license

selfdrive/ui/sunnypilot/SConscript

@@ -45,6 +45,7 @@ qt_src = [
 
 lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",

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

@@ -0,0 +1,98 @@
+/**
+ * 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/lagd_toggle_settings.h"
+
+LagdToggleSettings::LagdToggleSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  // lagd toggle
+  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
+  lagd_toggle_control->showDescription();
+  main_layout->addWidget(lagd_toggle_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;
+    }
+  }
+  // optioncontrol for lagd 'off' state
+  delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
+                                     tr("The default software delay value is 0.2"),
+                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+
+  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
+    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+  });
+  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
+    delay_control->setVisible(!state);
+  });
+  delay_control->showDescription();
+  main_layout->addWidget(delay_control);
+}
+
+void LagdToggleSettings::refresh() {
+  // Update toggle descriptions
+  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.");
+  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);
+  lagd_toggle_control->showDescription();
+
+  delay_control->setVisible(!params.getBool("LagdToggle"));
+  if (delay_control->isVisible()) {
+    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+    delay_control->showDescription();
+  }
+}

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

@@ -0,0 +1,26 @@
+/**
+ * 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/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class LagdToggleSettings : public QWidget {
+  Q_OBJECT
+public:
+  explicit LagdToggleSettings(QWidget *parent = nullptr);
+  void refresh();
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ParamControlSP *lagd_toggle_control = nullptr;
+  OptionControlSP *delay_control = nullptr;
+};

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

@@ -46,20 +46,41 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   list->addItem(horizontal_line());
   list->addItem(vertical_space());
 
-  // Lane Change Settings
-  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"));
+
+  // Inline lagd toggle and lane change buttons
+  QHBoxLayout *inlineBtnLayout = new QHBoxLayout();
+  inlineBtnLayout->setSpacing(15);
+
+  lagdSettingsButton = new PushButtonSP(tr("Customize Live Delay"), 740);
+  lagdSettingsButton->setObjectName("lagd_btn");
+  connect(lagdSettingsButton, &QPushButton::clicked, [=]() {
+    lagdToggleSettings->refresh();
+    main_layout->setCurrentWidget(lagdToggleSettings);
+  });
+  inlineBtnLayout->addWidget(lagdSettingsButton);
+
+  lagdToggleSettings = new LagdToggleSettings(this);
+  connect(lagdToggleSettings, &LagdToggleSettings::backPress, [=]() {
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+
+  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"), 740);
   laneChangeSettingsButton->setObjectName("lane_change_btn");
   connect(laneChangeSettingsButton, &QPushButton::clicked, [=]() {
     sunnypilotScroller->setLastScrollPosition();
     main_layout->setCurrentWidget(laneChangeWidget);
   });
+  inlineBtnLayout->addWidget(laneChangeSettingsButton);
 
   laneChangeWidget = new LaneChangeSettings(this);
   connect(laneChangeWidget, &LaneChangeSettings::backPress, [=]() {
     sunnypilotScroller->restoreScrollPosition();
     main_layout->setCurrentWidget(sunnypilotScreen);
   });
-  list->addItem(laneChangeSettingsButton);
+
+  QWidget *inlineBtnWidget = new QWidget();
+  inlineBtnWidget->setLayout(inlineBtnLayout);
+  list->addItem(inlineBtnWidget);
 
   list->addItem(vertical_space(0));
   list->addItem(horizontal_line());
@@ -94,11 +115,16 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   };
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, [=]() {
+    updateToggles(offroad);
+  });
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
+  main_layout->addWidget(lagdToggleSettings);
   main_layout->addWidget(laneChangeWidget);
 
   setStyleSheet(R"(
@@ -151,6 +177,7 @@ void LateralPanel::updateToggles(bool _offroad) {
   madsSettingsButton->setEnabled(madsToggle->isToggled());
 
   blinkerPauseLateralSettings->refresh();
+  lagdToggleSettings->refresh();
 
   offroad = _offroad;
 }

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

@@ -14,6 +14,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
@@ -41,6 +42,8 @@ private:
   ParamControl *madsToggle;
   PushButtonSP *madsSettingsButton;
   MadsSettings *madsWidget = nullptr;
+  PushButtonSP *lagdSettingsButton = nullptr;
+  LagdToggleSettings *lagdToggleSettings = nullptr;
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;

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

@@ -103,27 +103,6 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(policyFrame);
 
   list->addItem(horizontal_line());
-
-  // LiveDelay toggle
-  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
-  lagd_toggle_control->showDescription();
-  list->addItem(lagd_toggle_control);
-
-  // Software delay control
-  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);
-
-  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
-    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-  });
-  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
-    delay_control->setVisible(!state);
-  });
-  delay_control->showDescription();
-  list->addItem(delay_control);
 }
 
 QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
@@ -365,18 +344,6 @@ void ModelsPanel::updateLabels() {
   currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
   currentModelLblBtn->setValue(GetActiveModelInternalName());
 
-  // 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.");
-  lagd_toggle_control->setDescription(desc);
-
-  delay_control->setVisible(!params.getBool("LagdToggle"));
-  if (delay_control->isVisible()) {
-    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-  }
-
   clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }
 
@@ -429,8 +396,4 @@ double ModelsPanel::calculateCacheSize() {
 }
 
 void ModelsPanel::showEvent(QShowEvent *event) {
-  lagd_toggle_control->showDescription();
-  if (delay_control->isVisible()) {
-    delay_control->showDescription();
-  }
 }

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

@@ -67,8 +67,6 @@ private:
   bool is_onroad = false;
 
   ButtonControlSP *currentModelLblBtn;
-  ParamControlSP *lagd_toggle_control;
-  OptionControlSP *delay_control;
   QProgressBar *supercomboProgressBar;
   QFrame *supercomboFrame;
   QProgressBar *navigationProgressBar;