Add Neural Network Lateral Control toggle to developer panel

This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -57,6 +57,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(hyundaiRadarTracksToggle);
 
+#if SUNNYPILOT
+  neuralNetworkLateralControlToggle = neuralNetworkLateralControl.toggle;
+  addItem(neuralNetworkLateralControlToggle);
+#endif
+
   auto enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
@@ -111,6 +116,7 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     hyundaiRadarTracksToggle->setVisible(false);
   }
   experimentalLongitudinalToggle->refresh();
+  neuralNetworkLateralControl.refresh();
 
   offroad = _offroad;
 }

selfdrive/ui/qt/offroad/developer_panel.h

@@ -2,6 +2,7 @@
 
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/neural_network_lateral_control.h"
 #else
 #include "selfdrive/ui/qt/offroad/settings.h"
 #endif
@@ -19,6 +20,10 @@ private:
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
   ParamControl* hyundaiRadarTracksToggle;
+  ParamControl* neuralNetworkLateralControlToggle;
+#ifdef SUNNYPILOT
+  NeuralNetworkLateralcontrol neuralNetworkLateralControl;
+#endif
   bool is_release;
   bool offroad = false;
 

selfdrive/ui/sunnypilot/SConscript

@@ -33,6 +33,7 @@ qt_src = [
 
 sunnypilot_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc",
+  "sunnypilot/qt/offroad/settings/sunnypilot/neural_network_lateral_control.cc",
 ]
 
 vehicle_panel_qt_src = [

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

@@ -0,0 +1,67 @@
+/**
+* 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/sunnypilot/neural_network_lateral_control.h"
+
+NeuralNetworkLateralcontrol::NeuralNetworkLateralcontrol(QWidget *parent) {
+    toggle = new ParamControl(
+      "NeuralNetworkLateralControlToggle",
+      tr("Neural Network Lateral Control (NNLC)"),
+      nnff_description,
+      "");
+    toggle->setConfirmation(true, false);
+}
+
+void NeuralNetworkLateralcontrol::refresh() {
+    QString nnff_available_desc = tr("NNLC is currently not available on this platform.");
+    QString nnff_fuzzy_desc = tr("Match: \"Exact\" is ideal, but \"Fuzzy\" is fine too. Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server if there are any issues: ")
+                                 + "<font color='white'><b>#tuning-nnlc</b></font>";
+    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");
+    if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
+        AlignedBuffer aligned_buf;
+        AlignedBuffer aligned_buf_sp;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+        capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
+        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");
+
+            toggle->setDescription(nnffDescriptionBuilder(nnff_available_desc));
+            toggle->setEnabled(false);
+            params.remove("NNFF");
+        } else if (toggle->isToggled()) {
+            if (CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE) {
+                QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModelName());
+                QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ? tr("Fuzzy") : tr("Exact");
+
+                toggle->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)));
+            } else {
+                toggle->setDescription(nnffDescriptionBuilder(nnff_status_init));
+            }
+        } else {
+            toggle->setDescription(nnff_description);
+        }
+    }
+}
+
+
+// ParamControlSP *NeuralNetworkLateralcontrol::configure_settings_interaction(ListWidgetSP *list) {
+//     list->addItem(neuralNetworkLateralControlToggle);
+//     return neuralNetworkLateralControlToggle;
+// }

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

@@ -0,0 +1,40 @@
+/**
+* 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 "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class NeuralNetworkLateralcontrol : public QWidget {
+    Q_OBJECT
+
+  public:
+    explicit NeuralNetworkLateralcontrol(QWidget *parent = nullptr);
+    void refresh();
+    // ParamControlSP *configure_settings_interaction(ListWidgetSP *list);
+    ParamControlSP *toggle;
+
+  private:
+    Params params;
+    const QString nnff_description = QString("%1<br><br>"
+                                           "%2")
+    .arg(tr("Formerly known as <b>\"NNFF\"</b>, this replaces the lateral <b>\"torque\"</b> controller, "
+            "with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy."))
+    .arg(tr("Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server with feedback, "
+            "or to provide log data for your car if your car is currently unsupported: ") + "<font color='white'><b>#tuning-nnlc</b></font>");
+
+    QString nnffDescriptionBuilder(const QString &custom_description) {
+        QString description = "<b>" + custom_description + "</b><br><br>" + nnff_description;
+        return description;
+    }
+
+};