From 8729d54dc8d99ccdfee5833443e8a11f8c87c5f1 Mon Sep 17 00:00:00 2001 From: mawei Date: Sun, 28 Jun 2026 15:35:26 +0800 Subject: [PATCH] =?UTF-8?q?=E7=A7=BB=E9=99=A4=20Lateral=20Maneuver=20Mode?= =?UTF-8?q?=20=E5=BC=80=E5=85=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/ui/layouts/settings/developer.py | 17 +------ .../ui/mici/layouts/settings/developer.py | 50 ++----------------- 2 files changed, 4 insertions(+), 63 deletions(-) diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py index 675b26b59..7088a9a82 100644 --- a/selfdrive/ui/layouts/settings/developer.py +++ b/selfdrive/ui/layouts/settings/developer.py @@ -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): diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py index 2f0250ff5..e2d91616d 100644 --- a/selfdrive/ui/mici/layouts/settings/developer.py +++ b/selfdrive/ui/mici/layouts/settings/developer.py @@ -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)