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Controls - Conditional Experimental Mode - UI functions

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FrogAi 2024-05-26 23:09:41 -07:00
parent 89d28689ba
commit 28fb8de134
4 changed files with 41 additions and 3 deletions
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31
selfdrive/ui/qt/onroad.cc
View File

@ -171,7 +171,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
int margin = 40;
int radius = 30;
int offset = scene.show_aol_status_bar ? 25 : 0;
int offset = scene.show_aol_status_bar || scene.show_cem_status_bar ? 25 : 0;
if (alert.size == cereal::ControlsState::AlertSize::FULL) {
margin = 0;
radius = 0;
@ -544,7 +544,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
// base icon
int offset = UI_BORDER_SIZE + btn_size / 2;
int x = rightHandDM ? width() - offset : offset;
offset += showAlwaysOnLateralStatusBar ? 25 : 0;
offset += showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar ? 25 : 0;
int y = height() - offset;
float opacity = dmActive ? 0.65 : 0.2;
drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
@ -752,13 +752,16 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
alwaysOnLateralActive = scene.always_on_lateral_active;
showAlwaysOnLateralStatusBar = scene.show_aol_status_bar;
conditionalStatus = scene.conditional_status;
showConditionalExperimentalStatusBar = scene.show_cem_status_bar;
experimentalMode = scene.experimental_mode;
mapOpen = scene.map_open;
}
void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
if (showAlwaysOnLateralStatusBar) {
if (showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar) {
drawStatusBar(p);
}
@ -789,8 +792,30 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
p.setOpacity(1.0);
p.drawRoundedRect(statusBarRect, 30, 30);
std::map<int, QString> conditionalStatusMap = {
{0, tr("Conditional Experimental Mode ready")},
{1, tr("Conditional Experimental overridden")},
{2, tr("Experimental Mode manually activated")},
{3, tr("Conditional Experimental overridden")},
{4, tr("Experimental Mode manually activated")},
{5, tr("Conditional Experimental overridden")},
{6, tr("Experimental Mode manually activated")},
{7, tr("Experimental Mode activated for") + (mapOpen ? tr(" intersection") : tr(" upcoming intersection"))},
{8, tr("Experimental Mode activated for") + (mapOpen ? tr(" turn") : tr(" upcoming turn"))},
{9, tr("Experimental Mode activated due to") + (mapOpen ? tr(" SLC") : tr(" no speed limit set"))},
{10, tr("Experimental Mode activated due to") + (mapOpen ? tr(" speed") : tr(" speed being less than ") + QString::number(scene.conditional_speed_lead) + (is_metric ? tr(" kph") : tr(" mph")))},
{11, tr("Experimental Mode activated due to") + (mapOpen ? tr(" speed") : tr(" speed being less than ") + QString::number(scene.conditional_speed) + (is_metric ? tr(" kph") : tr(" mph")))},
{12, tr("Experimental Mode activated for stopped lead")},
{13, tr("Experimental Mode activated for slower lead")},
{14, tr("Experimental Mode activated for turn") + (mapOpen ? "" : tr(" / lane change"))},
{15, tr("Experimental Mode activated for curve")},
{16, tr("Experimental Mode activated for stop") + (mapOpen ? "" : tr(" sign / stop light"))},
};
if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
newStatus = tr("Always On Lateral active") + (mapOpen ? "" : tr(". Press the \"Cruise Control\" button to disable"));
} else if (showConditionalExperimentalStatusBar) {
newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
}
if (newStatus != lastShownStatus) {

2
selfdrive/ui/qt/onroad.h
View File

@ -122,12 +122,14 @@ private:
bool experimentalMode;
bool mapOpen;
bool showAlwaysOnLateralStatusBar;
bool showConditionalExperimentalStatusBar;
float accelerationConversion;
float distanceConversion;
float speedConversion;
int alertSize;
int conditionalStatus;
QString accelerationUnit;
QString leadDistanceUnit;

6
selfdrive/ui/ui.cc
View File

@ -263,6 +263,11 @@ void ui_update_frogpilot_params(UIState *s) {
bool always_on_lateral = params.getBool("AlwaysOnLateral");
scene.show_aol_status_bar = always_on_lateral && !params.getBool("HideAOLStatusBar");
scene.conditional_experimental = scene.longitudinal_control && params.getBool("ConditionalExperimental");
scene.conditional_speed = scene.conditional_experimental ? params.getInt("CESpeed") : 0;
scene.conditional_speed_lead = scene.conditional_experimental ? params.getInt("CESpeedLead") : 0;
scene.show_cem_status_bar = scene.conditional_experimental && !params.getBool("HideCEMStatusBar");
}
void UIState::updateStatus() {
@ -332,6 +337,7 @@ void UIState::update() {
}
// FrogPilot live variables that need to be constantly checked
scene.conditional_status = scene.conditional_experimental && scene.enabled ? paramsMemory.getInt("CEStatus") : 0;
}
void UIState::setPrimeType(PrimeType type) {

5
selfdrive/ui/ui.h
View File

@ -183,6 +183,7 @@ typedef struct UIScene {
// FrogPilot variables
bool always_on_lateral_active;
bool conditional_experimental;
bool enabled;
bool experimental_mode;
bool map_open;
@ -190,9 +191,13 @@ typedef struct UIScene {
bool parked;
bool right_hand_drive;
bool show_aol_status_bar;
bool show_cem_status_bar;
bool tethering_enabled;
int alert_size;
int conditional_speed;
int conditional_speed_lead;
int conditional_status;
} UIScene;