Controls - Conditional Experimental Mode

Automatically switches to 'Experimental Mode' under predefined conditions.

selfdrive/ui/qt/offroad/settings.cc

@@ -181,7 +181,13 @@ void TogglesPanel::updateToggles() {
     op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
     if (hasLongitudinalControl(CP)) {
       // normal description and toggle
-      experimental_mode_toggle->setEnabled(true);
+      bool conditional_experimental = params.getBool("ConditionalExperimental");
+      if (conditional_experimental) {
+        params.putBool("ExperimentalMode", true);
+        params.putBool("ExperimentalModeConfirmed", true);
+        experimental_mode_toggle->refresh();
+      }
+      experimental_mode_toggle->setEnabled(!conditional_experimental);
       experimental_mode_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
     } else {

selfdrive/ui/qt/onroad/alerts.cc

@@ -16,6 +16,7 @@ void OnroadAlerts::updateState(const UIState &s) {
   const UIScene &scene = s.scene;
 
   showAOLStatusBar = scene.show_aol_status_bar;
+  showCEMStatusBar = scene.show_cem_status_bar;
 }
 
 void OnroadAlerts::clear() {
@@ -72,7 +73,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 
   int margin = 40;
   int radius = 30;
-  int offset = showAOLStatusBar ? 25 : 0;
+  int offset = showAOLStatusBar || showCEMStatusBar ? 25 : 0;
   if (alert.size == cereal::ControlsState::AlertSize::FULL) {
     margin = 0;
     radius = 0;

selfdrive/ui/qt/onroad/alerts.h

@@ -42,4 +42,5 @@ protected:
 
   // FrogPilot variables
   bool showAOLStatusBar;
+  bool showCEMStatusBar;
 };

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -287,7 +287,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
   if (rightHandDM && map_settings_btn->isEnabled()) {
     x -= 250;
   }
-  offset += showAlwaysOnLateralStatusBar ? 25 : 0;
+  offset += showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar ? 25 : 0;
   int y = height() - offset;
   float opacity = dmActive ? 0.65 : 0.2;
   drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
@@ -497,10 +497,15 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UISce
 
   alwaysOnLateralActive = scene.always_on_lateral_active;
   showAlwaysOnLateralStatusBar = scene.show_aol_status_bar;
-  if (showAlwaysOnLateralStatusBar) {
+  if (showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar) {
     drawStatusBar(painter);
   }
 
+  conditionalSpeed = scene.conditional_speed;
+  conditionalSpeedLead = scene.conditional_speed_lead;
+  conditionalStatus = scene.conditional_status;
+  showConditionalExperimentalStatusBar = scene.show_cem_status_bar;
+
   experimentalMode = scene.experimental_mode;
 
   mapOpen = scene.map_open;
@@ -531,8 +536,23 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
   p.setOpacity(1.0);
   p.drawRoundedRect(statusBarRect, 30, 30);
 
+  std::map<int, QString> conditionalStatusMap = {
+    {0, tr("Conditional Experimental Mode ready")},
+    {7, tr("Experimental Mode activated for") + (mapOpen ? tr(" low speed") : tr(" speed being less than ") + QString::number(conditionalSpeedLead) + (is_metric ? tr("kph") : tr("mph")))},
+    {8, tr("Experimental Mode activated for") + (mapOpen ? tr(" low speed") : tr(" speed being less than ") + QString::number(conditionalSpeed) + (is_metric ? tr("kph") : tr("mph")))},
+    {9, tr("Experimental Mode activated for turn") + (mapOpen ? "" : tr(" / lane change"))},
+    {10, tr("Experimental Mode activated for intersection")},
+    {11, tr("Experimental Mode activated for upcoming turn")},
+    {12, tr("Experimental Mode activated for curve")},
+    {13, tr("Experimental Mode activated for stopped lead")},
+    {14, tr("Experimental Mode activated for slower lead")},
+    {15, tr("Experimental Mode activated for stop light") + (mapOpen ? tr("") : tr(" or stop sign"))},
+  };
+
   if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
     newStatus = tr("Always On Lateral active") + (mapOpen ? "" : tr(". Press the \"Cruise Control\" button to disable"));
+  } else if (showConditionalExperimentalStatusBar) {
+    newStatus = conditionalStatusMap.at(conditionalStatus);
   }
 
   if (newStatus != lastShownStatus) {

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -56,12 +56,16 @@ private:
   bool experimentalMode;
   bool mapOpen;
   bool showAlwaysOnLateralStatusBar;
+  bool showConditionalExperimentalStatusBar;
 
   float accelerationConversion;
   float distanceConversion;
   float speedConversion;
 
   int alertSize;
+  int conditionalSpeed;
+  int conditionalSpeedLead;
+  int conditionalStatus;
 
   QString accelerationUnit;
   QString leadDistanceUnit;

selfdrive/ui/ui.cc

@@ -273,6 +273,11 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   bool always_on_lateral = params.getBool("AlwaysOnLateral");
   scene.show_aol_status_bar = always_on_lateral && !params.getBool("HideAOLStatusBar");
 
+  scene.conditional_experimental = scene.longitudinal_control && params.getBool("ConditionalExperimental");
+  scene.conditional_speed = scene.conditional_experimental ? params.getInt("CESpeed") : 0;
+  scene.conditional_speed_lead = scene.conditional_experimental ? params.getInt("CESpeedLead") : 0;
+  scene.show_cem_status_bar = scene.conditional_experimental && !params.getBool("HideCEMStatusBar");
+
   scene.tethering_config = params.getInt("TetheringEnabled");
   if (scene.tethering_config == 2) {
     WifiManager(s).setTetheringEnabled(true);
@@ -358,6 +363,7 @@ void UIState::update() {
   }
 
   // FrogPilot variables that need to be constantly updated
+  scene.conditional_status = scene.conditional_experimental && scene.enabled ? paramsMemory.getInt("CEStatus") : 0;
 }
 
 void UIState::setPrimeType(PrimeType type) {

selfdrive/ui/ui.h

@@ -119,6 +119,7 @@ typedef struct UIScene {
 
   // FrogPilot variables
   bool always_on_lateral_active;
+  bool conditional_experimental;
   bool enabled;
   bool experimental_mode;
   bool map_open;
@@ -126,9 +127,13 @@ typedef struct UIScene {
   bool parked;
   bool right_hand_drive;
   bool show_aol_status_bar;
+  bool show_cem_status_bar;
   bool tethering_enabled;
 
   int alert_size;
+  int conditional_speed;
+  int conditional_speed_lead;
+  int conditional_status;
   int tethering_config;
 
 } UIScene;