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ui/settings: allow driving personality without CarParams (#28753)

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* allow driving personality without CarParams

* rename to hasLongitudinalControl

* Update selfdrive/ui/qt/util.cc

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 5493cb4289aea0d69e30408075a43044b895c8ec
This commit is contained in:
Dean Lee
2023-07-01 04:45:58 +08:00
committed by GitHub
parent 97eace7545
commit a8f8d0b512
4 changed files with 14 additions and 7 deletions
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selfdrive/ui/qt/offroad/settings.cc
+2 -5
View File
@@ -139,7 +139,6 @@ void TogglesPanel::updateToggles() {
.arg(tr("New Driving Visualization"))
.arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."));
long_personality_setting->setEnabled(false);
const bool is_release = params.getBool("IsReleaseBranch");
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
@@ -151,10 +150,7 @@ void TogglesPanel::updateToggles() {
params.remove("ExperimentalLongitudinalEnabled");
}
op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable();
const bool exp_long_enabled = CP.getExperimentalLongitudinalAvailable() && params.getBool("ExperimentalLongitudinalEnabled");
if (op_long || exp_long_enabled) {
if (hasLongitudinalControl(CP)) {
// normal description and toggle
e2e_toggle->setEnabled(true);
e2e_toggle->setDescription(e2e_description);
@@ -162,6 +158,7 @@ void TogglesPanel::updateToggles() {
} else {
// no long for now
e2e_toggle->setEnabled(false);
long_personality_setting->setEnabled(false);
params.remove("ExperimentalMode");
const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
selfdrive/ui/qt/onroad.cc
+1 -2
View File
@@ -191,8 +191,7 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
void ExperimentalButton::changeMode() {
const auto cp = (*uiState()->sm)["carParams"].getCarParams();
const bool experimental_mode_available = cp.getExperimentalLongitudinalAvailable() ? params.getBool("ExperimentalLongitudinalEnabled") : cp.getOpenpilotLongitudinalControl();
bool can_change = experimental_mode_available && params.getBool("ExperimentalModeConfirmed");
bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
if (can_change) {
params.putBool("ExperimentalMode", !experimental_mode);
}
selfdrive/ui/qt/util.cc
+8
View File
@@ -250,3 +250,11 @@ QPixmap bootstrapPixmap(const QString &id) {
}
return pixmap;
}
bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
// Using the experimental longitudinal toggle, returns whether longitudinal control
// will be active without needing a restart of openpilot
return car_params.getExperimentalLongitudinalAvailable()
? Params().getBool("ExperimentalLongitudinalEnabled")
: car_params.getOpenpilotLongitudinalControl();
}
selfdrive/ui/qt/util.h
+3
View File
@@ -9,6 +9,8 @@
#include <QSurfaceFormat>
#include <QWidget>
#include "cereal/gen/cpp/car.capnp.h"
QString getVersion();
QString getBrand();
QString getUserAgent();
@@ -27,3 +29,4 @@ QPixmap bootstrapPixmap(const QString &id);
void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);