ui

selfdrive/ui/sunnypilot/SConscript

@@ -37,6 +37,7 @@ qt_src = [
 lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
+  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
 ]
 
 network_src = [

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc

@@ -0,0 +1,174 @@
+//
+// Created by kumar on 3/10/25.
+//
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
+
+#include <map>
+#include <string>
+#include <tuple>
+#include <vector>
+
+LaneChangeSettings::LaneChangeSettings(QWidget* parent) : QWidget(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton* back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  ListWidgetSP *list = new ListWidgetSP(this, false);
+  // param, title, desc, icon
+  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
+      /***
+    {
+      "BelowSpeedPause",
+      tr("Pause Lateral Below Speed with Blinker"),
+      tr("Enable this toggle to pause lateral actuation with blinker when traveling below the desired speed selected below."),
+      "../assets/offroad/icon_blank.png",
+    },
+    ***/
+    {
+      "AutoLaneChangeBsmDelay",
+      tr("Auto Lane Change: Delay with Blind Spot"),
+      tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
+      "../assets/offroad/icon_blank.png",
+    },
+      /***
+    {
+      "RoadEdge",
+      tr("Block Lane Change: Road Edge Detection"),
+      tr("Enable this toggle to block lane change when road edge is detected on the stalk actuated side."),
+      "../assets/offroad/icon_blank.png",
+    }
+    ***/
+  };
+
+  // Controls: Auto Lane Change Timer
+  auto_lane_change_timer = new AutoLaneChangeTimer();
+  auto_lane_change_timer->setUpdateOtherToggles(true);
+  auto_lane_change_timer->showDescription();
+  connect(auto_lane_change_timer, &OptionControlSP::updateLabels, auto_lane_change_timer, &AutoLaneChangeTimer::refresh);
+  connect(auto_lane_change_timer, &AutoLaneChangeTimer::updateOtherToggles, this, &LaneChangeSettings::updateToggles);
+  list->addItem(auto_lane_change_timer);
+
+  // Pause Lateral Below Speed w/ Blinker
+  /***
+  pause_lateral_speed = new PauseLateralSpeed();
+  pause_lateral_speed->showDescription();
+  connect(pause_lateral_speed, &OptionControlSP::updateLabels, pause_lateral_speed, &PauseLateralSpeed::refresh);
+
+  for (auto &[param, title, desc, icon] : toggle_defs) {
+    auto toggle = new ParamControlSP(param, title, desc, icon, this);
+
+    list->addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+
+    if (param == "BelowSpeedPause") {
+      list->addItem(pause_lateral_speed);
+    }
+  }
+
+  connect(toggles["BelowSpeedPause"], &ToggleControlSP::toggleFlipped, [=](bool state) {
+    pause_lateral_speed->setEnabled(state);
+    pause_lateral_speed->setVisible(state);
+  });
+  pause_lateral_speed->setEnabled(toggles["BelowSpeedPause"]->isToggled());
+  pause_lateral_speed->setVisible(toggles["BelowSpeedPause"]->isToggled());
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+  ***/
+}
+
+void LaneChangeSettings::showEvent(QShowEvent *event) {
+  updateToggles();
+}
+
+void LaneChangeSettings::updateToggles() {
+  if (!isVisible()) {
+    return;
+  }
+
+  auto auto_lane_change_bsm_delay_toggle = toggles["AutoLaneChangeBsmDelay"];
+  auto auto_lane_change_timer_param = std::atoi(params.get("AutoLaneChangeTimer").c_str());
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (!CP.getEnableBsm()) {
+      params.remove("AutoLaneChangeBsmDelay");
+    }
+    auto_lane_change_bsm_delay_toggle->setEnabled(CP.getEnableBsm() && (auto_lane_change_timer_param > 0));
+
+    auto_lane_change_bsm_delay_toggle->refresh();
+  } else {
+    auto_lane_change_bsm_delay_toggle->setEnabled(false);
+  }
+}
+
+// Auto Lane Change Timer (ALCT)
+AutoLaneChangeTimer::AutoLaneChangeTimer() : OptionControlSP(
+  "AutoLaneChangeTimer",
+  tr("Auto Lane Change by Blinker"),
+  tr("Set a timer to delay the auto lane change operation when the blinker is used. "
+     "No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.\n"
+     "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit."),
+  "../assets/offroad/icon_blank.png",
+  {-1, 5}) {
+
+  refresh();
+}
+
+void AutoLaneChangeTimer::refresh() {
+  QString option = QString::fromStdString(params.get("AutoLaneChangeTimer"));
+  QString second = tr("s");
+  if (option == "-1") {
+    setLabel(tr("Off"));
+  } else if (option == "0") {
+    setLabel(tr("Nudge"));
+  } else if (option == "1") {
+    setLabel(tr("Nudgeless"));
+  } else if (option == "2") {
+    setLabel("0.5 " + second);
+  } else if (option == "3") {
+    setLabel("1 " + second);
+  } else if (option == "4") {
+    setLabel("1.5 " + second);
+  } else {
+    setLabel("2 " + second);
+  }
+}
+/***
+PauseLateralSpeed::PauseLateralSpeed() : OptionControlSP(
+  "PauseLateralSpeed",
+  "",
+  tr("Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h."),
+  "../assets/offroad/icon_blank.png",
+  {0, 255},
+  5) {
+
+  refresh();
+}
+
+void PauseLateralSpeed::refresh() {
+  QString option = QString:: fromStdString(params.get("PauseLateralSpeed"));
+  bool is_metric = params.getBool("IsMetric");
+
+  if (option == "0") {
+    setLabel(tr("Default"));
+  } else {
+    setLabel(option + " " + (is_metric ? tr("km/h") : tr("mph")));
+  }
+}
+***/

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h

@@ -0,0 +1,68 @@
+/**
+* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <map>
+#include <string>
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class AutoLaneChangeTimer : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  AutoLaneChangeTimer();
+
+  void refresh();
+
+signals:
+  void toggleUpdated();
+
+private:
+  Params params;
+};
+
+/***
+class PauseLateralSpeed : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  PauseLateralSpeed();
+
+  void refresh();
+
+  signals:
+    void ToggleUpdated();
+
+private:
+  Params params;
+};
+***/
+
+class LaneChangeSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit LaneChangeSettings(QWidget* parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+public slots:
+  void updateToggles();
+
+private:
+  Params params;
+  std::map<std::string, ParamControlSP*> toggles;
+
+  AutoLaneChangeTimer *auto_lane_change_timer;
+  //PauseLateralSpeed *pause_lateral_speed;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc

@@ -42,6 +42,24 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   });
   list->addItem(madsSettingsButton);
 
+  // Lane Change Settings
+  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"));
+  laneChangeSettingsButton->setObjectName("lane_change_btn");
+  connect(laneChangeSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(lane_change_settings);
+  });
+
+  lane_change_settings = new LaneChangeSettings(this);
+  connect(lane_change_settings, &LaneChangeSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(laneChangeSettingsButton);
+
+
+
+  // nnlc
   nnlcToggle = new NeuralNetworkLateralControl();
   list->addItem(nnlcToggle);
 
@@ -65,6 +83,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
+  main_layout->addWidget(lane_change_settings);
 
   setStyleSheet(R"(
     #back_btn {

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -38,5 +39,11 @@ private:
   ParamControl *madsToggle;
   PushButtonSP *madsSettingsButton;
   MadsSettings *madsWidget = nullptr;
+
+  PushButtonSP *laneChangeSettingsButton;
+  LaneChangeSettings *lane_change_settings = nullptr;
+
+
+
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
 };