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This commit is contained in:
Jason Wen
2025-03-20 23:35:55 -04:00
parent b8fb6fb8e2
commit d860f06a8b
1 changed files with 33 additions and 23 deletions
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selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
+33 -23
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@@ -11,6 +11,14 @@ NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"), "", "") {
setConfirmation(true, false);
QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) {
if (state) {
showDescription();
} else {
hideDescription();
}
});
updateToggle();
}
@@ -27,7 +35,6 @@ void NeuralNetworkLateralControl::updateToggle() {
QString nnff_status_init = "<font color='yellow'>⚠️ " + tr("Start the car to check car compatibility") + "</font>";
QString nnff_not_loaded = "<font color='yellow'>⚠️ " + tr("NNLC Not Loaded") + "</font>";
QString nnff_loaded = "<font color=#00ff00>✅ " + tr("NNLC Loaded") + "</font>";
auto _car_model = QString::fromStdString(params.get("NNFFCarModel"));
auto cp_bytes = params.get("CarParamsPersistent");
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
@@ -39,34 +46,37 @@ void NeuralNetworkLateralControl::updateToggle() {
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
params.remove("EnforceTorqueLateral");
/*** NNLC ***/
{
if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
params.remove("NeuralNetworkLateralControl");
setDescription(nnffDescriptionBuilder(nnff_available_desc));
setEnabled(false);
params.remove("NNFF");
} else if (isToggled()) {
if (CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE) {
QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ? tr("Fuzzy") : tr("Exact");
setDescription(nnffDescriptionBuilder(nnff_available_desc));
setEnabled(false);
} else if (isToggled()) {
if (CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE) {
QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ? tr("Fuzzy") : tr("Exact");
setDescription(nnffDescriptionBuilder(
(nn_model_name == "")
? nnff_status_init
: (nn_model_name == "mock")
? (nnff_not_loaded + "<br>" + tr(
"Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server and donate logs to get NNLC loaded for your car: ")
+ "<font color='white'><b>#tuning-nnlc</b></font>")
: (nnff_loaded + " | " + tr("Match") + " = " + nn_fuzzy + " | " + _car_model + "<br><br>" +
nnff_fuzzy_desc)));
setDescription(nnffDescriptionBuilder(
(nn_model_name == "")
? nnff_status_init
: (nn_model_name == "MOCK")
? (nnff_not_loaded + "<br>" + tr(
"Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server and donate logs to get NNLC loaded for your car: ")
+ "<font color='white'><b>#tuning-nnlc</b></font>")
: (nnff_loaded + " | " + tr("Match") + " = " + nn_fuzzy + " | " + nn_model_name + "<br><br>" +
nnff_fuzzy_desc)
));
} else {
setDescription(nnffDescriptionBuilder(nnff_status_init));
}
} else {
setDescription(nnffDescriptionBuilder(nnff_status_init));
setDescription(nnff_description);
}
} else {
setDescription(nnff_description);
}
} else {
setDescription(nnff_description);
setDescription(isToggled() ? nnffDescriptionBuilder(nnff_status_init) : nnff_description);
}
}