mirror of
https://github.com/dzid26/sunnypilot.git
synced 2026-06-08 07:44:55 +08:00
6b94c47c6a
* lateral report * mutually exclude buttons * gating * set maneuver * add timer * timer text * fix plot * use curvature * more curves * fix gating * rm delay * highway speed only * msg * add sine * add step-down * use relative * text * stabilize * tuning * windup * text * winddown * no windup * tuning * more tuning * more * formatting * test faster * extend sine * report crossings * add readme * clean report * fix lint * gating * fix * straighter * compensate roll * rm abs roll * len * Revert "rm abs roll" This reverts commit a22d6bb136f90d2bf997e6b9aeee2f784398ef42. * Revert "compensate roll" This reverts commit dfda52119cc4a2e29ac2854b9154c08459086fea. * print actuators * show curve and roll * tune roll * text * slower * timer * too much banked streets in US * readme * filter incomplete * plot jerk * plot angle jerk * lil edits * fix lint * apply suggestions * better table * apply comments * clean * shane comments * deflicker --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
178 lines
7.9 KiB
Python
178 lines
7.9 KiB
Python
from openpilot.common.time_helpers import system_time_valid
|
|
from openpilot.system.ui.widgets.scroller import NavScroller
|
|
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl
|
|
from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
|
|
from openpilot.system.ui.lib.application import gui_app
|
|
from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
|
|
from openpilot.selfdrive.ui.ui_state import ui_state
|
|
from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher
|
|
|
|
|
|
class DeveloperLayoutMici(NavScroller):
|
|
def __init__(self):
|
|
super().__init__()
|
|
self._ssh_fetcher = SshKeyFetcher(ui_state.params)
|
|
|
|
def github_username_callback(username: str):
|
|
if username:
|
|
self._ssh_keys_btn.set_value("Loading...")
|
|
self._ssh_keys_btn.set_enabled(False)
|
|
|
|
def on_response(error):
|
|
self._ssh_keys_btn.set_enabled(True)
|
|
if error is None:
|
|
self._ssh_keys_btn.set_value(username)
|
|
else:
|
|
self._ssh_keys_btn.set_value("Not set")
|
|
gui_app.push_widget(BigDialog("", error))
|
|
|
|
self._ssh_fetcher.fetch(username, on_response)
|
|
else:
|
|
self._ssh_fetcher.clear()
|
|
self._ssh_keys_btn.set_value("Not set")
|
|
|
|
def ssh_keys_callback():
|
|
github_username = ui_state.params.get("GithubUsername") or ""
|
|
dlg = BigInputDialog("enter GitHub username...", github_username, minimum_length=0, confirm_callback=github_username_callback)
|
|
if not system_time_valid():
|
|
dlg = BigDialog("", "Please connect to Wi-Fi to fetch your key.")
|
|
gui_app.push_widget(dlg)
|
|
return
|
|
gui_app.push_widget(dlg)
|
|
|
|
txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 56, 64)
|
|
github_username = ui_state.params.get("GithubUsername") or ""
|
|
self._ssh_keys_btn = BigButton("SSH keys", "Not set" if not github_username else github_username, icon=txt_ssh)
|
|
self._ssh_keys_btn.set_click_callback(ssh_keys_callback)
|
|
|
|
# adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
|
|
# ******** 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)
|
|
self._debug_mode_toggle = BigParamControl("ui debug mode", "ShowDebugInfo",
|
|
toggle_callback=lambda checked: (gui_app.set_show_touches(checked),
|
|
gui_app.set_show_fps(checked)))
|
|
|
|
self._scroller.add_widgets([
|
|
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,
|
|
])
|
|
|
|
# Toggle lists
|
|
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)
|
|
|
|
# Hide non-release toggles on release builds
|
|
for item in release_blocked_toggles:
|
|
item.set_visible(not ui_state.is_release)
|
|
|
|
# Disable toggles that require offroad
|
|
for item in onroad_blocked_toggles:
|
|
item.set_enabled(lambda: ui_state.is_offroad())
|
|
|
|
# Disable toggles that require not engaged
|
|
for item in engaged_blocked_toggles:
|
|
item.set_enabled(lambda: not ui_state.engaged)
|
|
|
|
# Set initial state
|
|
if ui_state.params.get_bool("ShowDebugInfo"):
|
|
gui_app.set_show_touches(True)
|
|
gui_app.set_show_fps(True)
|
|
|
|
ui_state.add_offroad_transition_callback(self._update_toggles)
|
|
|
|
def _update_state(self):
|
|
super()._update_state()
|
|
self._ssh_fetcher.update()
|
|
|
|
def show_event(self):
|
|
super().show_event()
|
|
self._update_toggles()
|
|
|
|
def _update_toggles(self):
|
|
ui_state.update_params()
|
|
|
|
# CP gating
|
|
if ui_state.CP is not None:
|
|
alpha_avail = ui_state.CP.alphaLongitudinalAvailable
|
|
if not alpha_avail or ui_state.is_release:
|
|
self._alpha_long_toggle.set_visible(False)
|
|
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)
|
|
if not long_man_enabled:
|
|
self._long_maneuver_toggle.set_checked(False)
|
|
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
|
|
|
lat_man_enabled = ui_state.is_offroad()
|
|
self._lat_maneuver_toggle.set_enabled(lat_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)
|
|
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
|
self._long_maneuver_toggle.set_checked(False)
|
|
ui_state.params.put_bool("LateralManeuverMode", False)
|
|
self._lat_maneuver_toggle.set_checked(False)
|
|
|
|
def _on_long_maneuver_mode(self, state: bool):
|
|
ui_state.params.put_bool("LongitudinalManeuverMode", state)
|
|
ui_state.params.put_bool("JoystickDebugMode", False)
|
|
self._joystick_toggle.set_checked(False)
|
|
ui_state.params.put_bool("LateralManeuverMode", False)
|
|
self._lat_maneuver_toggle.set_checked(False)
|
|
restart_needed_callback(state)
|
|
|
|
def _on_lat_maneuver_mode(self, state: bool):
|
|
ui_state.params.put_bool("LateralManeuverMode", state)
|
|
ui_state.params.put_bool("ExperimentalMode", False)
|
|
ui_state.params.put_bool("JoystickDebugMode", False)
|
|
self._joystick_toggle.set_checked(False)
|
|
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
|
self._long_maneuver_toggle.set_checked(False)
|
|
restart_needed_callback(state)
|
|
|
|
def _on_alpha_long_enabled(self, state: bool):
|
|
# TODO: show confirmation dialog before enabling
|
|
ui_state.params.put_bool("AlphaLongitudinalEnabled", state)
|
|
restart_needed_callback(state)
|
|
self._update_toggles()
|