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Handle decoding directly in ui bc why not

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This commit is contained in:
discountchubbs
2025-08-09 19:00:25 -07:00
parent b391708b3d
commit 990b3d4998
1 changed files with 33 additions and 2 deletions
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selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+33 -2
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@@ -359,8 +359,39 @@ 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"));