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mirror of https://jihulab.com/mr-one/openpilot.git synced 2026-10-28 21:43:44 +08:00
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移除 Lateral Maneuver Mode 开关

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This commit is contained in:
mawei
2026-06-28 15:35:26 +08:00
parent 3a0c840cb8
commit 8729d54dc8
2 changed files with 4 additions and 63 deletions
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selfdrive/ui/layouts/settings/developer.py
+1 -16
View File
@@ -58,13 +58,6 @@ class DeveloperLayout(Widget):
)
self._ssh_keys = ssh_key_item(lambda: tr("SSH Keys"), description=lambda: tr(DESCRIPTIONS["ssh_key"]))
self._lat_maneuver_toggle = toggle_item(
lambda: tr("Lateral Maneuver Mode"),
description="",
initial_state=self._params.get_bool("LateralManeuverMode"),
callback=self._on_lat_maneuver_mode,
)
self._alpha_long_toggle = toggle_item(
lambda: tr("openpilot Longitudinal Control (Alpha)"),
description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
@@ -85,7 +78,6 @@ class DeveloperLayout(Widget):
self._adb_toggle,
self._ssh_toggle,
self._ssh_keys,
self._lat_maneuver_toggle,
self._alpha_long_toggle,
self._ui_debug_toggle,
button_item(lambda: tr("Show Last Errors"), lambda: tr("Show"), callback=self._on_show_last_errors),
@@ -107,8 +99,7 @@ class DeveloperLayout(Widget):
# Hide non-release toggles on release builds
# TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
for item in (self._lat_maneuver_toggle, self._alpha_long_toggle):
item.set_visible(not self._is_release)
self._alpha_long_toggle.set_visible(not self._is_release)
# CP gating
if ui_state.CP is not None:
@@ -121,7 +112,6 @@ class DeveloperLayout(Widget):
pass
else:
self._lat_maneuver_toggle.action_item.set_enabled(False)
self._alpha_long_toggle.set_visible(False)
# TODO: make a param control list item so we don't need to manage internal state as much here
@@ -129,7 +119,6 @@ class DeveloperLayout(Widget):
for key, item in (
("AdbEnabled", self._adb_toggle),
("SshEnabled", self._ssh_toggle),
("LateralManeuverMode", self._lat_maneuver_toggle),
("AlphaLongitudinalEnabled", self._alpha_long_toggle),
("ShowDebugInfo", self._ui_debug_toggle),
):
@@ -146,10 +135,6 @@ class DeveloperLayout(Widget):
def _on_enable_ssh(self, state: bool):
self._params.put_bool("SshEnabled", state, block=True)
def _on_lat_maneuver_mode(self, state: bool):
self._params.put_bool("LateralManeuverMode", state, block=True)
self._params.put_bool("ExperimentalMode", False, block=True)
def _on_alpha_long_enabled(self, state: bool):
if state:
def confirm_callback(result: DialogResult):
selfdrive/ui/mici/layouts/settings/developer.py
+3 -47
View File
@@ -70,15 +70,6 @@ class DeveloperLayoutMici(NavScroller):
# ******** Main Scroller ********
self._adb_toggle = BigCircleParamControl(gui_app.texture("icons_mici/adb_short.png", 82, 82), "AdbEnabled", icon_offset=(0, 12))
self._ssh_toggle = BigCircleParamControl(gui_app.texture("icons_mici/ssh_short.png", 82, 82), "SshEnabled", icon_offset=(0, 12))
self._joystick_toggle = BigToggle("joystick debug mode",
initial_state=ui_state.params.get_bool("JoystickDebugMode"),
toggle_callback=self._on_joystick_debug_mode)
self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
toggle_callback=self._on_long_maneuver_mode)
self._lat_maneuver_toggle = BigToggle("lateral maneuver mode",
initial_state=ui_state.params.get_bool("LateralManeuverMode"),
toggle_callback=self._on_lat_maneuver_mode)
self._alpha_long_toggle = BigToggle("alpha longitudinal",
initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
toggle_callback=self._on_alpha_long_enabled)
@@ -90,9 +81,6 @@ class DeveloperLayoutMici(NavScroller):
self._adb_toggle,
self._ssh_toggle,
self._ssh_keys_btn,
self._joystick_toggle,
self._long_maneuver_toggle,
self._lat_maneuver_toggle,
self._alpha_long_toggle,
self._debug_mode_toggle,
])
@@ -101,15 +89,12 @@ class DeveloperLayoutMici(NavScroller):
self._refresh_toggles = (
("AdbEnabled", self._adb_toggle),
("SshEnabled", self._ssh_toggle),
("JoystickDebugMode", self._joystick_toggle),
("LongitudinalManeuverMode", self._long_maneuver_toggle),
("LateralManeuverMode", self._lat_maneuver_toggle),
("AlphaLongitudinalEnabled", self._alpha_long_toggle),
("ShowDebugInfo", self._debug_mode_toggle),
)
onroad_blocked_toggles = (self._adb_toggle, self._joystick_toggle)
release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
engaged_blocked_toggles = (self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
onroad_blocked_toggles = (self._adb_toggle,)
release_blocked_toggles = (self._alpha_long_toggle,)
engaged_blocked_toggles = (self._alpha_long_toggle,)
# Hide non-release toggles on release builds
for item in release_blocked_toggles:
@@ -149,42 +134,13 @@ class DeveloperLayoutMici(NavScroller):
ui_state.params.remove("AlphaLongitudinalEnabled")
else:
self._alpha_long_toggle.set_visible(True)
long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
self._long_maneuver_toggle.set_enabled(long_man_enabled)
else:
self._long_maneuver_toggle.set_enabled(False)
self._lat_maneuver_toggle.set_enabled(False)
self._alpha_long_toggle.set_visible(False)
# Refresh toggles from params to mirror external changes
for key, item in self._refresh_toggles:
item.set_checked(ui_state.params.get_bool(key))
def _on_joystick_debug_mode(self, state: bool):
ui_state.params.put_bool("JoystickDebugMode", state, block=True)
ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
self._long_maneuver_toggle.set_checked(False)
ui_state.params.put_bool("LateralManeuverMode", False, block=True)
self._lat_maneuver_toggle.set_checked(False)
def _on_long_maneuver_mode(self, state: bool):
ui_state.params.put_bool("LongitudinalManeuverMode", state, block=True)
ui_state.params.put_bool("JoystickDebugMode", False, block=True)
self._joystick_toggle.set_checked(False)
ui_state.params.put_bool("LateralManeuverMode", False, block=True)
self._lat_maneuver_toggle.set_checked(False)
restart_needed_callback()
def _on_lat_maneuver_mode(self, state: bool):
ui_state.params.put_bool("LateralManeuverMode", state, block=True)
ui_state.params.put_bool("ExperimentalMode", False, block=True)
ui_state.params.put_bool("JoystickDebugMode", False, block=True)
self._joystick_toggle.set_checked(False)
ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
self._long_maneuver_toggle.set_checked(False)
restart_needed_callback()
def _on_alpha_long_enabled(self, state: bool):
def do_toggle(_state: bool):
ui_state.params.put_bool("AlphaLongitudinalEnabled", _state, block=True)