zhudongjer/carrot
1
1
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Controls - Experimental Mode Activation

Browse Source 
Toggle Experimental Mode with either buttons on the steering wheel or the screen. Overrides 'Conditional Experimental Mode'.
This commit is contained in:
FrogAi 2024-05-15 20:29:27 -07:00
parent 1266b2282a
commit 69006ee3f2
3 changed files with 29 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
View File

@ -29,12 +29,17 @@ class ConditionalExperimentalMode:
self.stop_light_mac = MovingAverageCalculator() self.stop_light_mac = MovingAverageCalculator()
def update(self, carState, enabled, frogpilotNavigation, lead_distance, lead, modelData, road_curvature, slower_lead, v_ego, v_lead, frogpilot_toggles): def update(self, carState, enabled, frogpilotNavigation, lead_distance, lead, modelData, road_curvature, slower_lead, v_ego, v_lead, frogpilot_toggles):
if frogpilot_toggles.experimental_mode_via_press and enabled:
overridden = self.params_memory.get_int("CEStatus")
else:
overridden = 0
self.update_conditions(lead_distance, lead.status, modelData, road_curvature, slower_lead, carState.standstill, v_ego, v_lead, frogpilot_toggles) self.update_conditions(lead_distance, lead.status, modelData, road_curvature, slower_lead, carState.standstill, v_ego, v_lead, frogpilot_toggles)
condition_met = self.check_conditions(carState, frogpilotNavigation, lead, modelData, v_ego, frogpilot_toggles) and enabled condition_met = self.check_conditions(carState, frogpilotNavigation, lead, modelData, v_ego, frogpilot_toggles) and enabled
self.experimental_mode = condition_met self.experimental_mode = condition_met and overridden not in {1, 3, 5} or overridden in {2, 4, 6}
self.params_memory.put_int("CEStatus", self.status_value if condition_met else 0) self.params_memory.put_int("CEStatus", overridden if overridden in {1, 2, 3, 4, 5, 6} else self.status_value if condition_met else 0)
def check_conditions(self, carState, frogpilotNavigation, lead, modelData, v_ego, frogpilot_toggles): def check_conditions(self, carState, frogpilotNavigation, lead, modelData, v_ego, frogpilot_toggles):
if carState.standstill: if carState.standstill:

19
selfdrive/ui/qt/onroad.cc
View File

@ -230,9 +230,14 @@ void ExperimentalButton::changeMode() {
const auto cp = (*uiState()->sm)["carParams"].getCarParams(); const auto cp = (*uiState()->sm)["carParams"].getCarParams();
bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed"); bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
if (can_change) { if (can_change) {
if (scene.conditional_experimental) {
int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 6) ? 0 : scene.conditional_status >= 7 ? 5 : 6;
paramsMemory.putIntNonBlocking("CEStatus", override_value);
} else {
params.putBool("ExperimentalMode", !experimental_mode); params.putBool("ExperimentalMode", !experimental_mode);
} }
} }
}
void ExperimentalButton::updateState(const UIState &s) { void ExperimentalButton::updateState(const UIState &s) {
const auto cs = (*s.sm)["controlsState"].getControlsState(); const auto cs = (*s.sm)["controlsState"].getControlsState();
@ -901,6 +906,20 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0]; newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
} }
QString distanceSuffix = tr(". Long press the \"distance\" button to revert");
QString lkasSuffix = tr(". Double press the \"LKAS\" button to revert");
QString screenSuffix = tr(". Double tap the screen to revert");
if (!alwaysOnLateralActive && !mapOpen && status != STATUS_DISENGAGED && !newStatus.isEmpty()) {
if (conditionalStatus == 1 || conditionalStatus == 2) {
newStatus += distanceSuffix;
} else if (conditionalStatus == 3 || conditionalStatus == 4) {
newStatus += lkasSuffix;
} else if (conditionalStatus == 5 || conditionalStatus == 6) {
newStatus += screenSuffix;
}
}
if (newStatus != lastShownStatus) { if (newStatus != lastShownStatus) {
displayStatusText = true; displayStatusText = true;
lastShownStatus = newStatus; lastShownStatus = newStatus;

2
selfdrive/ui/ui.h
View File

@ -116,6 +116,7 @@ typedef enum UIStatus {
// FrogPilot statuses // FrogPilot statuses
STATUS_ALWAYS_ON_LATERAL_ACTIVE, STATUS_ALWAYS_ON_LATERAL_ACTIVE,
STATUS_CONDITIONAL_OVERRIDDEN,
STATUS_EXPERIMENTAL_MODE_ACTIVE, STATUS_EXPERIMENTAL_MODE_ACTIVE,
STATUS_NAVIGATION_ACTIVE, STATUS_NAVIGATION_ACTIVE,
} UIStatus; } UIStatus;
@ -137,6 +138,7 @@ const QColor bg_colors [] = {
// FrogPilot colors // FrogPilot colors
[STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1), [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1),
[STATUS_CONDITIONAL_OVERRIDDEN] = QColor(0xff, 0xff, 0x00, 0xf1),
[STATUS_EXPERIMENTAL_MODE_ACTIVE] = QColor(0xda, 0x6f, 0x25, 0xf1), [STATUS_EXPERIMENTAL_MODE_ACTIVE] = QColor(0xda, 0x6f, 0x25, 0xf1),
[STATUS_NAVIGATION_ACTIVE] = QColor(0x31, 0xa1, 0xee, 0xf1), [STATUS_NAVIGATION_ACTIVE] = QColor(0x31, 0xa1, 0xee, 0xf1),
}; };