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https://github.com/firestar5683/StarPilot.git
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firestar5683
283 lines
17 KiB
Python
283 lines
17 KiB
Python
"""Shared native and Galaxy presentation of saved conditional modes."""
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from __future__ import annotations
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from dataclasses import fields, replace
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from openpilot.starpilot.conditional_mode.button_actions import (
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BUTTON_PREFIX, MEDIA_KEYS, DISTANCE_KEYS, capture_sources, commit_assignment, display_action, media_capability,
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distance_capability, assignment_capability, runtime_map_ready,
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)
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from openpilot.starpilot.conditional_mode.actions import (
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BOOLEAN_FIELDS, DOCUMENT_KEY, MANUAL_RESET, MODE, NUMBER_FIELDS, PREFIX, RESET, commit, commit_manual,
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display_number, edit, field_limit, stock_document,
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)
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from openpilot.starpilot.conditional_mode.preferences import (
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MAX_DOCUMENT_BYTES, PreferenceError, SavedPreferences, decode_preferences,
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)
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from openpilot.starpilot.saved_source import read_saved
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from openpilot.starpilot.conditional_mode.manual_saved import KEY as MANUAL_KEY, read_codes
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from openpilot.starpilot.conditional_mode.preferences import encode_preferences
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from openpilot.starpilot.conditional_mode.policy import ModeChoice
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from openpilot.starpilot.ui.feature_settings_state import FeatureRow, FeatureSettingsRequest
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LABELS = {
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"speed_mps": "Speed threshold", "speed_with_lead_mps": "Speed with lead", "signal_speed_mps": "Signal speed",
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"open_road": "Open road", "curves": "Curves", "curves_with_lead": "Curves with lead",
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"lead": "Lead vehicle", "slower_lead": "Slower lead", "stopped_lead": "Stopped lead",
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"stop_lights": "Stop lights", "model_stop_s": "Model stop time",
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"signal_lane_detection": "Signal lane detection", "signal_lane_width_m": "Signal lane width",
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"set_speed_margin_mps": "Set speed margin", "launch_assist": "Launch assist",
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}
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MODES = ("Chill", "Conditional Experimental", "Conditional Chill")
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SIGNAL_LANE_FIELDS = frozenset(("signal_lane_detection", "signal_lane_width_m"))
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SIGNAL_LANE_HELP = {
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"signal_lane_detection": "Distinguish a turn from a lane change using the space beside your car. With this on, a turn signal requests " +
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"Experimental only when there is no adjacent lane. Automatic Lane Changes is a separate setting.",
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"signal_lane_width_m": "Minimum width of the space beside your car that counts as a lane, rather than a turn. " +
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"This does not change the clearance required for an automatic lane change.",
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}
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MEDIA_LABELS = ("MODE press", "MODE long press", "MODE very long press",
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"Star button", "Star button long press", "Star button very long press")
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def _display(number: float) -> str:
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return f"{number:.2f}".rstrip("0").rstrip(".") if number else "0"
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def _unit(field: str, metric: bool) -> str:
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if field == "model_stop_s":
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return "s"
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if field == "signal_lane_width_m":
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return "m" if metric else "ft"
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return "km/h" if metric else "mph"
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def confirmation_question(request: FeatureSettingsRequest, label: str = "", unit: str = "") -> str:
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if request.key == RESET:
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return "Replace the invalid conditional mode settings with Chill defaults?"
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if request.key == MANUAL_RESET:
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return "Reset both remembered manual choices to Automatic?"
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value = f"{request.value} {unit}".rstrip()
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target = f"{label.lower()} to" if label else "to"
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tail = " This resets the mode's remembered choice to Automatic." if request.key.endswith(":persist_manual") else ""
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return f"Set {target} {value}?{tail}"
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class ConditionalFeature:
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def __init__(self, owner):
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self.owner = owner
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def _source(self):
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document, readable = read_saved(self.owner.params, DOCUMENT_KEY, MAX_DOCUMENT_BYTES)
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units, unit_readable = read_saved(self.owner.params, "IsMetric", 8)
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metric = units is None or units == b"0" or units == b"1"
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return document, units, readable and unit_readable, metric, units == b"1"
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def _media_rows(self, document: bytes | None, safe: bytes | None, safe_readable: bool,
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*, config_valid: bool) -> list[FeatureRow]:
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cp = self.owner.vehicle_params()
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gm = distance_capability(cp)
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switchback_only = not gm and cp is not None and not cp.openpilotLongitudinalControl
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capability = gm or media_capability(cp, switchback_only=switchback_only)
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keys = DISTANCE_KEYS if gm else MEDIA_KEYS
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labels = ("Distance press", "Distance long press", "Distance very long press") if gm else MEDIA_LABELS
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if capability is None:
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return []
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sources = capture_sources(self.owner.params, document, safe)
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enabled = (self.owner.authority("switchback_wheel" if switchback_only else "conditional_wheel") and config_valid and
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safe_readable and safe in (None, b"0", b"1") and sources.readable)
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ready = runtime_map_ready(sources) and all(display_action(sources.raw(key))[0] != "Unsupported saved action"
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for key in keys)
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rows = [] if ready else [FeatureRow("", "Button assignments",
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"Review saved actions",
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reason="Some saved actions are not supported. Choose Off for those buttons before assigning a new action.")]
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for key, label in zip(keys, labels, strict=True):
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raw = sources.raw(key)
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value, choices, repair = display_action(raw)
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if gm:
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if raw not in (None, b"0", b"6"):
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value, choices, repair = "Unsupported saved action", (), "Off"
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else:
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choices = ("Off", "Toggle traffic mode")
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if switchback_only:
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choices = ("Off", "Switchback Mode") if sources.readable else ()
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rows.append(FeatureRow(BUTTON_PREFIX + key, label, value if sources.readable else "Unavailable saved action",
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raw, choices if sources.readable else (), available=enabled,
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reason=("Toggle Traffic Mode from this button. May take effect this drive." if gm else
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"Choose this button action. May take effect this drive.") if enabled else
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"Reload to read saved button actions",
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vehicle_fingerprint=self.owner.vehicle_fingerprint(), capability=capability,
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dependencies=sources.dependencies, repair_value=repair if sources.readable else "", default_value="Off"))
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return rows
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def wheel_rows(self) -> list[FeatureRow]:
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document, _, readable, _, _ = self._source()
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safe, safe_readable = read_saved(self.owner.params, "SafeMode", 8)
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try:
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if document is not None:
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decode_preferences(document)
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valid = readable
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except PreferenceError:
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valid = False
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return self._media_rows(document, safe, safe_readable, config_valid=valid)
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def rows(self, page: str, parked: bool) -> list[FeatureRow]:
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document, units, readable, valid_units, metric = self._source()
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allowed = self.owner.authority("preferences")
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repair_allowed = parked and self.owner.authority("parked_preferences")
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unavailable = "Saved settings are unavailable"
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dependencies = (("IsMetric", units),)
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safe, safe_readable = read_saved(self.owner.params, "SafeMode", 8) if page == "conditional" else (None, True)
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if not readable:
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return [FeatureRow("", "Saved choices", "Unavailable", reason="Saved source cannot be read; no changes allowed")]
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try:
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preferences = SavedPreferences() if document is None else decode_preferences(document)
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except PreferenceError:
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return [FeatureRow("", "Saved choices", "Invalid", reason="Existing bytes remain unchanged until explicit reset"),
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FeatureRow(RESET, "Restore Chill defaults", "", document,
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available=repair_allowed, reason="Replaces the invalid document after review",
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dependencies=dependencies)]
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rows = []
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manual = read_codes(self.owner.params)
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if page != "conditional":
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safe, safe_readable = read_saved(self.owner.params, "SafeMode", 8)
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manual_dependencies = dependencies + ((MANUAL_KEY, manual.raw), ("SafeMode", safe))
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manual_available = repair_allowed and safe_readable and safe in (None, b"0", b"1")
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if page == "conditional":
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choice = {"stock": MODES[0], "conditional_experimental": MODES[1],
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"conditional_chill": MODES[2]}[preferences.mode.value]
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rows.append(FeatureRow(MODE, "Saved driving mode", choice, document, MODES, default_value=MODES[0],
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available=allowed, reason="Chill uses the normal driving mode; conditional modes switch automatically when their conditions match."
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if allowed else unavailable,
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dependencies=dependencies))
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rows.append(FeatureRow("", "Experimental conditions", "Saved options", page="conditional/cem", available=True))
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rows.append(FeatureRow("", "Chill conditions", "Saved options", page="conditional/ccm", available=True))
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if manual.status in ("invalid", "read_error"):
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rows.append(FeatureRow("", "Remembered manual choices", "Invalid" if manual.status == "invalid" else "Unavailable"))
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if manual.status == "invalid":
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rows.append(FeatureRow(MANUAL_RESET, "Reset remembered manual choices", "Both modes to Automatic", document,
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available=manual_available,
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dependencies=manual_dependencies))
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return rows
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lane_page = page == "lane_change"
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section = "cem" if page in ("conditional/cem", "lane_change") else "ccm"
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option = preferences.cem if section == "cem" else preferences.ccm
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for field in fields(option):
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name = field.name
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if (name in SIGNAL_LANE_FIELDS) != lane_page:
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continue
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if name == "persist_manual":
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rows.append(FeatureRow(PREFIX + section + ":persist_manual", "Remember manual choice",
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"On" if getattr(option, name) else "Off", document, ("Off", "On"),
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default_value="On" if getattr(getattr(decode_preferences(stock_document()), section), name) else "Off",
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available=manual_available and manual.status in ("valid", "absent"),
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reason="Keeps your manual choice across drives. Changing this setting first resets the choice to Automatic."
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if manual_available and
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manual.status in ("valid", "absent") else
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"Saved manual choices need repair" if manual_available else unavailable,
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dependencies=manual_dependencies))
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continue
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value = getattr(option, name)
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key = PREFIX + section + ":" + name
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if name in BOOLEAN_FIELDS[section]:
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rows.append(FeatureRow(key, LABELS[name], "On" if value else "Off", document, ("Off", "On"),
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default_value="On" if getattr(getattr(decode_preferences(stock_document()), section), name) else "Off",
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available=allowed, reason=SIGNAL_LANE_HELP.get(name, "") if allowed else unavailable,
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dependencies=dependencies))
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elif name in NUMBER_FIELDS[section]:
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displayed = display_number(name, value, metric)
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unit = _unit(name, metric)
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rows.append(FeatureRow(key, LABELS[name], _display(displayed) if valid_units else "Invalid saved units", document,
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default_value=_display(display_number(name, getattr(getattr(decode_preferences(stock_document()), section), name), metric)),
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step=0.1 if name == "model_stop_s" else 1.0 if valid_units else 0.0,
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minimum=0.0, maximum=max(field_limit(section, name, metric), float(_display(displayed))),
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unit=unit if valid_units else "",
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available=allowed and valid_units, reason=SIGNAL_LANE_HELP.get(name, "") if allowed and valid_units else
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"Invalid saved units" if not valid_units else unavailable,
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dependencies=dependencies, display_unit=unit if valid_units else ""))
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return rows
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def apply(self, request: FeatureSettingsRequest) -> bool:
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if request.key.startswith(BUTTON_PREFIX):
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key = request.key.removeprefix(BUTTON_PREFIX)
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if key not in (*MEDIA_KEYS, *DISTANCE_KEYS) or not request.vehicle_fingerprint or request.capability is None:
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return False
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cp = self.owner.vehicle_params()
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switchback_only = key in MEDIA_KEYS and cp is not None and not cp.openpilotLongitudinalControl
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if switchback_only and request.value not in ("Off", "Switchback Mode"):
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return False
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def authorized_button() -> bool:
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return bool(self.owner.vehicle_fingerprint() == request.vehicle_fingerprint and
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(media_capability(self.owner.vehicle_params(), switchback_only=True) if switchback_only else
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assignment_capability(self.owner.vehicle_params(), key)) == request.capability and
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self.owner.authority("switchback_wheel" if switchback_only else "conditional_wheel"))
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result = commit_assignment(self.owner.params, key=key, choice=request.value,
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expected=request.expected, dependencies=request.dependencies,
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authorized=authorized_button)
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return result.committed and result.verified
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if (request.key in (RESET, MANUAL_RESET) and not request.confirmation) or \
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request.capability is not None or request.vehicle_fingerprint is not None:
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return False
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manual_action = request.key == MANUAL_RESET or request.key in (
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PREFIX + "cem:persist_manual", PREFIX + "ccm:persist_manual")
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def authorized() -> bool:
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group = "parked_preferences" if manual_action or request.key == RESET else "preferences"
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return self.owner.authority(group)
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if not authorized():
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return False
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document, units, readable, valid_units, metric = self._source()
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if not readable or document != request.expected:
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return False
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manual = read_codes(self.owner.params) if manual_action else None
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safe, safe_readable = read_saved(self.owner.params, "SafeMode", 8) if manual_action else (None, True)
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dependencies = (("IsMetric", units),) + (((MANUAL_KEY, manual.raw), ("SafeMode", safe)) if manual is not None else ())
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if request.dependencies != dependencies or not safe_readable or safe not in (None, b"0", b"1"):
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return False
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try:
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if request.key == MANUAL_RESET:
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if request.value != "confirm" or manual is None or manual.status != "invalid":
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return False
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result = commit_manual(self.owner.params, expected_config=document, expected_units=units,
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expected_safe=safe, expected_manual=manual.raw, authorized=authorized,
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choice=None, config_raw=None)
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return result.committed and result.verified
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if request.key == RESET:
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if request.value != "confirm" or document is None:
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return False
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try:
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decode_preferences(document)
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return False
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except PreferenceError:
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raw = stock_document()
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else:
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preferences = SavedPreferences() if document is None else decode_preferences(document)
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if request.key in (PREFIX + "cem:persist_manual", PREFIX + "ccm:persist_manual"):
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if request.value not in ("On", "Off") or manual is None or manual.status not in ("valid", "absent"):
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return False
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section = request.key.split(":")[1]
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option = preferences.cem if section == "cem" else preferences.ccm
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raw = encode_preferences(replace(preferences, **{section: replace(option, persist_manual=request.value == "On")}))
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choice = ModeChoice.CEM if section == "cem" else ModeChoice.CCM
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result = commit_manual(self.owner.params, expected_config=document, expected_units=units,
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expected_safe=safe, expected_manual=manual.raw, authorized=authorized,
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choice=choice, config_raw=raw)
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return result.committed and result.verified
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if request.key.startswith(PREFIX) and request.key != MODE and not valid_units:
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return False
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if request.key.startswith(PREFIX) and request.key != MODE:
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field = request.key.split(":")[-1]
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expected_unit = (_unit(field, metric) if field in
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("model_stop_s", "signal_lane_width_m", "speed_mps", "speed_with_lead_mps",
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"signal_speed_mps", "set_speed_margin_mps") else "")
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if request.display_unit != expected_unit:
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return False
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value = "Stock" if request.key == MODE and request.value == "Chill" else request.value
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raw = edit(preferences, request.key, value, metric=metric)
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except (PreferenceError, ValueError, TypeError, OverflowError):
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return False
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result = commit(self.owner.params, raw, document, units, authorized)
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return result.committed and result.verified
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