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models panel ui: live description for lagd toggle (#1139)

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* Handle decoding directly in ui bc why not

* dynamic max

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
This commit is contained in:
James Vecellio-Grant
2025-08-18 13:02:17 -07:00
committed by GitHub
parent 102ac66fab
commit 80d702c866
1 changed files with 47 additions and 3 deletions
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selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+47 -3
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@@ -110,10 +110,23 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
list->addItem(lagd_toggle_control);
// Software delay control
int liveDelayMaxInt = 30;
std::string liveDelayBytes = params.get("LiveDelay");
if (!liveDelayBytes.empty()) {
capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
liveDelayBytes.size() / sizeof(capnp::word)));
auto event = msg.getRoot<cereal::Event>();
if (event.hasLiveDelay()) {
auto liveDelay = event.getLiveDelay();
float lateralDelay = liveDelay.getLateralDelay();
liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
}
}
delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
"\nThe default software delay value is 0.2"),
"", {5, 30}, 1, false, nullptr, true, true);
"", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
connect(delay_control, &OptionControlSP::updateLabels, [=]() {
float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -367,8 +380,39 @@ void ModelsPanel::updateLabels() {
// Update lagdToggle description with current value
QString 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. "
"The Current value is updated automatically when the vehicle is Onroad.");
"Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
bool lagdEnabled = params.getBool("LagdToggle");
if (lagdEnabled) {
std::string liveDelayBytes = params.get("LiveDelay");
if (!liveDelayBytes.empty()) {
capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
liveDelayBytes.size() / sizeof(capnp::word)));
auto event = msg.getRoot<cereal::Event>();
if (event.hasLiveDelay()) {
auto liveDelay = event.getLiveDelay();
float lateralDelay = liveDelay.getLateralDelay();
desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
.arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 2));
}
}
} else {
std::string carParamsBytes = params.get("CarParamsPersistent");
if (!carParamsBytes.empty()) {
capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
carParamsBytes.size() / sizeof(capnp::word)));
auto carParams = msg.getRoot<cereal::CarParams>();
float steerDelay = carParams.getSteerActuatorDelay();
float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
float totalLag = steerDelay + softwareDelay;
desc += QString("<br><br><span style=\"color:#e0e0e0\">"
"<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
.arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
tr("Total Delay:"), QString::number(totalLag, 'f', 2));
}
}
lagd_toggle_control->setDescription(desc);
delay_control->setVisible(!params.getBool("LagdToggle"));