update behavior

common/params.cc

@@ -86,7 +86,7 @@ private:
 };
 
 std::unordered_map<std::string, uint32_t> keys = {
-    {"BehaviordInitialiazed", PERSISTENT},
+    {"BehaviordInitialized", PERSISTENT},
     {"MaxDeacceleration", PERSISTENT},
     {"AccelCruiseMaxFactor", PERSISTENT},
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},

selfdrive/controls/behaviord.py

@@ -7,7 +7,7 @@ import time
 
 # Update this dict and run slider_gen.py to generate the code for the sliders, params, and log.capnp
 PARAMS = {
-    "MaxDeacceleration": {"default": -1.2, "range": (-3.0, 0.0), "label": "Minimum Cruise Accel:", "units": "m/s<sup>2</sup>"},
+    "MaxDeacceleration": {"default": -1.2, "range": (-3.0, 0.0), "label": "Max Cruise De-accel:", "units": "m/s<sup>2</sup>"},
     "AccelCruiseMaxFactor": {"default": 1.0, "range": (0.0, 3.0), "label": "Cruise Accel Factor:", "units": "Coef."},
 }
 
@@ -68,7 +68,7 @@ class Behaviord:
       for param in PARAMS.keys():
         self.p.put(param, str(self.get_param(param)))
       if not self.initialized:
-        self.p.put_bool("BehaviordInitialiazed", True)
+        self.p.put_bool("BehaviordInitialized", True)
         self.initialized = True
 
   def behaviord_thread(self):

selfdrive/ui/qt/offroad/settings.cc

@@ -342,7 +342,7 @@ BehaviorPanel::BehaviorPanel(SettingsWindow *parent) : ListWidget(parent){
   // Add sliders here
   // name, label, units, min, max, default, setter function
   std::vector<SliderDefinition> slider_defs{
-    {"MaxDeacceleration", tr("Minimum Cruise Accel:"), "m/s<sup>2</sup>", -3.0, 0.0, -1.2,
+    {"MaxDeacceleration", tr("Max Cruise De-accel:"), "m/s<sup>2</sup>", -3.0, 0.0, -1.2,
       [](cereal::Behavior::Builder &behavior, double value) {
         behavior.setMaxDeacceleration(static_cast<float>(value));
       }
@@ -371,18 +371,13 @@ BehaviorPanel::BehaviorPanel(SettingsWindow *parent) : ListWidget(parent){
     sliders[slider_def.paramName] = slider; // Store the slider pointer in the map
     sliderItems[slider_def.paramName] = slider->getSliderItem(); // Store the slider item pointer in the map
     addItem(slider->getSliderItem()); // Add the slider item to the list widget
-
   }
 
   // create a pubmaster for all the sliders
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>(
         {"behavior"});
 
-  timer = new QTimer(this);
-  timer->setInterval(1000); // Send all slider values every interval
-  timer->start();
-
-  connect(timer, &QTimer::timeout, this, &BehaviorPanel::sendAllSliderValues);
+  sendAllSliderValues();
 }
 
 void BehaviorPanel::sendAllSliderValues()

selfdrive/ui/qt/widgets/slider.cc

@@ -43,7 +43,20 @@ void CustomSlider::initialize()
   connect(resetButton, &ButtonControl::clicked, [&]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to reset ") + QString::fromStdString(param) + "?", tr("Reset"), this)) {
       this->setValue(sliderMin + (defaultVal - paramMin) / (paramMax - paramMin) * (sliderRange));
-    } 
+      QWidget* widget = this->parentWidget();
+      BehaviorPanel* parentBehaviorPanel = nullptr;
+
+      while (widget) {
+        parentBehaviorPanel = qobject_cast<BehaviorPanel *>(widget);
+        if (parentBehaviorPanel) {
+          break;
+        }
+        widget = widget->parentWidget();
+      }
+      if (parentBehaviorPanel) {
+        parentBehaviorPanel->sendAllSliderValues();
+      }
+      } 
   });
   
   // slider settings
@@ -52,14 +65,13 @@ void CustomSlider::initialize()
   setMaximum(sliderMax);
 
   // Set the default value of the slider to begin with
-  setValue(sliderMin + (defaultVal - paramMin) / (paramMax - paramMin) * (sliderRange));
-  label->setText(title + " " + QString::number(defaultVal, 'f', 2) + " " + unit);
+  setSliderValue(defaultVal);
 
   try // Try to get the value of the param from params. If it doesn't exist, catch the error
   {
     QString valueStr;
     double value;
-    if (Params().getBool("BehaviordInitialiazed")){
+    if (Params().getBool("BehaviordInitialized")){
       valueStr = QString::fromStdString(Params().get(param));
       value = QString(valueStr).toDouble();
     } else{
@@ -71,8 +83,7 @@ void CustomSlider::initialize()
     auto behavior = msg.initEvent().initBehavior();
     cerealSetFunc(behavior, value); 
 
-    setValue(sliderMin + (value - paramMin) / (paramMax - paramMin) * (sliderRange)); // Set the value of the slider. The value is scaled to the slider range
-    label->setText(title + " " + QString::number(value, 'f', 2) + " " + unit);
+    setSliderValue(value);
     
     // Set the slider to be enabled or disabled depending on the lock status
     bool locked = Params().getBool((param + "Lock"));
@@ -92,22 +103,38 @@ void CustomSlider::initialize()
 
   mainLayout->addWidget(this);
 
-  connect(this, &CustomSlider::valueChanged, [=](int value)
-  {
-    // Update the label as the slider is moved. Don't save the value to params here
-    double dValue = paramMin + (paramMax - paramMin) * (value - sliderMin) / (sliderRange);
-    label->setText(title + " " + QString::number(dValue, 'f', 2) + " " + unit); 
-    
-  });
+  connectSliderValueChanged();
 
-  connect(this, &CustomSlider::sliderReleasedWithValue, [this]() {
-    // Call the sendAllSliderValues method from the BehaviorPanel
-    auto parentBehaviorPanel = qobject_cast<BehaviorPanel *>(this->parentWidget());
-    if (parentBehaviorPanel)
-    {
+  connect(this, &CustomSlider::sliderReleased, [this]() {
+    QWidget* widget = this->parentWidget();
+    BehaviorPanel* parentBehaviorPanel = nullptr;
+
+    while (widget) {
+      parentBehaviorPanel = qobject_cast<BehaviorPanel *>(widget);
+      if (parentBehaviorPanel) {
+        break;
+      }
+      widget = widget->parentWidget();
+    }
+    if (parentBehaviorPanel) {
       parentBehaviorPanel->sendAllSliderValues();
     }
   });
 
+}
 
+void CustomSlider::setSliderValue(double value) {
+  setValue(sliderMin + (value - paramMin) / (paramMax - paramMin) * (sliderRange));
+  updateLabel(value);
+}
+
+void CustomSlider::connectSliderValueChanged() {
+  connect(this, &CustomSlider::valueChanged, [=](int value) {
+    double dValue = paramMin + (paramMax - paramMin) * (value - sliderMin) / (sliderRange);
+    updateLabel(dValue);
+  });
+}
+
+void CustomSlider::updateLabel(double value) {
+  label->setText(title + " " + QString::number(value, 'f', 2) + " " + unit);
 }

selfdrive/ui/qt/widgets/slider.h

@@ -34,17 +34,20 @@ public:
   int sliderMax = 10000;
 
 signals:
-  void sliderReleasedWithValue(int value);
+  void sliderValueChanged();
 
 protected:
   void mouseReleaseEvent(QMouseEvent *event) override {
     QSlider::mouseReleaseEvent(event);
-    emit sliderReleasedWithValue(value());
+    emit sliderValueChanged();
   }
 
 private:
   void initialize();
-  
+  void setSliderValue(double value);
+  void updateLabel(double value);
+  void connectSliderValueChanged();
+
   double defaultVal;
   double scaleFactor;
   std::string param;