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Conditional Chill

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firestar5683
2026-06-06 21:25:18 -05:00
parent a888c5602a
commit f8934840da
26 changed files with 1152 additions and 1387 deletions
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selfdrive/ui/qt/offroad/experimental_mode.cc
+13 -2
View File
@@ -12,8 +12,13 @@ ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(pa
chill_pixmap = QPixmap("../assets/icons/couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
experimental_pixmap = QPixmap("../assets/icons/experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
// go to toggles and expand experimental mode description
connect(this, &QPushButton::clicked, [=]() { emit openSettings(2, "ExperimentalMode"); });
// go to toggles and expand whichever mode control is actually active
connect(this, &QPushButton::clicked, [=]() {
const QString toggle = params.getBool("ConditionalExperimental") ? "ConditionalExperimental" :
params.getBool("ConditionalChill") ? "ConditionalChill" :
"ExperimentalMode";
emit openSettings(2, toggle);
});
setFixedHeight(125);
QHBoxLayout *main_layout = new QHBoxLayout;
@@ -76,6 +81,12 @@ void ExperimentalModeButton::showEvent(QShowEvent *event) {
status = params.getInt("PersistedCEStatus");
}
experimental_mode = !params.getBool("SafeMode") && status == 2;
} else if (params.getBool("ConditionalChill")) {
int status = params_memory.getInt("CCStatus");
if ((status != 1 && status != 2) && params.getBool("PersistChillState")) {
status = params.getInt("PersistedCCStatus");
}
experimental_mode = !params.getBool("SafeMode") && (status == 0 || status == 1);
} else {
experimental_mode = params.getBool("ExperimentalMode") && !params.getBool("SafeMode");
}
selfdrive/ui/qt/onroad/buttons.cc
+21 -2
View File
@@ -4,6 +4,16 @@
#include "selfdrive/ui/qt/util.h"
namespace {
bool ccmManualOverride(int status) {
return status == 1 || status == 2;
}
bool cemManualOverride(int status) {
return status == 1 || status == 2;
}
} // namespace
void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity, const int &angle) {
p.setRenderHint(QPainter::Antialiasing);
p.setOpacity(1.0); // bg dictates opacity of ellipse
@@ -38,9 +48,13 @@ void ExperimentalButton::changeMode() {
bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
if (can_change) {
if (starpilot_toggles.value("conditional_experimental_mode").toBool()) {
int override_value = (starpilot_scene.conditional_status == 1 || starpilot_scene.conditional_status == 2) ? 0 : experimental_mode ? 1 : 2;
int override_value = cemManualOverride(starpilot_scene.conditional_status) ? 0 : experimental_mode ? 1 : 2;
params_memory.putInt("CEStatus", override_value);
params.putInt("PersistedCEStatus", params.getBool("PersistExperimentalState") ? override_value : 0);
} else if (starpilot_toggles.value("conditional_chill_mode").toBool()) {
int override_value = ccmManualOverride(starpilot_scene.conditional_status) ? 0 : experimental_mode ? 2 : 1;
params_memory.putInt("CCStatus", override_value);
params.putInt("PersistedCCStatus", params.getBool("PersistChillState") ? override_value : 0);
} else {
params.putBool("ExperimentalMode", !experimental_mode);
}
@@ -97,6 +111,11 @@ void ExperimentalButton::showEvent(QShowEvent *event) {
}
void ExperimentalButton::updateBackgroundColor() {
const bool conditional_experimental_mode = starpilot_toggles.value("conditional_experimental_mode").toBool();
const bool conditional_chill_mode = starpilot_toggles.value("conditional_chill_mode").toBool();
const bool highlight_override =
(conditional_experimental_mode && starpilot_scene.conditional_status == 1) ||
(conditional_chill_mode && ccmManualOverride(starpilot_scene.conditional_status));
if (starpilot_toggles.value("simple_mode").toBool()) {
background_color = QColor(0, 0, 0, 166);
} else if (isDown() || !engageable) {
@@ -105,7 +124,7 @@ void ExperimentalButton::updateBackgroundColor() {
background_color = bg_colors[STATUS_SWITCHBACK_MODE_ENABLED];
} else if (starpilot_scene.always_on_lateral_active) {
background_color = bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE];
} else if (starpilot_scene.conditional_status == 1) {
} else if (highlight_override) {
background_color = bg_colors[STATUS_CEM_DISABLED];
} else if (experimental_mode) {
background_color = bg_colors[STATUS_EXPERIMENTAL_MODE_ENABLED];
selfdrive/ui/qt/onroad/onroad_home.cc
+7 -4
View File
@@ -59,13 +59,19 @@ void OnroadWindow::updateState(const UIState &s, const StarPilotUIState &fs) {
nvg->updateState(s, fs);
const StarPilotUIScene &starpilot_scene = fs.starpilot_scene;
const QJsonObject &starpilot_toggles = starpilot_scene.starpilot_toggles;
const auto selfdriveState = (*s.sm)["selfdriveState"].getSelfdriveState();
QColor bgColor = bg_colors[s.status];
const bool conditional_experimental_mode = starpilot_toggles.value("conditional_experimental_mode").toBool();
const bool conditional_chill_mode = starpilot_toggles.value("conditional_chill_mode").toBool();
const bool highlight_override =
(conditional_experimental_mode && starpilot_scene.conditional_status == 1) ||
(conditional_chill_mode && (starpilot_scene.conditional_status == 1 || starpilot_scene.conditional_status == 2));
if (starpilot_scene.switchback_mode_enabled && (selfdriveState.getEnabled() || starpilot_scene.always_on_lateral_active)) {
bgColor = bg_colors[STATUS_SWITCHBACK_MODE_ENABLED];
} else if (starpilot_scene.always_on_lateral_active) {
bgColor = bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE];
} else if (starpilot_scene.conditional_status == 1) {
} else if (highlight_override) {
bgColor = bg_colors[STATUS_CEM_DISABLED];
} else if (selfdriveState.getExperimentalMode()) {
bgColor = bg_colors[STATUS_EXPERIMENTAL_MODE_ENABLED];
@@ -78,9 +84,6 @@ void OnroadWindow::updateState(const UIState &s, const StarPilotUIState &fs) {
bg = bgColor;
update();
}
const QJsonObject &starpilot_toggles = starpilot_scene.starpilot_toggles;
starpilot_nvg->alertHeight = alerts->alertHeight;
starpilot_onroad->bg = bg;
selfdrive/ui/qt/widgets/controls.cc
+13
View File
@@ -139,6 +139,11 @@ void ParamControl::toggleClicked(bool state) {
if (!confirm || confirmed || !state || do_confirm()) {
if (store_confirm && state) params.putBool(key + "Confirmed", true);
params.putBool(key, state);
if (state && key == "ConditionalExperimental") {
params.putBool("ConditionalChill", false);
} else if (state && key == "ConditionalChill") {
params.putBool("ConditionalExperimental", false);
}
if (key == "PersistExperimentalState") {
static Params params_memory{"", true};
int persisted_status = 0;
@@ -147,6 +152,14 @@ void ParamControl::toggleClicked(bool state) {
persisted_status = (current_status == 1 || current_status == 2) ? current_status : 0;
}
params.putInt("PersistedCEStatus", persisted_status);
} else if (key == "PersistChillState") {
static Params params_memory{"", true};
int persisted_status = 0;
if (state) {
int current_status = params_memory.getInt("CCStatus");
persisted_status = (current_status == 1 || current_status == 2) ? current_status : 0;
}
params.putInt("PersistedCCStatus", persisted_status);
}
setIcon(state);
} else {