github-actions[bot]
3dcc048299
date: 2026-06-19T21:43:27 master commit: 5d90689776fdc7a3be31fc1335003aee20a2ba62
224 lines
7.5 KiB
Python
224 lines
7.5 KiB
Python
from cereal import log
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from openpilot.common.params import Params, UnknownKeyName
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.list_view import toggle_item
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from openpilot.system.ui.widgets.scroller_tici import Scroller
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.system.ui.lib.multilang import tr, tr_noop
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from openpilot.selfdrive.ui.ui_state import ui_state
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if gui_app.sunnypilot_ui():
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from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
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# Description constants
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DESCRIPTIONS = {
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"EnableCurvatureController": tr_noop(
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"Enables curvature PID post-processing additionally to QFK curvature offset"
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),
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"EnableCurvatureD": tr_noop(
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"Learns speed- and curvature-dependent steering corrections around center for dynamic steering behavior. Experimental and only used on curvature-based steering paths."
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),
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"ShowDynamicSteeringLearnerGraph": tr_noop(
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"Display the current dynamic steering learner fit, marker, and status information in the onroad UI."
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),
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"EnableLongComfortMode": tr_noop(
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"Enables longitudinal jerk and accel deviation limit control for safe and comfortable driving"
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),
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"EnableSpeedLimitControl": tr_noop(
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"Enables setting maximum speed by speed limit detection"
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),
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"EnableSpeedLimitPredicative": tr_noop(
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"Enables setting predicative speed limit"
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),
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"EnableSLPredReactToSL": tr_noop(
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"Enables reaction to speed limits as predicative speed limit"
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),
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"EnableSLPredReactToCurves": tr_noop(
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"Enables reaction to curves as predicative speed limit (Max Speed as per lateral ISO limits)"
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),
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"BatteryDetails": tr_noop(
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"Display battery detail panel"
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),
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"ForceRHDForBSM": tr_noop(
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"Switch BSM detection side to RHD. Driver is on the right side."
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),
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"EnableSmoothSteer": tr_noop(
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"Enables S-curving on lateral control for smoother steering"
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),
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"DarkMode": tr_noop(
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"Force brightness to a minimal value"
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),
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"DisableScreenTimer": tr_noop(
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"The onroad screen is turned of after 10 seconds. It will be temporarily enabled on alerts"
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),
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"DisableCarSteerAlerts": tr_noop(
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"Disables audible steering alerts from car"
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),
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}
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class ICTogglesLayout(Widget):
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def __init__(self):
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super().__init__()
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self._params = Params()
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# param, title, desc, icon, needs_restart
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self._toggle_defs = {
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"EnableCurvatureController": (
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lambda: tr("VW: Lateral Correction (Recommended)"),
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DESCRIPTIONS["EnableCurvatureController"],
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"chffr_wheel.png",
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False,
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),
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"EnableLongComfortMode": (
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lambda: tr("VW: Longitudinal Comfort Mode"),
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DESCRIPTIONS["EnableLongComfortMode"],
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"chffr_wheel.png",
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False,
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),
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"EnableSpeedLimitControl": (
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lambda: tr("VW: Speed Limit Control"),
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DESCRIPTIONS["EnableSpeedLimitControl"],
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"speed_limit.png",
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False,
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),
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"EnableSpeedLimitPredicative": (
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lambda: tr("VW: Predicative Speed Limit (pACC)"),
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DESCRIPTIONS["EnableSpeedLimitPredicative"],
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"speed_limit.png",
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False,
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),
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"EnableSLPredReactToSL": (
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lambda: tr("VW: Predicative - Reaction to Speed Limits"),
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DESCRIPTIONS["EnableSLPredReactToSL"],
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"speed_limit.png",
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False,
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),
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"EnableSLPredReactToCurves": (
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lambda: tr("VW: Predicative - Reaction to Curves"),
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DESCRIPTIONS["EnableSLPredReactToCurves"],
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"speed_limit.png",
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False,
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),
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"ForceRHDForBSM": (
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lambda: tr("VW: Force RHD for BSM"),
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DESCRIPTIONS["ForceRHDForBSM"],
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"chffr_wheel.png",
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False,
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),
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"DisableCarSteerAlerts": (
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lambda: tr("VW: Disable Car Steer Alert Chime"),
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DESCRIPTIONS["DisableCarSteerAlerts"],
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"chffr_wheel.png",
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False,
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),
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"EnableSmoothSteer": (
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lambda: tr("Steer Smoothing"),
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DESCRIPTIONS["EnableSmoothSteer"],
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"chffr_wheel.png",
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False,
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),
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"DarkMode": (
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lambda: tr("Dark Mode"),
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DESCRIPTIONS["DarkMode"],
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"eye_closed.png",
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False,
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),
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"DisableScreenTimer": (
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lambda: tr("Onroad Screen Timeout"),
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DESCRIPTIONS["DisableScreenTimer"],
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"eye_closed.png",
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False,
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),
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"BatteryDetails": (
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lambda: tr("VW MEB: Display Battery Details"),
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DESCRIPTIONS["BatteryDetails"],
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"capslock-fill.png",
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False,
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),
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"EnableCurvatureD": (
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lambda: tr("Enable Dynamic Steering Learner"),
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DESCRIPTIONS["EnableCurvatureD"],
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"chffr_wheel.png",
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False,
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),
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"ShowDynamicSteeringLearnerGraph": (
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lambda: tr("Show Dynamic Steering Learner Graph"),
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DESCRIPTIONS["ShowDynamicSteeringLearnerGraph"],
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"chffr_wheel.png",
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False,
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),
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}
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self._toggles = {}
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self._locked_toggles = set()
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self._offroad_only_toggles = {"EnableCurvatureD"}
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for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
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toggle = toggle_item(
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title,
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desc,
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self._params.get_bool(param),
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callback=lambda state, p=param: self._toggle_callback(state, p),
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icon=icon,
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)
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try:
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locked = self._params.get_bool(param + "Lock")
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except UnknownKeyName:
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locked = False
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toggle.action_item.set_enabled(not locked)
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# Make description callable for live translation
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additional_desc = ""
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if needs_restart and not locked:
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additional_desc = tr("Changing this setting will restart openpilot if the car is powered on.")
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toggle.set_description(lambda og_desc=toggle.description, add_desc=additional_desc: tr(og_desc) + (" " + tr(add_desc) if add_desc else ""))
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# track for engaged state updates
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if locked:
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self._locked_toggles.add(param)
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self._toggles[param] = toggle
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self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
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ui_state.add_engaged_transition_callback(self._update_toggles)
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ui_state.add_offroad_transition_callback(self._update_toggles)
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def _update_state(self):
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return
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def show_event(self):
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super().show_event()
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self._scroller.show_event()
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self._update_toggles()
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def _update_toggles(self):
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# Use ui_state's params cache (refreshed in own thread at 5Hz) to avoid extra IPC roundtrips
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ui_state.update_params()
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# TODO: make a param control list item so we don't need to manage internal state as much here
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# refresh toggles from params to mirror external changes
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for param in self._toggle_defs:
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self._toggles[param].action_item.set_state(ui_state.params.get_bool(param))
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# these toggles need restart, block while engaged
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for toggle_def in self._toggle_defs:
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if self._toggle_defs[toggle_def][3] and toggle_def not in self._locked_toggles:
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self._toggles[toggle_def].action_item.set_enabled(not ui_state.engaged)
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for toggle_def in self._offroad_only_toggles:
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if toggle_def not in self._locked_toggles:
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self._toggles[toggle_def].action_item.set_enabled(ui_state.is_offroad())
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if "EnableCurvatureD" not in self._locked_toggles:
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self._toggles["EnableCurvatureD"].action_item.set_enabled(ui_state.is_offroad())
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def _render(self, rect):
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self._scroller.render(rect)
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def _toggle_callback(self, state: bool, param: str):
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self._params.put_bool(param, state)
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if self._toggle_defs[param][3]:
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self._params.put_bool("OnroadCycleRequested", True)
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