mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-02 20:13:53 +08:00
Enable Experimental Mode by default without confirmation (#39043)
* Enable Experimental Mode by default without confirmation * Update toggles.py * Fix formatting in End-to-End Longitudinal Control description Original-upstream-commit: f21bfc36be5f423f31b2c2a948d1e2eff91b02e8 Upstream: https://github.com/commaai/openpilot/commit/f21bfc36be5f423f31b2c2a948d1e2eff91b02e8
This commit is contained in:
Harald Schäfer
@@ -183,7 +183,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
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{"AlphaLongitudinalEnabled", {PERSISTENT, BOOL}},
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{"ExperimentalMode", {PERSISTENT, BOOL}},
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{"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
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{"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
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{"ForcePowerDown", {PERSISTENT, BOOL}},
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{"GitBranch", {PERSISTENT, STRING}},
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@@ -3,10 +3,7 @@ from openpilot.common.params import Params, UnknownKeyName
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
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from openpilot.system.ui.widgets.scroller_tici import Scroller
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from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.system.ui.lib.multilang import tr, tr_noop
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from openpilot.system.ui.widgets import DialogResult
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.starpilot.ui.slc_offset_feature import SlcOffsetOwner, native_parked
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@@ -159,15 +156,9 @@ class TogglesLayout(Widget):
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ui_state.update_params()
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e2e_description = tr(
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"openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
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"Experimental features are listed below:<br>" +
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"<h4>End-to-End Longitudinal Control</h4><br>" +
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"Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
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"Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " +
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"mistakes should be expected.<br>" +
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"<h4>New Driving Visualization</h4><br>" +
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"The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. " +
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"The Experimental mode logo will also be shown in the top right corner."
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"Since the driving model decides the speed to drive, the set speed will only act as an upper bound. Mistakes should be expected.<br>"
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)
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if ui_state.CP is not None:
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@@ -216,27 +207,6 @@ class TogglesLayout(Widget):
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icon = "experimental.png" if self._toggles["ExperimentalMode"].action_item.get_state() else "experimental_white.png"
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self._toggles["ExperimentalMode"].set_icon(icon)
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def _handle_experimental_mode_toggle(self, state: bool):
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confirmed = self._params.get_bool("ExperimentalModeConfirmed")
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if state and not confirmed:
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def confirm_callback(result: DialogResult):
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if result == DialogResult.CONFIRM:
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self._params.put_bool("ExperimentalMode", True, block=True)
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self._params.put_bool("ExperimentalModeConfirmed", True, block=True)
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self._toggles["ExperimentalMode"].action_item.set_state(True)
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else:
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self._toggles["ExperimentalMode"].action_item.set_state(False)
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self._update_experimental_mode_icon()
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# show confirmation dialog
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content = (f"<h1>{self._toggles['ExperimentalMode'].title}</h1><br>" +
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f"<p>{self._toggles['ExperimentalMode'].description}</p>")
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dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
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gui_app.push_widget(dlg)
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else:
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self._params.put_bool("ExperimentalMode", state, block=True)
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self._toggles["ExperimentalMode"].action_item.set_state(state)
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self._update_experimental_mode_icon()
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def _toggle_callback(self, state: bool, param: str):
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if param == "IsMetric":
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@@ -244,12 +214,10 @@ class TogglesLayout(Widget):
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self._toggles[param].action_item.set_state(self._params.get_bool(param))
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self._metric_source = self._slc_offsets._raw("IsMetric")
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return ok
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if param == "ExperimentalMode":
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self._handle_experimental_mode_toggle(state)
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return True
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self._params.put_bool(param, state, block=True)
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self._toggles[param].action_item.set_state(state)
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if param == "ExperimentalMode":
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self._update_experimental_mode_icon()
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if self._toggle_defs[param][3]:
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self._params.put_bool("OnroadCycleRequested", True, block=True)
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return True
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@@ -173,7 +173,7 @@ class MiciHomeLayout(Widget):
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if self._mouse_down_t is not None:
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if time.monotonic() - self._mouse_down_t > 0.5:
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# long gating for experimental mode - only allow toggle if longitudinal control is available
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if ui_state.has_longitudinal_control and ui_state.experimental_mode_confirmed:
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if ui_state.has_longitudinal_control:
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ui_state.experimental_mode = not ui_state.experimental_mode
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ui_state.params.put("ExperimentalMode", ui_state.experimental_mode, block=True)
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self._mouse_down_t = None
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@@ -1,10 +1,7 @@
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from collections.abc import Callable
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from openpilot.cereal import log
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from openpilot.system.ui.widgets.scroller import NavScroller
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from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle, BigToggle, GreyBigButton
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from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
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from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle, BigToggle
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
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from openpilot.selfdrive.ui.ui_state import ui_state
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@@ -13,29 +10,6 @@ from openpilot.starpilot.ui.slc_offset_feature import SlcOffsetOwner, native_par
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PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
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class ExperimentalModeConfirmPage(NavScroller):
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def __init__(self, on_confirm: Callable[[], None]):
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super().__init__()
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accept = BigConfirmationCircleButton("enable\nexperimental mode",
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gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
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lambda: self.dismiss(on_confirm))
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self._scroller.add_widgets([
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GreyBigButton("enabling\nexperimental mode", "scroll to continue",
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gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
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GreyBigButton("", "openpilot defaults to driving in chill mode."),
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GreyBigButton("", "Experimental mode enables alpha-level features that aren't ready for chill mode."),
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GreyBigButton("End-to-End Longitudinal Control"),
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GreyBigButton("", "Let the driving model control the gas and brakes."),
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GreyBigButton("", "openpilot will drive as it thinks a human would, including stopping for red lights and stop signs."),
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GreyBigButton("", "The set speed will only act as an upper bound."),
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GreyBigButton("", "This is an alpha quality feature; mistakes should be expected."),
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GreyBigButton("New Driving Visualization"),
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GreyBigButton("", "The path will change colors to communicate acceleration intent."),
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GreyBigButton("", "Red for braking, green for acceleration, and gray for coasting."),
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accept,
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])
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class TogglesLayoutMici(NavScroller):
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@@ -50,8 +24,8 @@ class TogglesLayoutMici(NavScroller):
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"Relaxed leaves more space.\n" +
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"Use the steering wheel distance button on supported cars.")
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self._safe_mode_btn = BigParamControl("safe mode", "SafeMode", toggle_callback=restart_needed_callback)
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self._experimental_btn = BigToggle("experimental mode", description_icon=gui_app.texture("icons_mici/experimental_mode.png", 64, 64),
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initial_state=ui_state.params.get_bool("ExperimentalMode"), toggle_callback=self._on_experimental_mode,
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self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode",
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description_icon=gui_app.texture("icons_mici/experimental_mode.png", 64, 64),
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description="Let the driving model control gas and brakes.\n" +
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"Includes stopping for red lights and stop signs.\n" +
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"Set speed is a maximum, not a target.\n" +
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@@ -164,19 +138,6 @@ class TogglesLayoutMici(NavScroller):
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ui_state.params.put_bool("RecordAudio", desired)
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ui_state.params.put_bool("OnroadCycleRequested", True)
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def _on_experimental_mode(self, state: bool):
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if state and not ui_state.params.get_bool("ExperimentalModeConfirmed"):
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# Don't show enabled state until confirm
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self._experimental_btn.set_checked(False)
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def on_confirm():
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ui_state.params.put_bool("ExperimentalModeConfirmed", True)
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ui_state.params.put_bool("ExperimentalMode", True)
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self._experimental_btn.set_checked(True)
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gui_app.push_widget(ExperimentalModeConfirmPage(on_confirm))
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else:
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ui_state.params.put_bool("ExperimentalMode", state)
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def request_personality(self, index: int) -> bool:
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self._update_toggles()
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@@ -186,8 +147,9 @@ class TogglesLayoutMici(NavScroller):
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def request_experimental(self) -> bool:
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self._update_toggles()
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if (ui_state.CP is None or not ui_state.has_longitudinal_control or not self._experimental_btn.enabled or
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not ui_state.params.get_bool("ExperimentalModeConfirmed")):
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if ui_state.CP is None or not ui_state.has_longitudinal_control or not self._experimental_btn.enabled:
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return False
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self._on_experimental_mode(not ui_state.sm["selfdriveState"].experimentalMode)
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desired = not ui_state.sm["selfdriveState"].experimentalMode
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ui_state.params.put_bool("ExperimentalMode", desired)
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self._experimental_btn.set_checked(desired)
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return True
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@@ -38,7 +38,7 @@ class ExpButton(Widget):
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def request_toggle(self) -> bool:
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self._update_state()
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if self._is_toggle_allowed():
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if ui_state.has_longitudinal_control:
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new_mode = not self._experimental_mode
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self._params.put_bool("ExperimentalMode", new_mode)
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@@ -67,10 +67,3 @@ class ExpButton(Widget):
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self._hold_end_time = self._held_mode = None
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return self._experimental_mode
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def _is_toggle_allowed(self):
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if not self._params.get_bool("ExperimentalModeConfirmed"):
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return False
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# Mirror exp mode toggle using persistent car params
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return ui_state.has_longitudinal_control
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@@ -138,7 +138,6 @@ class UIState:
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self.is_release = self.params.get_bool("IsReleaseBranch")
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self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
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self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
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self.experimental_mode_confirmed: bool = self.params.get_bool("ExperimentalModeConfirmed")
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self.chestnut_present: bool = False
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self._gpu_artifacts = ModelManager()
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self._gpu_artifacts_at: float | None = None
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@@ -322,7 +321,6 @@ class UIState:
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self.is_metric = self.params.get_bool("IsMetric")
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self.always_on_dm = self.params.get_bool("AlwaysOnDM")
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self.experimental_mode = self.params.get_bool("ExperimentalMode")
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self.experimental_mode_confirmed = self.params.get_bool("ExperimentalModeConfirmed")
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raw_chestnut = self.params.get("ChestnutActive")
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self.chestnut_active = raw_chestnut if type(raw_chestnut) is bool else (
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True if raw_chestnut in (b"1", "1") else False if raw_chestnut in (b"0", "0") else None)
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@@ -48,7 +48,6 @@ class TestUiAction(unittest.TestCase):
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directory = tempfile.TemporaryDirectory()
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self.addCleanup(directory.cleanup)
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self.params = Params(directory.name)
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self.params.put_bool('ExperimentalModeConfirmed', True, block=True)
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self.params.put('LKASButtonControl', 5, block=True)
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self.cp = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
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self.planner = LongitudinalPlanner(self.cp, init_v=15.0)
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@@ -226,7 +225,7 @@ class TestUiAction(unittest.TestCase):
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setattr(changed.slcAction, field, value)
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self.assertIsNone(observation(changed, observed))
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def test_release_checks_exact_settings_confirmation_and_changed_context(self):
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def test_release_checks_exact_settings_and_changed_context(self):
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stamp = MONO + 50_000_000
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self.ack(stamp)
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context = self.ui.context(self.sm, self.cp, now_ns=stamp + 1000)
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@@ -237,9 +236,11 @@ class TestUiAction(unittest.TestCase):
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self.params.put_bool('SafeMode', True, block=True)
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self.assertFalse(self.ui.dispatch(context, self.sm, self.cp, self.publisher, now_ns=stamp + 10_002_000))
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self.params.remove('SafeMode')
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self.params.put_bool('ExperimentalModeConfirmed', False, block=True)
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original = self.params.get('ConditionalModeConfig')
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self.configure(choice=ModeChoice.STOCK)
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self.assertFalse(self.ui.dispatch(context, self.sm, self.cp, self.publisher, now_ns=stamp + 10_003_000))
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self.params.put_bool('ExperimentalModeConfirmed', True, block=True)
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self.params.put('ConditionalModeConfig', original, block=True)
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self.choice = ModeChoice.CEM
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self.ack(stamp + 20_000_000, effective=True)
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self.assertFalse(self.ui.dispatch(context, self.sm, self.cp, self.publisher, now_ns=stamp + 20_001_000))
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self.assertEqual(self.publisher.events, [])
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@@ -51,8 +51,7 @@ def current_authority(sm, cp, drive_id: int, now_ns: int) -> bool:
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def exact_settings(params, snapshot: SettingsSnapshot) -> bool:
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try:
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return (read_saved(params, 'ConditionalModeConfig', MAX_DOCUMENT_BYTES) == (snapshot.document_raw, True) and
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read_saved(params, 'SafeMode', 8) == (snapshot.safe_mode_raw, True) and
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read_saved(params, 'ExperimentalModeConfirmed', 8) == (b'1', True))
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read_saved(params, 'SafeMode', 8) == (snapshot.safe_mode_raw, True))
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except (AttributeError, OSError, TypeError, ValueError):
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return False
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@@ -315,10 +315,9 @@ class StarShellSession:
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return bool(self._favorite_authority() and ui_state.CP is not None and ui_state.has_longitudinal_control and
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not ui_state.params.get_bool("SafeMode") and callback())
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confirmed = ui_state.params.get_bool("ExperimentalModeConfirmed")
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context = (self._conditional_action_owner().context(ui_state.sm, ui_state.CP, now_ns=time.monotonic_ns())
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if long_available and confirmed and conditional else None)
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exp_available = bool(long_available and confirmed and (not conditional or context is not None))
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if long_available and conditional else None)
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exp_available = bool(long_available and (not conditional or context is not None))
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def toggle_experimental():
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if self._conditional_favorite_active() != conditional:
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return False
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@@ -310,19 +310,18 @@ class NativeSettingsPageTests(unittest.TestCase):
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personality.callback.assert_not_called()
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self.assertEqual(personality.selected_button, 1)
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def test_toggles_saved_state_matches_display_after_changes_and_confirmations(self):
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def test_toggles_saved_state_matches_display_after_changes(self):
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# Run the real controller methods with only device services isolated.
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source = Path('openpilot/selfdrive/ui/layouts/settings/toggles.py')
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layout = next(node for node in ast.parse(source.read_text()).body if isinstance(node, ast.ClassDef) and node.name == 'TogglesLayout')
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methods = {'_update_toggles', '_update_state', '_toggle_callback', '_handle_experimental_mode_toggle',
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methods = {'_update_toggles', '_update_state', '_toggle_callback',
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'request_toggle', 'request_personality', '_set_longitudinal_personality'}
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layout.bases = []
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layout.body = [node for node in layout.body if isinstance(node, ast.FunctionDef) and node.name in methods]
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ui = NS(CP=None, engaged=False, update_params=Mock(), sm=NS(updated={'selfdriveState': False}))
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app = NS(push_widget=Mock())
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namespace = ModuleType('toggles_controller_test')
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namespace.__dict__.update(tr=lambda text: text, ui_state=ui, gui_app=app, DialogResult=DialogResult,
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ConfirmDialog=lambda *args, **kwargs: NS(callback=kwargs['callback']))
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namespace.__dict__.update(tr=lambda text: text, ui_state=ui)
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exec(compile(ast.Module(body=[layout], type_ignores=[]), str(source), 'exec'), namespace.__dict__)
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owner = namespace.TogglesLayout()
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saved = {'IsLdwEnabled': False, 'LongitudinalPersonality': 1}
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@@ -358,15 +357,12 @@ class NativeSettingsPageTests(unittest.TestCase):
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self.click(pane, 2000)
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self.assertFalse(saved['IsLdwEnabled'])
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self.assertEqual(pane.snapshot().rows[0].value, 'Off')
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for result in (DialogResult.CANCEL, DialogResult.CONFIRM):
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for desired in (True, False):
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self.click(pane, 2000, index=2)
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self.assertFalse(saved.get('ExperimentalMode', False))
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app.push_widget.call_args.args[0].callback(result)
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pane._update_state()
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self.assertEqual(pane.snapshot().rows[2].value, 'On' if result == DialogResult.CONFIRM else 'Off')
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self.click(pane, 2000, index=2)
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self.assertFalse(saved['ExperimentalMode'])
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self.assertEqual(pane.snapshot().rows[2].value, 'Off')
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self.assertEqual(saved['ExperimentalMode'], desired)
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self.assertEqual(pane.snapshot().rows[2].value, 'On' if desired else 'Off')
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app.push_widget.assert_not_called()
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def network_panel(self):
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manager = Mock(spec=WifiManager, is_connection_saved=lambda ssid: ssid == "Saved", connected_ssid="Saved",
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@@ -307,7 +307,7 @@ class TestOnroadFavorites(unittest.TestCase):
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bookmark, personality, experimental = Mock(return_value=True), Mock(return_value=True), Mock(return_value=True)
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native = NS(CP=NS(carFingerprint='car', flags=0, pcmCruise=True), has_longitudinal_control=True, started_frame=42, personality=1,
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sm={"deviceState": NS(startedMonoTime=42)},
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params=NS(get_bool=lambda key: key == 'ExperimentalModeConfirmed'))
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params=NS(get_bool=lambda key: False))
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with patch.object(runtime_app, 'ui_state', native):
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actions = session.native_favorite_actions(bookmark, personality, experimental)
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assert actions[BOOKMARK].invoke()
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@@ -444,7 +444,7 @@ class TestOnroadFavorites(unittest.TestCase):
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self.enterContext(patch.object(session, 'conditional_actions', NS(context=Mock(return_value=context), dispatch=Mock(return_value=True)), create=True))
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experimental = Mock(return_value=True)
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native = NS(CP=NS(carFingerprint='car', flags=0, pcmCruise=True), has_longitudinal_control=True, started_frame=42,
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personality=1, sm={"deviceState": NS(startedMonoTime=42)}, params=NS(get_bool=lambda key: key == 'ExperimentalModeConfirmed'))
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personality=1, sm={"deviceState": NS(startedMonoTime=42)}, params=NS(get_bool=lambda key: False))
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with patch.object(runtime_app, 'ui_state', native), patch.object(runtime_app, '_slc_action_publisher') as publisher:
|
||||
action = session.native_favorite_actions(Mock(), Mock(), experimental)[EXPERIMENTAL]
|
||||
assert action.available and action.invoke()
|
||||
@@ -457,9 +457,9 @@ class TestOnroadFavorites(unittest.TestCase):
|
||||
session._favorite_authority.return_value = False
|
||||
assert not action.invoke()
|
||||
session._favorite_authority.return_value = True
|
||||
native.params.get_bool = lambda key: key in ('SafeMode', 'ExperimentalModeConfirmed')
|
||||
native.params.get_bool = lambda key: key == 'SafeMode'
|
||||
assert not action.invoke()
|
||||
native.params.get_bool = lambda key: key == 'ExperimentalModeConfirmed'
|
||||
native.params.get_bool = lambda key: False
|
||||
session._conditional_favorite_active.return_value = False
|
||||
assert not action.invoke()
|
||||
assert session.conditional_actions.dispatch.call_count == 1
|
||||
|
||||
Reference in New Issue
Block a user