github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
131 lines
5.6 KiB
Python
131 lines
5.6 KiB
Python
from collections.abc import Callable
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from openpilot.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, BigToggle, GreyBigButton
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from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
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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 ExperimentalModeConfirmPage(NavScroller):
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def __init__(self, on_confirm: Callable[[], None]):
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super().__init__()
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accept = BigConfirmationCircleButton("enable\nexperimental mode",
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gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
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lambda: self.dismiss(on_confirm))
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self._scroller.add_widgets([
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GreyBigButton("enabling\nexperimental mode", "scroll to continue",
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gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
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GreyBigButton("", "openpilot defaults to driving in chill mode."),
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GreyBigButton("", "Experimental mode enables alpha-level features that aren't ready for chill mode."),
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GreyBigButton("End-to-End Longitudinal Control"),
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GreyBigButton("", "Let the driving model control the gas and brakes."),
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GreyBigButton("", "openpilot will drive as it thinks a human would, including stopping for red lights and stop signs."),
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GreyBigButton("", "The set speed will only act as an upper bound."),
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GreyBigButton("", "This is an alpha quality feature; mistakes should be expected."),
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GreyBigButton("New Driving Visualization"),
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GreyBigButton("", "The path will change colors to communicate acceleration intent."),
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GreyBigButton("", "Red for braking, green for acceleration, and gray for coasting."),
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accept,
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])
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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._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
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self._experimental_btn = BigToggle("experimental mode", initial_state=ui_state.params.get_bool("ExperimentalMode"),
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toggle_callback=self._on_experimental_mode)
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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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record_front = BigParamControl("record & upload cabin 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 sunnypilot", "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._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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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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("IsMetric", is_metric_toggle),
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("IsLdwEnabled", ldw_toggle),
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("AlwaysOnDM", always_on_dm_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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# 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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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 _on_experimental_mode(self, state: bool):
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if state and not ui_state.params.get_bool("ExperimentalModeConfirmed"):
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# Don't show enabled state until confirm
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self._experimental_btn.set_checked(False)
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def on_confirm():
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ui_state.params.put_bool("ExperimentalModeConfirmed", True)
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ui_state.params.put_bool("ExperimentalMode", True)
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self._experimental_btn.set_checked(True)
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gui_app.push_widget(ExperimentalModeConfirmPage(on_confirm))
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else:
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ui_state.params.put_bool("ExperimentalMode", state)
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