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James Vecellio
2025-11-19 21:25:02 -08:00
parent 335821663f
commit 46222c3bb0
1 changed files with 60 additions and 96 deletions
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selfdrive/ui/sunnypilot/layouts/settings/models.py
+60 -96
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@@ -4,6 +4,7 @@ import pyray as rl
from cereal import messaging, car, custom
from openpilot.common.params import Params
from openpilot.common.constants import CV
from openpilot.system.ui.lib.multilang import tr
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import DialogResult, Widget
@@ -41,37 +42,27 @@ class ModelsLayout(Widget):
self.navigation_label = progress_item(tr("Navigation Model"))
self.vision_label = progress_item(tr("Vision Model"))
self.policy_label = progress_item(tr("Policy Model"))
self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on, " +
"the car will plan a turn in that direction at the nearest drivable path. " +
"This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
callback=self._on_lane_turn_desire_changed, param="LaneTurnDesire")
max_value_mph = 20
is_metric = self._params.get_bool("IsMetric")
per_value_change = 100 if not is_metric else int(round(100 / 1.609344))
self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 5 * 100, max_value_mph * 100,
tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
per_value_change, None, True, "", style.BUTTON_WIDTH, None, True,
lambda v: self._format_lane_turn_label(v / 100))
self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", callback=self._on_lagd_changed, param="LagdToggle")
self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
tr("Adjust the software delay when Live Learning Steer Delay is toggled off. " +
"The default software delay value is 0.2"),
1, None, True, "", style.BUTTON_WIDTH, None, True,
lambda v: f"{v/100:.2f}s")
self.items = [
self.current_model_item,
self.refresh_item,
self.clear_cache_item,
self.supercombo_label,
self.vision_label,
self.policy_label,
self.lane_turn_desire_toggle,
self.lane_turn_value_control,
self.lagd_toggle,
self.delay_control,
]
self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on, the car will plan a turn in that direction at the nearest drivable path. " +
"This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
callback=lambda s: self.lane_turn_value_control.set_visible(s), param="LaneTurnDesire")
self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_WIDTH, None, True,
lambda v: self._format_lane_turn_label(v / 100))
self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "",
callback=lambda s: (self.delay_control.set_visible(not s), self._update_lagd_description()), param="LagdToggle")
self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
1, None, True, "", style.BUTTON_WIDTH, None, True, lambda v: f"{v/100:.2f}s")
self.items = [self.current_model_item, self.refresh_item, self.clear_cache_item, self.supercombo_label,
self.vision_label, self.policy_label, self.lane_turn_desire_toggle, self.lane_turn_value_control,
self.lagd_toggle, self.delay_control]
def _render(self, rect):
self._scroller.render(rect)
@@ -82,98 +73,71 @@ class ModelsLayout(Widget):
self.update_labels()
def update_labels(self):
self._update_lane_turn_step()
self.update_model_manager_state()
self.handle_bundle_download_progress()
self.current_model_item.action_item.set_value(self.get_active_model_internal_name())
self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
self._update_lagd_description()
def _update_lane_turn_step(self):
new_step = int(round(100 / CV.MPH_TO_KPH)) if self._params.get_bool("IsMetric") else 100
if self.lane_turn_value_control.action_item.option_control.value_change_step != new_step:
self.lane_turn_value_control.action_item.option_control.value_change_step = new_step
def _update_lagd_description(self):
desc = tr("Enable this for the car to learn and adapt its steering response time. " +
"Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.")
desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
"Keeping this on provides the stock openpilot experience.")
if self._params.get_bool("LagdToggle"):
live_delay = ui_state.sm["liveDelay"].lateralDelay
desc += f"<br><br><b>{tr('Live Steer Delay:')} {live_delay:.3f} s"
else:
car_params_bytes = self._params.get("CarParamsPersistent")
if car_params_bytes:
carparams = messaging.log_from_bytes(car_params_bytes, car.CarParams)
steer_delay = carparams.steerActuatorDelay
software_delay = float(self._params.get("LagdToggleDelay", "0.2"))
total_lag = steer_delay + software_delay
desc += (f"<br><br><b>{tr('Actuator Delay:')} {steer_delay:.2f} s + " +
f"{tr('Software Delay:')} {software_delay:.2f} s = " +
f"{tr('Total Delay:')} {total_lag:.2f} s")
desc += f"<br><br><b>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
elif (cp := self._params.get("CarParamsPersistent")):
cp = messaging.log_from_bytes(cp, car.CarParams)
sw_delay = float(self._params.get("LagdToggleDelay", "0.2"))
desc += (f"<br><br><b>{tr('Actuator Delay:')} {cp.steerActuatorDelay:.2f} s + {tr('Software Delay:')} {sw_delay:.2f} s = " +
f"{tr('Total Delay:')} {cp.steerActuatorDelay + sw_delay:.2f} s")
self.lagd_toggle.set_description(desc)
def _on_lane_turn_desire_changed(self, state):
self.lane_turn_value_control.set_visible(state)
def _on_lagd_changed(self, state):
self.delay_control.set_visible(not state)
self._update_lagd_description()
def _format_lane_turn_label(self, mph):
is_metric = self._params.get_bool("IsMetric")
unit = "km/h" if is_metric else "mph"
display_value = mph
if is_metric:
display_value *= 1.609344
return f"{int(round(display_value))} {unit}"
return f"{int(round(mph * (CV.MPH_TO_KPH if is_metric else 1)))} {'km/h' if is_metric else 'mph'}"
def update_model_manager_state(self):
self.model_manager = ui_state.sm["modelManagerSP"]
def handle_bundle_download_progress(self):
labels = {
custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
custom.ModelManagerSP.Model.Type.vision: self.vision_label,
custom.ModelManagerSP.Model.Type.policy: self.policy_label,
}
for label in labels.values():
label.set_visible(False)
labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
custom.ModelManagerSP.Model.Type.vision: self.vision_label,
custom.ModelManagerSP.Model.Type.policy: self.policy_label}
for l in labels.values():
l.set_visible(False)
if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
return
show_selected = (self.model_manager.selectedBundle and
(self.is_downloading() or
self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed))
bundle = self.model_manager.selectedBundle if show_selected else self.model_manager.activeBundle
models = bundle.models
bundle = self.model_manager.activeBundle
if (sb := self.model_manager.selectedBundle) and (self.is_downloading() or sb.status == custom.ModelManagerSP.DownloadStatus.failed):
bundle = sb
self.download_status = bundle.status
download_status_changed = self.prev_download_status != self.download_status
status_changed = self.prev_download_status != self.download_status
for model in models:
model_name = bundle.displayName
model_type = model.type.raw if hasattr(model.type, 'raw') else model.type
label = labels.get(model_type)
if label:
for model in bundle.models:
if label := labels.get(model.type.raw if hasattr(model.type, 'raw') else model.type):
label.set_visible(True)
progress = model.artifact.downloadProgress
p = model.artifact.downloadProgress
name = bundle.displayName
text_color = rl.BLACK
show_progress = False
text, show, color = f"pending - {name}", False, rl.BLACK
if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
text, show = f"{int(p.progress)}% - {name}", True
elif p.status == custom.ModelManagerSP.DownloadStatus.downloaded:
text, color = f"{name} - {tr('downloaded') if status_changed else tr('ready')}", rl.Color(51, 171, 76, 255)
elif p.status == custom.ModelManagerSP.DownloadStatus.cached:
text, color = f"{name} - {tr('from cache') if status_changed else tr('ready')}", rl.Color(51, 171, 76, 255)
elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
text, color = f"download failed - {name}", rl.RED
if progress.status == custom.ModelManagerSP.DownloadStatus.downloading:
text = f"{int(progress.progress)}% - {model_name}"
show_progress = True
elif progress.status == custom.ModelManagerSP.DownloadStatus.downloaded:
status = tr("downloaded") if download_status_changed else tr("ready")
text = f"{model_name} - {status}"
text_color = rl.Color(51, 171, 76, 255)
elif progress.status == custom.ModelManagerSP.DownloadStatus.cached:
status = tr("from cache") if download_status_changed else tr("ready")
text = f"{model_name} - {status}"
text_color = rl.Color(51, 171, 76, 255)
elif progress.status == custom.ModelManagerSP.DownloadStatus.failed:
text = f"download failed - {model_name}"
text_color = rl.RED
else:
text = f"pending - {model_name}"
label.action_item.update(progress.progress, text, show_progress, text_color)
label.action_item.update(p.progress, text, show, color)
self.prev_download_status = self.download_status