
FrogPilotParamManageControl *trafficPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -326,8 +329,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
} else if (param == "OnroadDistanceButtonButtons") {
std::vector<QString> CustomDistanceIconsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")};
manageDistanceIconsBtn = new FrogPilotButtonsControl(title, desc, icon, CustomDistanceIconsOptions);
manageDistanceIconsBtn = new FrogPilotButtonsControl(title, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}, desc);
std::function<QString(QString)> formatIconName = [](QString name) -> QString {
QChar separator = name.contains('_') ? '_' : '-';
@@ -406,7 +408,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
themeDeleting = false;
}
} else if (id == 1) {
if (manageDistanceIconsBtn->getButton(id)->text() == tr("CANCEL")) {
if (iconsDownloading) {
paramsMemory.putBool("CancelThemeDownload", true);
cancellingDownload = true;
@@ -523,11 +525,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
controlToggle = longitudinalTuneToggle;
} else if (param == "AccelerationProfile") {
std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")};
FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions);
ButtonParamControl *profileSelection = new ButtonParamControl(param, title, desc, icon, profileOptions);
controlToggle = profileSelection;
} else if (param == "DecelerationProfile") {
std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport")};
FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions);
ButtonParamControl *profileSelection = new ButtonParamControl(param, title, desc, icon, profileOptions);
controlToggle = profileSelection;
} else if (param == "StoppingDistance") {
controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map<int, QString>(), this, false, tr(" feet"));
@@ -582,7 +584,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
});
controlToggle = modelRandomizerToggle;
} else if (param == "ManageBlacklistedModels") {
FrogPilotButtonsControl *blacklistBtn = new FrogPilotButtonsControl(title, desc, icon, {tr("ADD"), tr("REMOVE")});
FrogPilotButtonsControl *blacklistBtn = new FrogPilotButtonsControl(title, {tr("ADD"), tr("REMOVE")}, desc);
QObject::connect(blacklistBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
QStringList blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(",", QString::SkipEmptyParts);
QMap<QString, QString> labelToModelMap;
@@ -841,7 +843,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
selectModelBtn->setValue(QString::fromStdString(params.get("ModelName")));
controlToggle = reinterpret_cast<AbstractControl*>(selectModelBtn);
} else if (param == "ResetCalibrations") {
FrogPilotButtonsControl *resetCalibrationsBtn = new FrogPilotButtonsControl(title, desc, icon, {tr("RESET ALL"), tr("RESET ONE")});
FrogPilotButtonsControl *resetCalibrationsBtn = new FrogPilotButtonsControl(title, {tr("RESET ALL"), tr("RESET ONE")}, desc);
QObject::connect(resetCalibrationsBtn, &FrogPilotButtonsControl::showDescriptionEvent, this, &FrogPilotControlsPanel::updateCalibrationDescription);
QObject::connect(resetCalibrationsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
if (id == 0) {
@@ -1013,11 +1015,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, slcOffsetToggles, slcOffsetToggleNames);
} else if (param == "SLCFallback") {
std::vector<QString> fallbackOptions{tr("Set Speed"), tr("Experimental Mode"), tr("Previous Limit")};
FrogPilotButtonParamControl *fallbackSelection = new FrogPilotButtonParamControl(param, title, desc, icon, fallbackOptions);
ButtonParamControl *fallbackSelection = new ButtonParamControl(param, title, desc, icon, fallbackOptions);
controlToggle = fallbackSelection;
} else if (param == "SLCOverride") {
std::vector<QString> overrideOptions{tr("None"), tr("Manual Set Speed"), tr("Set Speed")};
FrogPilotButtonParamControl *overrideSelection = new FrogPilotButtonParamControl(param, title, desc, icon, overrideOptions);
ButtonParamControl *overrideSelection = new ButtonParamControl(param, title, desc, icon, overrideOptions);
controlToggle = overrideSelection;
} else if (param == "SLCPriority") {
ButtonControl *slcPriorityButton = new ButtonControl(title, tr("SELECT"), desc);
@@ -1305,9 +1307,9 @@ void FrogPilotControlsPanel::updateState(const UIState &s) {
}
manageDistanceIconsBtn->setText(1, iconsDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
manageDistanceIconsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading);
manageDistanceIconsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || iconsDownloading) && !cancellingDownload && !themeDeleting && !iconsDownloaded);
manageDistanceIconsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading);
manageDistanceIconsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading);
manageDistanceIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || iconsDownloading) && !cancellingDownload && !themeDeleting && !iconsDownloaded);
manageDistanceIconsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading);
} else if (modelManagementOpen) {
downloadAllModelsBtn->setText(modelDownloading && allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
downloadModelBtn->setText(modelDownloading && !allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc
+28 -34
View File
@@ -119,8 +119,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
});
visualToggle = personalizeOpenpilotToggle;
} else if (param == "CustomColors") {
std::vector<QString> customColorsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")};
manageCustomColorsBtn = new FrogPilotButtonsControl(title, desc, icon, customColorsOptions);
manageCustomColorsBtn = new FrogPilotButtonsControl(title, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}, desc);
std::function<QString(QString)> formatColorName = [](QString name) -> QString {
QChar separator = name.contains('_') ? '_' : '-';
@@ -201,7 +200,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
themeDeleting = false;
}
} else if (id == 1) {
if (manageCustomColorsBtn->getButton(id)->text() == tr("CANCEL")) {
if (colorDownloading) {
paramsMemory.putBool("CancelThemeDownload", true);
cancellingDownload = true;
@@ -250,8 +249,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
manageCustomColorsBtn->setValue(currentColor);
visualToggle = reinterpret_cast<AbstractControl*>(manageCustomColorsBtn);
} else if (param == "CustomIcons") {
std::vector<QString> customIconsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")};
manageCustomIconsBtn = new FrogPilotButtonsControl(title, desc, icon, customIconsOptions);
manageCustomIconsBtn = new FrogPilotButtonsControl(title, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}, desc);
std::function<QString(QString)> formatIconName = [](QString name) -> QString {
QChar separator = name.contains('_') ? '_' : '-';
@@ -331,7 +329,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
themeDeleting = false;
}
} else if (id == 1) {
if (manageCustomIconsBtn->getButton(id)->text() == tr("CANCEL")) {
if (iconDownloading) {
paramsMemory.putBool("CancelThemeDownload", true);
cancellingDownload = true;
@@ -380,8 +378,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
manageCustomIconsBtn->setValue(currentIcon);
visualToggle = reinterpret_cast<AbstractControl*>(manageCustomIconsBtn);
} else if (param == "CustomSignals") {
std::vector<QString> customSignalsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")};
manageCustomSignalsBtn = new FrogPilotButtonsControl(title, desc, icon, customSignalsOptions);
manageCustomSignalsBtn = new FrogPilotButtonsControl(title, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}, desc);
std::function<QString(QString)> formatSignalName = [](QString name) -> QString {
QChar separator = name.contains('_') ? '_' : '-';
@@ -461,7 +458,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
themeDeleting = false;
}
} else if (id == 1) {
if (manageCustomSignalsBtn->getButton(id)->text() == tr("CANCEL")) {
if (signalDownloading) {
paramsMemory.putBool("CancelThemeDownload", true);
cancellingDownload = true;
@@ -510,8 +507,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
manageCustomSignalsBtn->setValue(currentSignal);
visualToggle = reinterpret_cast<AbstractControl*>(manageCustomSignalsBtn);
} else if (param == "CustomSounds") {
std::vector<QString> customSoundsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")};
manageCustomSoundsBtn = new FrogPilotButtonsControl(title, desc, icon, customSoundsOptions);
manageCustomSoundsBtn = new FrogPilotButtonsControl(title, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}, desc);
std::function<QString(QString)> formatSoundName = [](QString name) -> QString {
QChar separator = name.contains('_') ? '_' : '-';
@@ -591,7 +587,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
themeDeleting = false;
}
} else if (id == 1) {
if (manageCustomSoundsBtn->getButton(id)->text() == tr("CANCEL")) {
if (soundDownloading) {
paramsMemory.putBool("CancelThemeDownload", true);
cancellingDownload = true;
@@ -640,8 +636,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
manageCustomSoundsBtn->setValue(currentSound);
visualToggle = reinterpret_cast<AbstractControl*>(manageCustomSoundsBtn);
} else if (param == "WheelIcon") {
std::vector<QString> wheelIconOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")};
manageWheelIconsBtn = new FrogPilotButtonsControl(title, desc, icon, wheelIconOptions);
manageWheelIconsBtn = new FrogPilotButtonsControl(title, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}, desc);
std::function<QString(QString)> formatWheelName = [](QString name) -> QString {
QChar separator = name.contains('_') ? '_' : '-';
@@ -721,15 +716,15 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
themeDeleting = false;
}
} else if (id == 1) {
if (manageWheelIconsBtn->getButton(id)->text() == tr("CANCEL")) {
if (wheelDownloading) {
paramsMemory.putBool("CancelThemeDownload", true);
cancellingDownload = true;
QTimer::singleShot(2000, [=]() {
paramsMemory.putBool("CancelThemeDownload", false);
cancellingDownload = false;
themeDownloading = false;
wheelDownloading = false;
themeDownloading = false;
});
} else {
QStringList downloadableWheels = QString::fromStdString(params.get("DownloadableWheels")).split(",");
@@ -773,8 +768,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
downloadStatusLabel = new LabelControl(title, "Idle");
visualToggle = reinterpret_cast<AbstractControl*>(downloadStatusLabel);
} else if (param == "StartupAlert") {
std::vector<QString> startupAlertOptions{tr("STOCK"), tr("FROGPILOT"), tr("CUSTOM"), tr("CLEAR")};
FrogPilotButtonsControl *startupAlertButton = new FrogPilotButtonsControl(title, desc, icon, startupAlertOptions);
FrogPilotButtonsControl *startupAlertButton = new FrogPilotButtonsControl(title, {tr("STOCK"), tr("FROGPILOT"), tr("CUSTOM"), tr("CLEAR")}, desc);
QObject::connect(startupAlertButton, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
int maxLengthTop = 35;
int maxLengthBottom = 45;
@@ -947,7 +941,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
visualToggle = qolToggle;
} else if (param == "CameraView") {
std::vector<QString> cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide")};
FrogPilotButtonParamControl *preferredCamera = new FrogPilotButtonParamControl(param, title, desc, icon, cameraOptions);
ButtonParamControl *preferredCamera = new ButtonParamControl(param, title, desc, icon, cameraOptions);
visualToggle = preferredCamera;
} else if (param == "BigMap") {
std::vector<QString> mapToggles{"FullMap"};
@@ -1102,29 +1096,29 @@ void FrogPilotVisualsPanel::updateState(const UIState &s) {
}
manageCustomColorsBtn->setText(1, colorDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
manageCustomColorsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading);
manageCustomColorsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || colorDownloading) && !cancellingDownload && !themeDeleting && !colorsDownloaded);
manageCustomColorsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading);
manageCustomColorsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading);
manageCustomColorsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || colorDownloading) && !cancellingDownload && !themeDeleting && !colorsDownloaded);
manageCustomColorsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading);
manageCustomIconsBtn->setText(1, iconDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
manageCustomIconsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading);
manageCustomIconsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || iconDownloading) && !cancellingDownload && !themeDeleting && !iconsDownloaded);
manageCustomIconsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading);
manageCustomIconsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading);
manageCustomIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || iconDownloading) && !cancellingDownload && !themeDeleting && !iconsDownloaded);
manageCustomIconsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading);
manageCustomSignalsBtn->setText(1, signalDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
manageCustomSignalsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading);
manageCustomSignalsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || signalDownloading) && !cancellingDownload && !themeDeleting && !signalsDownloaded);
manageCustomSignalsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading);
manageCustomSignalsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading);
manageCustomSignalsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || signalDownloading) && !cancellingDownload && !themeDeleting && !signalsDownloaded);
manageCustomSignalsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading);
manageCustomSoundsBtn->setText(1, soundDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
manageCustomSoundsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading);
manageCustomSoundsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || soundDownloading) && !cancellingDownload && !themeDeleting && !soundsDownloaded);
manageCustomSoundsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading);
manageCustomSoundsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading);
manageCustomSoundsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || soundDownloading) && !cancellingDownload && !themeDeleting && !soundsDownloaded);
manageCustomSoundsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading);
manageWheelIconsBtn->setText(1, wheelDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
manageWheelIconsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading);
manageWheelIconsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || wheelDownloading) && !cancellingDownload && !themeDeleting && !wheelsDownloaded);
manageWheelIconsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading);
manageWheelIconsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading);
manageWheelIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || wheelDownloading) && !cancellingDownload && !themeDeleting && !wheelsDownloaded);
manageWheelIconsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading);
}
started = s.scene.started;
selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc
+12 -36
View File
@@ -3,13 +3,14 @@
Params paramsMemory{"/dev/shm/params"};
std::atomic<int> callCounter(0);
void updateFrogPilotToggles() {
int currentCall = ++callCounter;
std::thread([currentCall]() {
paramsMemory.putBool("FrogPilotTogglesUpdated", true);
util::sleep_for(1000);
if (currentCall == callCounter) {
if (currentCall == callCounter.load()) {
paramsMemory.putBool("FrogPilotTogglesUpdated", false);
}
}).detach();
@@ -21,53 +22,28 @@ QColor loadThemeColors(const QString &colorKey) {
QJsonParseError parseError;
QJsonDocument doc = QJsonDocument::fromJson(file.readAll(), &parseError);
file.close();
if (parseError.error != QJsonParseError::NoError || !doc.isObject()) return QColor();
QJsonObject colorObj = doc.object().value(colorKey).toObject();
int red = colorObj["red"].toInt();
int green = colorObj["green"].toInt();
int blue = colorObj["blue"].toInt();
int alpha = colorObj["alpha"].toInt();
return QColor(red, green, blue, alpha);
return QColor(
colorObj["red"].toInt(),
colorObj["green"].toInt(),
colorObj["blue"].toInt(),
colorObj["alpha"].toInt()
);
}
bool FrogPilotConfirmationDialog::toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent) {
ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Reboot Later"), false, parent);
ConfirmationDialog d(prompt_text, confirm_text, tr("Reboot Later"), false, parent);
return d.exec();
}
bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent) {
ConfirmationDialog d = ConfirmationDialog(prompt_text, button_text, "", false, parent);
ConfirmationDialog d(prompt_text, button_text, "", false, parent);
return d.exec();
}
bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent) {
ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Yes"), tr("No"), false, parent);
ConfirmationDialog d(prompt_text, tr("Yes"), tr("No"), false, parent);
return d.exec();
}
FrogPilotButtonIconControl::FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc, const QString &icon, QWidget *parent) : AbstractControl(title, desc, icon, parent) {
btn.setText(text);
btn.setStyleSheet(R"(
QPushButton {
padding: 0;
border-radius: 50px;
font-size: 35px;
font-weight: 500;
color: #E4E4E4;
background-color: #393939;
}
QPushButton:pressed {
background-color: #4a4a4a;
}
QPushButton:disabled {
color: #33E4E4E4;
}
)");
btn.setFixedSize(250, 100);
QObject::connect(&btn, &QPushButton::clicked, this, &FrogPilotButtonIconControl::clicked);
hlayout->addWidget(&btn);
}
selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h
+40 -150
View File
@@ -26,13 +26,16 @@ public:
class FrogPilotListWidget : public QWidget {
Q_OBJECT
public:
explicit FrogPilotListWidget(QWidget *parent = nullptr) : QWidget(parent), outer_layout(this) {
explicit FrogPilotListWidget(QWidget *parent = nullptr) : QWidget(parent), outer_layout(this), inner_layout() {
outer_layout.setMargin(0);
outer_layout.setSpacing(0);
outer_layout.addLayout(&inner_layout);
inner_layout.setMargin(0);
inner_layout.setSpacing(25); // default spacing is 25
outer_layout.addStretch();
}
inline void addItem(QWidget *w) {
@@ -47,93 +50,53 @@ public:
inline void setSpacing(int spacing) {
inner_layout.setSpacing(spacing);
adjustStretch();
}
private:
void adjustStretch() {
if (inner_layout.stretch(inner_layout.count() - 1) > 0) {
inner_layout.setStretch(inner_layout.count() - 1, 0);
}
if (inner_layout.count() > 3) {
outer_layout.addStretch();
}
}
protected:
void paintEvent(QPaintEvent *event) override {
QPainter p(this);
p.setPen(Qt::gray);
int visibleWidgetCount = 0;
std::vector<QRect> visibleRects;
for (int i = 0; i < inner_layout.count(); ++i) {
QWidget *widget = inner_layout.itemAt(i)->widget();
if (widget && widget->isVisible()) {
visibleWidgetCount++;
visibleRects.push_back(inner_layout.itemAt(i)->geometry());
visibleRects.push_back(widget->geometry());
}
}
for (int i = 0; i < visibleWidgetCount - 1; ++i) {
int bottom = visibleRects[i].bottom() + inner_layout.spacing() / 2;
int lineOffset = inner_layout.spacing() / 2;
for (size_t i = 0; i + 1 < visibleRects.size(); ++i) {
int bottom = visibleRects[i].bottom() + lineOffset;
p.drawLine(visibleRects[i].left() + 40, bottom, visibleRects[i].right() - 40, bottom);
}
}
private:
void adjustStretch() {
if (inner_layout.count() > 3) {
outer_layout.addStretch();
}
}
QVBoxLayout outer_layout;
QVBoxLayout inner_layout;
};
class FrogPilotButtonControl : public AbstractControl {
class FrogPilotButtonsControl : public AbstractControl {
Q_OBJECT
public:
FrogPilotButtonControl(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
inline void setText(const QString &text) { btn.setText(text); }
inline QString text() const { return btn.text(); }
FrogPilotButtonsControl(const QString &title, const std::vector<QString> &button_labels, const QString &desc, bool checkable = false, QWidget *parent = nullptr)
: AbstractControl(title, desc, "") {
signals:
void clicked();
public slots:
void setEnabled(bool enabled) { btn.setEnabled(enabled); }
private:
QPushButton btn;
};
class FrogPilotButtonIconControl : public AbstractControl {
Q_OBJECT
public:
FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
inline void setText(const QString &text) { btn.setText(text); }
inline QString text() const { return btn.text(); }
signals:
void clicked();
public slots:
void setEnabled(bool enabled) { btn.setEnabled(enabled); }
private:
QPushButton btn;
};
class FrogPilotButtonParamControl : public ParamControl {
Q_OBJECT
public:
FrogPilotButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
const std::vector<QString> &button_texts, const int minimum_button_width = 225)
: ParamControl(param, title, desc, icon) {
const QString style = R"(
QPushButton {
border-radius: 50px;
font-size: 40px;
font-weight: 500;
height:100px;
padding: 0 25 0 25;
height: 100px;
padding: 0 25px;
color: #E4E4E4;
background-color: #393939;
}
@@ -148,95 +111,18 @@ public:
}
)";
key = param.toStdString();
int value = atoi(params.get(key).c_str());
button_group = new QButtonGroup(this);
button_group->setExclusive(true);
for (size_t i = 0; i < button_texts.size(); i++) {
QPushButton *button = new QPushButton(button_texts[i], this);
button->setCheckable(true);
button->setChecked(i == value);
for (int i = 0; i < button_labels.size(); ++i) {
QPushButton *button = new QPushButton(button_labels[i], this);
button->setCheckable(checkable);
button->setStyleSheet(style);
button->setMinimumWidth(minimum_button_width);
button->setMinimumWidth(255);
hlayout->addWidget(button);
button_group->addButton(button, i);
}
QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
if (checked) {
params.put(key, std::to_string(id));
refresh();
emit buttonClicked(id);
}
});
toggle.hide();
}
void setEnabled(bool enable) {
for (auto btn : button_group->buttons()) {
btn->setEnabled(enable);
}
}
signals:
void buttonClicked(int id);
private:
std::string key;
Params params;
QButtonGroup *button_group;
};
class FrogPilotButtonsControl : public ParamControl {
Q_OBJECT
public:
FrogPilotButtonsControl(const QString &title, const QString &desc, const QString &icon,
const std::vector<QString> &button_texts, const bool checkable = false, const int minimum_button_width = 225)
: ParamControl("", title, desc, icon) {
const QString style = R"(
QPushButton {
border-radius: 50px;
font-size: 40px;
font-weight: 500;
height: 100px;
padding: 0 25px 0 25px;
color: #E4E4E4;
background-color: #393939;
}
QPushButton:checked {
background-color: #33Ab4C;
}
QPushButton:pressed {
background-color: #33Ab4C;
}
QPushButton:disabled {
color: #33E4E4E4;
}
)";
button_group = new QButtonGroup(this);
for (size_t i = 0; i < button_texts.size(); i++) {
QPushButton *button = new QPushButton(button_texts[i], this);
button->setStyleSheet(style);
button->setCheckable(checkable);
button->setMinimumWidth(minimum_button_width);
hlayout->addWidget(button);
button_group->addButton(button, static_cast<int>(i));
connect(button, &QPushButton::clicked, this, [this, i]() {
emit buttonClicked(static_cast<int>(i));
});
}
toggle.hide();
}
void updateButtonStyles(int id) {
for (auto button : button_group->buttons()) {
button->setChecked(button_group->id(button) == id);
connect(button, &QPushButton::clicked, this, [this, i]() { emit buttonClicked(i); });
}
}
@@ -246,27 +132,31 @@ public:
}
}
void setButtonEnabled(int id, bool enable) {
if (QPushButton *button = qobject_cast<QPushButton *>(button_group->button(id))) {
void setCheckedButton(int id) {
if (auto button = button_group->button(id)) {
button->setChecked(true);
}
}
void setEnabledButtons(int id, bool enable) {
QPushButton *button = qobject_cast<QPushButton *>(button_group->button(id));
if (button) {
button->setEnabled(enable);
}
}
void setText(int id, const QString &text) {
if (QPushButton *button = qobject_cast<QPushButton *>(button_group->button(id))) {
QPushButton *button = qobject_cast<QPushButton *>(button_group->button(id));
if (button) {
button->setText(text);
}
}
QPushButton *getButton(int id) const {
return qobject_cast<QPushButton *>(button_group->button(id));
}
private:
QButtonGroup *button_group;
signals:
void buttonClicked(int id);
private:
QButtonGroup *button_group;
};
class FrogPilotButtonsParamControl : public ParamControl {
selfdrive/ui/qt/network/networking.cc
+15 -6
View File
@@ -126,12 +126,21 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
ListWidget *list = new ListWidget(this);
// Enable tethering layout
std::vector<QString> tetheringSelection{tr("Off"), tr("Only Onroad"), tr("Always")};
tetheringToggle = new FrogPilotButtonParamControl("TetheringEnabled", "Enable Tethering", "", "", tetheringSelection);
std::vector<QString> tetheringSelection{tr("Off"), tr("Always"), tr("Only Onroad"), tr("Until Reboot")};
tetheringToggle = new ButtonParamControl("TetheringEnabled", tr("Enable Tethering"),
tr("Allow tethering with your data SIM and keep it active either while driving or continuously."),
"", tetheringSelection);
if (params.getInt("TetheringEnabled") == 3) {
params.remove("TetheringEnabled");
tetheringToggle->setCheckedButton(0);
}
QButtonGroup *buttonGroup = tetheringToggle->findChild<QButtonGroup *>();
if (buttonGroup) {
QObject::connect(buttonGroup, QOverload<int>::of(&QButtonGroup::buttonClicked), [this](int id) {
toggleTethering(id);
});
}
list->addItem(tetheringToggle);
QObject::connect(tetheringToggle, &FrogPilotButtonParamControl::buttonClicked, [this](int id) {
toggleTethering(id);
});
// Change tethering password
ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT"));
@@ -224,7 +233,7 @@ void AdvancedNetworking::refresh() {
}
void AdvancedNetworking::toggleTethering(int id) {
wifi->setTetheringEnabled(id == 2);
wifi->setTetheringEnabled(id == 1 || id == 3);
tetheringToggle->setEnabled(false);
updateFrogPilotToggles();
}
selfdrive/ui/qt/network/networking.h
+1 -1
View File
@@ -65,7 +65,7 @@ public:
private:
LabelControl* ipLabel;
FrogPilotButtonParamControl* tetheringToggle;
ButtonParamControl* tetheringToggle;
ToggleControl* roamingToggle;
ButtonControl* editApnButton;
ButtonControl* hiddenNetworkButton;
selfdrive/ui/qt/offroad/settings.cc
+7 -11
View File
@@ -316,8 +316,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
addItem(deleteDrivingDataBtn);
// Screen recordings
std::vector<QString> recordingsOptions{tr("DELETE"), tr("RENAME")};
FrogPilotButtonsControl *screenRecordingsBtn = new FrogPilotButtonsControl(tr("Screen Recordings"), tr("Delete or rename your screen recordings."), "", recordingsOptions);
FrogPilotButtonsControl *screenRecordingsBtn = new FrogPilotButtonsControl(tr("Screen Recordings"), {tr("DELETE"), tr("RENAME")}, tr("Delete or rename your screen recordings."));
connect(screenRecordingsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
QDir recordingsDir("/data/media/0/videos");
QStringList recordingsNames = recordingsDir.entryList(QDir::Files | QDir::NoDotAndDotDot);
@@ -372,8 +371,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
addItem(screenRecordingsBtn);
// Backup FrogPilot
std::vector<QString> frogpilotBackupOptions{tr("BACKUP"), tr("DELETE"), tr("RESTORE")};
FrogPilotButtonsControl *frogpilotBackupBtn = new FrogPilotButtonsControl(tr("FrogPilot Backups"), tr("Backup, delete, or restore your FrogPilot backups."), "", frogpilotBackupOptions);
FrogPilotButtonsControl *frogpilotBackupBtn = new FrogPilotButtonsControl(tr("FrogPilot Backups"), {tr("BACKUP"), tr("DELETE"), tr("RESTORE")}, tr("Backup, delete, or restore your FrogPilot backups."));
connect(frogpilotBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
QDir backupDir("/data/backups");
QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name);
@@ -529,8 +527,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
addItem(frogpilotBackupBtn);
// Backup toggles
std::vector<QString> toggleBackupOptions{tr("BACKUP"), tr("DELETE"), tr("RESTORE")};
FrogPilotButtonsControl *toggleBackupBtn = new FrogPilotButtonsControl(tr("Toggle Backups"), tr("Backup, delete, or restore your toggle backups."), "", toggleBackupOptions);
FrogPilotButtonsControl *toggleBackupBtn = new FrogPilotButtonsControl(tr("Toggle Backups"), {tr("BACKUP"), tr("DELETE"), tr("RESTORE")}, tr("Backup, delete, or restore your toggle backups."));
connect(toggleBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
QDir backupDir("/data/toggle_backups");
QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
@@ -674,8 +671,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
addItem(resetTogglesBtn);
// Force offroad/onroad
std::vector<QString> forceStartedOptions{tr("OFFROAD"), tr("ONROAD"), tr("OFF")};
forceStartedBtn = new FrogPilotButtonsControl(tr("Force Started State"), tr("Force openpilot either offroad or onroad."), "", forceStartedOptions, true);
forceStartedBtn = new FrogPilotButtonsControl(tr("Force Started State"), {tr("OFFROAD"), tr("ONROAD"), tr("OFF")}, tr("Force openpilot either offroad or onroad."), true);
connect(forceStartedBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
if (id == 0) {
paramsMemory.putBool("ForceOffroad", true);
@@ -687,9 +683,9 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
paramsMemory.putBool("ForceOffroad", false);
paramsMemory.putBool("ForceOnroad", false);
}
forceStartedBtn->updateButtonStyles(id);
forceStartedBtn->setCheckedButton(id);
});
forceStartedBtn->updateButtonStyles(2);
forceStartedBtn->setCheckedButton(2);
addItem(forceStartedBtn);
// power buttons
@@ -859,7 +855,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
{tr("Network"), new Networking(this)},
{tr("Toggles"), toggles},
{tr("Software"), new SoftwarePanel(this)},
{tr("Controls"), frogpilotControls},
{tr("Driving"), frogpilotControls},
{tr("Navigation"), new FrogPilotNavigationPanel(this)},
{tr("Vehicles"), new FrogPilotVehiclesPanel(this)},
{tr("Visuals"), frogpilotVisuals},
selfdrive/ui/qt/onroad/annotated_camera.cc
+10 -24
View File
@@ -901,40 +901,26 @@ void AnnotatedCameraWidget::updateSignals() {
const QString signalFolderPath = "../frogpilot/assets/active_theme/signals/";
QDir directory(signalFolderPath);
const QTransform flipTransform = QTransform().scale(-1, 1);
QFileInfoList fileList = directory.entryInfoList({"turn_signal_*.png"}, QDir::Files);
const QTransform flipTransform = QTransform().scale(-1, 1);
std::vector<QPixmap> flippedImages;
QFileInfoList nonPngFileList = directory.entryInfoList(QDir::Files | QDir::NoDotAndDotDot, QDir::Name);
nonPngFileList.erase(std::remove_if(nonPngFileList.begin(), nonPngFileList.end(), [](const QFileInfo &fileInfo) {return fileInfo.suffix() == "png";}), nonPngFileList.end());
for (const QFileInfo &fileInfo : fileList) {
QPixmap pixmap(fileInfo.absoluteFilePath());
if (fileInfo.fileName().contains("blindspot")) {
blindspotImages.push_back(pixmap);
blindspotImages.push_back(pixmap.transformed(flipTransform));
} else {
regularImages.push_back(pixmap);
flippedImages.push_back(pixmap.transformed(flipTransform));
}
QVector<QPixmap> *targetList = fileInfo.fileName().contains("blindspot") ? &blindspotImages : &regularImages;
targetList->push_back(pixmap);
}
regularImages.insert(regularImages.end(), flippedImages.begin(), flippedImages.end());
QFileInfoList nonPngFileList = directory.entryInfoList(QDir::Files | QDir::NoDotAndDotDot, QDir::Name);
for (QFileInfoList::iterator it = nonPngFileList.begin(); it != nonPngFileList.end(); ) {
if ((*it).suffix() == "png") {
it = nonPngFileList.erase(it);
} else {
it++;
}
for (const QFileInfo &fileInfo : fileList) {
QPixmap pixmap(fileInfo.absoluteFilePath());
QVector<QPixmap> *targetList = fileInfo.fileName().contains("blindspot") ? &blindspotImages : &regularImages;
targetList->push_back(pixmap.transformed(flipTransform));
}
if (!nonPngFileList.isEmpty()) {
const QFileInfo &fileInfo = nonPngFileList.first();
const QStringList parts = fileInfo.fileName().split('_');
QStringList parts = nonPngFileList.first().fileName().split('_');
if (parts.size() == 2) {
signalStyle = parts[0];
signalAnimationLength = parts[1].toInt();
selfdrive/ui/qt/onroad/annotated_camera.h
+2 -2
View File
@@ -180,8 +180,8 @@ private:
QTimer *animationTimer;
std::vector<QPixmap> regularImages;
std::vector<QPixmap> blindspotImages;
QVector<QPixmap> regularImages;
QVector<QPixmap> blindspotImages;
inline QColor blueColor(int alpha = 255) { return QColor(0, 150, 255, alpha); }
inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
selfdrive/ui/ui.cc
+2 -2
View File
@@ -451,7 +451,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
scene.use_vienna_slc_sign = scene.speed_limit_controller && params.getBool("UseVienna");
scene.tethering_config = params.getInt("TetheringEnabled");
if (scene.tethering_config == 2) {
if (scene.tethering_config == 1) {
WifiManager(s).setTetheringEnabled(true);
}
}
@@ -488,7 +488,7 @@ void UIState::updateStatus() {
started_prev = scene.started;
scene.world_objects_visible = false;
emit offroadTransition(!scene.started);
if (scene.tethering_config == 1) {
if (scene.tethering_config == 2) {
wifi->setTetheringEnabled(scene.started);
}
}
system/manager/manager.py
+4 -2
View File
@@ -11,7 +11,9 @@ import cereal.messaging as messaging
import openpilot.system.sentry as sentry
from openpilot.common.params import Params, ParamKeyType
from openpilot.common.text_window import TextWindow
from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
from openpilot.system.manager.process import ensure_running
from openpilot.system.manager.process_config import managed_processes
@@ -201,7 +203,7 @@ def manager_init() -> None:
("LosAngelesLiveTorqueParameters", ""),
("LosAngelesScore", "0"),
("LoudBlindspotAlert", "0"),
("LowVoltageShutdown", "11.8"),
("LowVoltageShutdown", "VBATT_PAUSE_CHARGING"),
("MapAcceleration", "0"),
("MapDeceleration", "0"),
("MapGears", "0"),
@@ -209,7 +211,7 @@ def manager_init() -> None:
("MapboxSecretKey", ""),
("MapsSelected", ""),
("MapStyle", "10"),
("MinimumLaneChangeSpeed", "20"),
("MinimumLaneChangeSpeed", "LANE_CHANGE_SPEED_MIN"),
("Model", DEFAULT_MODEL),
("ModelManagement", "0"),
("ModelName", DEFAULT_MODEL_NAME),