mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
116 lines
4.8 KiB
Python
116 lines
4.8 KiB
Python
from 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
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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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PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
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class TogglesLayoutMici(NavScroller):
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def __init__(self):
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super().__init__()
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self._sync_rhd_toggle()
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def rhd_toggle_callback(checked: bool):
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ui_state.params.put_bool("IsRHD", checked)
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ui_state.params.put_bool("IsRHDOverride", True)
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self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
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self._safe_mode_btn = BigParamControl("safe mode", "SafeMode", toggle_callback=restart_needed_callback)
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self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode")
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is_metric_toggle = BigParamControl("use metric units", "IsMetric")
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ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
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always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
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rhd_toggle = BigParamControl("right hand driving", "IsRHD", toggle_callback=rhd_toggle_callback)
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record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
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record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
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enable_openpilot = BigParamControl("enable openpilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
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self._scroller.add_widgets([
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self._personality_toggle,
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self._safe_mode_btn,
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self._experimental_btn,
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is_metric_toggle,
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ldw_toggle,
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always_on_dm_toggle,
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rhd_toggle,
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record_front,
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record_mic,
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enable_openpilot,
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])
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# Toggle lists
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self._refresh_toggles = (
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("ExperimentalMode", self._experimental_btn),
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("SafeMode", self._safe_mode_btn),
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("IsMetric", is_metric_toggle),
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("IsLdwEnabled", ldw_toggle),
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("AlwaysOnDM", always_on_dm_toggle),
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("IsRHD", rhd_toggle),
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("RecordFront", record_front),
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("RecordAudio", record_mic),
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("OpenpilotEnabledToggle", enable_openpilot),
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)
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enable_openpilot.set_enabled(lambda: not ui_state.engaged)
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record_front.set_enabled(False if ui_state.params.get_bool("RecordFrontLock") else (lambda: not ui_state.engaged))
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record_mic.set_enabled(lambda: not ui_state.engaged)
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if ui_state.params.get_bool("ShowDebugInfo"):
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gui_app.set_show_touches(True)
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gui_app.set_show_fps(True)
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ui_state.add_engaged_transition_callback(self._update_toggles)
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def _update_state(self):
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super()._update_state()
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if ui_state.sm.updated["selfdriveState"]:
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personality = PERSONALITY_TO_INT[ui_state.sm["selfdriveState"].personality]
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if personality != ui_state.personality and ui_state.started:
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self._personality_toggle.set_value(self._personality_toggle._options[personality])
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ui_state.personality = personality
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def show_event(self):
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super().show_event()
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self._update_toggles()
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def _update_toggles(self):
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ui_state.update_params()
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self._sync_rhd_toggle()
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safe_mode = ui_state.params.get_bool("SafeMode")
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self._experimental_btn.set_enabled(not safe_mode)
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self._personality_toggle.set_enabled(not safe_mode)
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if safe_mode:
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if ui_state.params.get_bool("ExperimentalMode"):
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ui_state.params.put_bool("ExperimentalMode", False)
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if ui_state.params.get("LongitudinalPersonality", return_default=True) != int(log.LongitudinalPersonality.relaxed):
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ui_state.params.put_int("LongitudinalPersonality", int(log.LongitudinalPersonality.relaxed))
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self._experimental_btn.set_checked(False)
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self._personality_toggle.set_value("relaxed")
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# CP gating for experimental mode
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if ui_state.CP is not None:
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if ui_state.has_longitudinal_control:
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self._experimental_btn.set_visible(True)
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self._personality_toggle.set_visible(True)
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else:
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# no long for now
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self._experimental_btn.set_visible(False)
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self._experimental_btn.set_checked(False)
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self._personality_toggle.set_visible(False)
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self._experimental_btn.set_enabled(False)
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self._personality_toggle.set_enabled(False)
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ui_state.params.remove("ExperimentalMode")
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# Refresh toggles from params to mirror external changes
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for key, item in self._refresh_toggles:
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item.set_checked(ui_state.params.get_bool(key))
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def _sync_rhd_toggle(self):
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if not ui_state.params.get_bool("IsRHDOverride"):
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ui_state.params.put_bool("IsRHD", ui_state.params.get_bool("IsRhdDetected"))
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