Add HKG angle tuning settings with min/max torque parameters

Introduce separate angle tuning controls for HKG vehicles, including smoothing factor, min torque, and max torque parameters. Refactor developer panel to integrate the new settings into a dedicated UI panel, enhancing modularity and customization capabilities.

common/params_keys.h

@@ -169,5 +169,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"DynamicExperimentalControl", PERSISTENT},
 
     // Tuning keys
-    {"HkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP}
+    {"HkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP},
+    {"HkgTuningAngleMinTorque", PERSISTENT | BACKUP},
+    {"HkgTuningAngleMaxTorque", PERSISTENT | BACKUP},
+    {"AngleTuning", PERSISTENT | BACKUP}
+    
 };

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -56,15 +56,6 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(errorLogBtn);
 
-#ifdef SUNNYPILOT
-  hkgAngleSmoothingFactor = new OptionControlSP("HkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering.<br/>A value closer to 1 means no smoothing.<br/>A value closer to 0 means very smooth (and thus likely too 'soft' steering)."), "../assets/offroad/icon_blank.png", {0, 10}, 1);
-  connect(hkgAngleSmoothingFactor, &OptionControlSP::updateLabels, hkgAngleSmoothingFactor, [=]() {
-    this->updateToggles(offroad);
-  });
-  addItem(hkgAngleSmoothingFactor);
-#endif
-  
-
   // Joystick and longitudinal maneuvers should be hidden on release branches
   is_release = params.getBool("IsReleaseBranch");
 
@@ -84,9 +75,6 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     if (btn != experimentalLongitudinalToggle) {
       btn->setEnabled(_offroad);
     }
-
-    auto HkgAngleSmoothingFactorValue = QString::fromStdString(params.get("HkgTuningAngleSmoothingFactor")).toDouble();
-    hkgAngleSmoothingFactor->setLabel(QString::number(HkgAngleSmoothingFactorValue / 10, 'f', 1));
   }
 
   // longManeuverToggle and experimentalLongitudinalToggle should not be toggleable if the car does not have longitudinal control

selfdrive/ui/qt/offroad/developer_panel.h

@@ -20,9 +20,6 @@ private:
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
   ParamControl* enableGithubRunner;
-#ifdef SUNNYPILOT
-  OptionControlSP* hkgAngleSmoothingFactor;
-#endif
   
   bool is_release;
   bool offroad = false;

selfdrive/ui/sunnypilot/SConscript

@@ -40,6 +40,7 @@ qt_src = [
 lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
 

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc

@@ -0,0 +1,65 @@
+/**
+ * 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/lateral/angle_tuning_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  auto *list = new ListWidget(this, false);
+
+  hkgAngleSmoothingFactor = new OptionControlSP("HkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering.<br/>A value closer to 1 means no smoothing.<br/>A value closer to 0 means very smooth (and thus likely too 'soft' steering)."), "../assets/offroad/icon_blank.png", {0, 10}, 1);
+  connect(hkgAngleSmoothingFactor, &OptionControlSP::updateLabels, hkgAngleSmoothingFactor, [=]() {
+    this->updateToggles(offroad);
+  });
+  list->addItem(hkgAngleSmoothingFactor);
+
+
+  auto hlayout = new QHBoxLayout();
+  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorque", tr("HKG Angle Min Torque"), tr("Minimum torque to apply to the steering wheel.<br/>Must be smaller than max."), "../assets/offroad/icon_blank.png", {0, 250}, 5);
+  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  hlayout->addWidget(hkgAngleMinTorque);
+
+  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorque", tr("HKG Angle Max Torque"), tr("Maximum torque to apply to the steering wheel.<br/>Must be bigger than min."), "../assets/offroad/icon_blank.png", {25, 250}, 5);
+  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  hlayout->addWidget(hkgAngleMaxTorque);
+  list->addItem(hlayout);
+  
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void AngleTunningSettings::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}
+
+void AngleTunningSettings::updateToggles(bool _offroad) {
+  auto HkgAngleSmoothingFactorValue = QString::fromStdString(params.get("HkgTuningAngleSmoothingFactor")).toDouble();
+  hkgAngleSmoothingFactor->setLabel(QString::number(HkgAngleSmoothingFactorValue / 10, 'f', 1));
+
+  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorque")).toInt();
+  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue));
+
+  auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorque")).toInt();
+  hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue));
+
+  offroad = _offroad;
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h

@@ -0,0 +1,36 @@
+/**
+ * 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 "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class AngleTunningSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit AngleTunningSettings(QWidget *parent = nullptr);
+
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+public slots:
+  void updateToggles(bool _offroad);
+
+private:
+  Params params;
+  bool offroad;
+
+  OptionControlSP* hkgAngleSmoothingFactor;
+  OptionControlSP* hkgAngleMinTorque;
+  OptionControlSP* hkgAngleMaxTorque;
+};

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

@@ -78,6 +78,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
     nnlcToggle->updateToggle();
   });
 
+#pragma region hkg angle tuning
+  list->addItem(vertical_space());
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
+  // HKG Angle Tunning
+  // angleTuningToggle = new ParamControl(
+  //   "AngleTuning",
+  //   tr("Modular Assistive Driving System (MADS)"),
+  //   tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
+  //   "");
+  // angleTuningToggle->setConfirmation(true, false);
+  // list->addItem(angleTuningToggle);
+
+  angleTuningSettingsButton = new PushButtonSP(tr("Customize ANGLE Tuning"));
+  angleTuningSettingsButton->setObjectName("angle_btn");
+  connect(angleTuningSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(angleTuningWidget);
+  });
+  // QObject::connect(angleTuningToggle, &ToggleControl::toggleFlipped, angleTuningSettingsButton, &PushButtonSP::setEnabled);
+
+  angleTuningWidget = new AngleTunningSettings(this);
+  connect(angleTuningWidget, &AngleTunningSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(angleTuningSettingsButton);
+#pragma endregion
+
   toggleOffroadOnly = {
     madsToggle, nnlcToggle,
   };
@@ -88,6 +118,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
+  main_layout->addWidget(angleTuningWidget);
   main_layout->addWidget(laneChangeWidget);
 
   setStyleSheet(R"(
@@ -138,6 +169,7 @@ void LateralPanel::updateToggles(bool _offroad) {
   }
 
   madsSettingsButton->setEnabled(madsToggle->isToggled());
+  // angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled());
 
   offroad = _offroad;
 }

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

@@ -12,6 +12,7 @@
 
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
@@ -38,8 +39,11 @@ private:
   bool offroad;
 
   ParamControl *madsToggle;
+  // ParamControl *angleTuningToggle;
   PushButtonSP *madsSettingsButton;
+  PushButtonSP *angleTuningSettingsButton;
   MadsSettings *madsWidget = nullptr;
+  AngleTunningSettings *angleTuningWidget = nullptr;
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;

system/manager/manager.py

@@ -55,7 +55,9 @@ def manager_init() -> None:
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),
     ("QuietMode", "0"),
-    ("HkgTuningAngleSmoothingFactor", "6")
+    ("HkgTuningAngleSmoothingFactor", "6"),
+    ("HkgTuningAngleMinTorque", "25"),
+    ("HkgTuningAngleMaxTorque", "250"),
   ]
 
   if params.get_bool("RecordFrontLock"):