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Pause lateral control below specified speeds

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Added toggles to pause lateral control when a turn signal is active or below a set speed.
This commit is contained in:
FrogAi
2024-04-26 00:18:12 -07:00
parent 5c0062e394
commit b25c86829f
4 changed files with 24 additions and 2 deletions
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common/params.cc
+2
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@@ -343,6 +343,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"PathEdgeWidth", PERSISTENT},
{"PathWidth", PERSISTENT},
{"PauseAOLOnBrake", PERSISTENT},
{"PauseLateralOnSignal", PERSISTENT},
{"PauseLateralSpeed", PERSISTENT},
{"PreferredSchedule", PERSISTENT},
{"PromptDistractedVolume", PERSISTENT},
{"PromptVolume", PERSISTENT},
selfdrive/controls/controlsd.py
+8 -1
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@@ -193,6 +193,7 @@ class Controls:
self.holiday_theme_alerted = False
self.onroad_distance_pressed = False
self.previously_enabled = False
self.speed_check = False
self.previous_lead_distance = 0
@@ -602,7 +603,7 @@ 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 or self.FPCC.alwaysOnLateral) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and self.speed_check and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
(not standstill or self.joystick_mode)
CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
@@ -963,6 +964,7 @@ class Controls:
self.FPCC.alwaysOnLateral &= CS.cruiseState.available
self.FPCC.alwaysOnLateral &= self.always_on_lateral
self.FPCC.alwaysOnLateral &= self.driving_gear
self.FPCC.alwaysOnLateral &= self.speed_check
self.FPCC.alwaysOnLateral &= not (CS.brakePressed and CS.vEgo < self.always_on_lateral_pause_speed) or CS.standstill
if self.CP.openpilotLongitudinalControl and self.frogpilot_variables.conditional_experimental_mode:
@@ -979,6 +981,9 @@ class Controls:
self.previously_enabled |= (self.enabled or self.FPCC.alwaysOnLateral) and CS.vEgo > CRUISING_SPEED
self.previously_enabled &= self.driving_gear
signal_check = CS.vEgo >= self.pause_lateral_below_speed or not (CS.leftBlinker or CS.rightBlinker) or CS.standstill
self.speed_check = CS.vEgo >= self.pause_lateral_below_speed or CS.standstill or signal_check and self.pause_lateral_below_signal
fpcc_send = messaging.new_message('frogpilotCarControl')
fpcc_send.valid = CS.canValid
fpcc_send.frogpilotCarControl = self.FPCC
@@ -1024,6 +1029,8 @@ class Controls:
quality_of_life = self.params.get_bool("QOLControls")
self.frogpilot_variables.custom_cruise_increase = self.params.get_int("CustomCruise") if quality_of_life else 1
self.frogpilot_variables.custom_cruise_increase_long = self.params.get_int("CustomCruiseLong") if quality_of_life else 5
self.pause_lateral_below_speed = self.params.get_int("PauseLateralSpeed") * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS) if quality_of_life else 0
self.pause_lateral_below_signal = quality_of_life and self.params.get_bool("PauseLateralOnSignal")
self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")
toyota_doors = self.params.get_bool("ToyotaDoors")
selfdrive/frogpilot/ui/qt/offroad/control_settings.cc
+13
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@@ -104,6 +104,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"CustomCruiseLong", tr("Cruise Increase Interval (Long Press)"), tr("Set a custom interval to increase the max set speed by when holding down the cruise increase button."), ""},
{"DisableOnroadUploads", tr("Disable Onroad Uploads"), tr("Prevent uploads to comma connect unless you're offroad and connected to Wi-Fi."), ""},
{"OnroadDistanceButton", tr("Onroad Distance Button"), tr("Simulate a distance button via the onroad UI to control personalities, 'Experimental Mode', and 'Traffic Mode'."), ""},
{"PauseLateralSpeed", tr("Pause Lateral Below"), tr("Pause lateral control on all speeds below the set speed."), ""},
{"ReverseCruise", tr("Reverse Cruise Increase"), tr("Reverses the 'long press' functionality logic to increase the max set speed by 5 instead of 1. Useful to increase the max speed quickly."), ""},
};
@@ -527,6 +528,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
std::vector<QString> onroadDistanceToggles{"KaofuiIcons"};
std::vector<QString> onroadDistanceToggleNames{tr("Kaofui's Icons")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, onroadDistanceToggles, onroadDistanceToggleNames);
} else if (param == "PauseLateralSpeed") {
std::vector<QString> pauseLateralToggles{"PauseLateralOnSignal"};
std::vector<QString> pauseLateralToggleNames{"Turn Signal Only"};
toggle = new FrogPilotParamValueToggleControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, tr(" mph"), 1, 1, pauseLateralToggles, pauseLateralToggleNames);
} else if (param == "PauseLateralOnSignal") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, tr(" mph"));
} else if (param == "ReverseCruise") {
std::vector<QString> reverseCruiseToggles{"ReverseCruiseUI"};
std::vector<QString> reverseCruiseNames{tr("Control Via UI")};
@@ -696,6 +703,8 @@ void FrogPilotControlsPanel::updateMetric() {
params.putIntNonBlocking("CustomCruiseLong", std::nearbyint(params.getInt("CustomCruiseLong") * speedConversion));
params.putIntNonBlocking("LaneDetectionWidth", std::nearbyint(params.getInt("LaneDetectionWidth") * distanceConversion));
params.putIntNonBlocking("PauseAOLOnBrake", std::nearbyint(params.getInt("PauseAOLOnBrake") * speedConversion));
params.putIntNonBlocking("PauseLateralOnSignal", std::nearbyint(params.getInt("PauseLateralOnSignal") * speedConversion));
params.putIntNonBlocking("PauseLateralSpeed", std::nearbyint(params.getInt("PauseLateralSpeed") * speedConversion));
params.putIntNonBlocking("StoppingDistance", std::nearbyint(params.getInt("StoppingDistance") * distanceConversion));
}
@@ -703,6 +712,7 @@ void FrogPilotControlsPanel::updateMetric() {
FrogPilotParamValueControl *customCruiseLongToggle = static_cast<FrogPilotParamValueControl*>(toggles["CustomCruiseLong"]);
FrogPilotParamValueControl *laneWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneDetectionWidth"]);
FrogPilotParamValueControl *pauseAOLOnBrakeToggle = static_cast<FrogPilotParamValueControl*>(toggles["PauseAOLOnBrake"]);
FrogPilotParamValueControl *pauseLateralToggle = static_cast<FrogPilotParamValueControl*>(toggles["PauseLateralSpeed"]);
FrogPilotParamValueControl *stoppingDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["StoppingDistance"]);
if (isMetric) {
@@ -710,12 +720,14 @@ void FrogPilotControlsPanel::updateMetric() {
customCruiseLongToggle->updateControl(1, 150, tr(" kph"));
laneWidthToggle->updateControl(0, 30, tr(" meters"), 10);
pauseAOLOnBrakeToggle->updateControl(0, 99, tr(" kph"));
pauseLateralToggle->updateControl(0, 99, tr(" kph"));
stoppingDistanceToggle->updateControl(0, 5, tr(" meters"));
} else {
customCruiseToggle->updateControl(1, 99, tr(" mph"));
customCruiseLongToggle->updateControl(1, 99, tr(" mph"));
laneWidthToggle->updateControl(0, 100, tr(" feet"), 10);
pauseAOLOnBrakeToggle->updateControl(0, 99, tr(" mph"));
pauseLateralToggle->updateControl(0, 99, tr(" mph"));
stoppingDistanceToggle->updateControl(0, 10, tr(" feet"));
}
@@ -723,6 +735,7 @@ void FrogPilotControlsPanel::updateMetric() {
customCruiseLongToggle->refresh();
laneWidthToggle->refresh();
pauseAOLOnBrakeToggle->refresh();
pauseLateralToggle->refresh();
stoppingDistanceToggle->refresh();
}
selfdrive/frogpilot/ui/qt/offroad/control_settings.h
+1 -1
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@@ -45,7 +45,7 @@ private:
std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF", "NNFFLite"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "DecelerationProfile", "StoppingDistance"};
std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck"};
std::set<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "DisableOnroadUploads", "OnroadDistanceButton", "ReverseCruise"};
std::set<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "DisableOnroadUploads", "OnroadDistanceButton", "PauseLateralSpeed", "ReverseCruise"};
std::set<QString> speedLimitControllerKeys = {};
std::set<QString> speedLimitControllerControlsKeys = {};
std::set<QString> speedLimitControllerQOLKeys = {};