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IQ.Pilot Release Commit @ b79954e

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This commit is contained in:
IQ.Lvbs CI [bot]
2026-07-25 18:44:03 -05:00
parent f94087822f
commit 563022daa3
179 changed files with 696 additions and 610 deletions
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83
iqpilot/ui/layouts/settings/iq_panels.py
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@@ -636,7 +636,7 @@ class LaneChangeSettingsLayout(Widget):
def _build_rows(self):
self._lane_change_timer = option_item(
title=lambda: tr("Auto Lane Change by Blinker"),
param="AutoLaneChangeTimer",
param="IQLaneChangeTimer",
description=lambda: tr("Delay before a blinker-triggered lane change starts on its own — no wheel nudge "
"needed once a delay is set (default is Nudge).<br>Use the blinker for this only "
"when traffic and the road actually allow the maneuver."),
@@ -644,7 +644,7 @@ class LaneChangeSettingsLayout(Widget):
label_callback=lambda x: _TIMER_LABELS[int(x)](),
)
self._bsm_delay = toggle_item(
param="AutoLaneChangeBsmDelay",
param="IQLaneChangeBsmDelay",
title=lambda: tr("Auto Lane Change: Delay with Blind Spot"),
description=lambda: tr("Hold the automatic lane change while blind spot monitoring reports a car in the "
"target lane, releasing it once the lane is clear."),
@@ -667,9 +667,9 @@ class LaneChangeSettingsLayout(Widget):
def _update_state(self):
super()._update_state()
has_bsm = bool(ui_state.CP and ui_state.CP.enableBsm)
if not has_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
ui_state.params.remove("AutoLaneChangeBsmDelay")
timer_armed = ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE
if not has_bsm and ui_state.params.get_bool("IQLaneChangeBsmDelay"):
ui_state.params.remove("IQLaneChangeBsmDelay")
timer_armed = ui_state.params.get("IQLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE
self._bsm_delay.action_item.set_enabled(has_bsm and timer_armed)
def _render(self, rect):
@@ -829,7 +829,7 @@ class SteeringLayout(Widget):
items = self._initialize_items()
self._scroller = Scroller(items, line_separator=False, spacing=0)
for ctrl, key in [(self._lane_turn_value_control, "IQLaneTurnValue"), (self._delay_control, "LagdToggleDelay")]:
for ctrl, key in [(self._lane_turn_value_control, "IQLaneTurnValue"), (self._delay_control, "IQSoftwareSteerDelay")]:
ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
def _initialize_items(self):
@@ -872,10 +872,10 @@ class SteeringLayout(Widget):
lambda v: f"{int(round(v * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}"
f" {'km/h' if ui_state.is_metric else 'mph'}"
)
self._lagd_toggle = toggle_item(tr("Live Learning Steer Delay"), "", param="LagdToggle")
self._steer_delay_toggle = toggle_item(tr("Self-Tuning Steer Delay"), "", param="IQLiveSteerDelay")
self._delay_control = option_item(
tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
tr("Adjust the fixed software delay added to steer actuator delay when Live Learning Steer Delay is turned off. The default software delay value is 0.2 s."),
tr("Manual Delay Offset"), "IQSoftwareSteerDelay", 5, 50,
tr("How much lead time to add on top of the car's own steering rack delay while self-tuning is off. Default is 0.2 s."),
1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{float(v):.2f}s"
)
@@ -890,7 +890,7 @@ class SteeringLayout(Widget):
self._lane_turn_desire_toggle,
self._lane_turn_value_control,
IQLineSeparator(40),
self._lagd_toggle,
self._steer_delay_toggle,
self._delay_control,
]
return items
@@ -919,22 +919,23 @@ class SteeringLayout(Widget):
self._nnff_toggle.action_item.set_enabled(ui_state.is_offroad() and steering_supported)
turn_desire = ui_state.params.get_bool("IQLaneTurnDesire")
live_delay = ui_state.params.get_bool("LagdToggle")
live_delay = ui_state.params.get_bool("IQLiveSteerDelay")
self._lane_turn_desire_toggle.action_item.set_state(turn_desire)
self._lane_turn_value_control.set_visible(turn_desire)
self._lagd_toggle.action_item.set_state(live_delay)
self._steer_delay_toggle.action_item.set_state(live_delay)
self._delay_control.set_visible(not live_delay)
new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
if self._lane_turn_value_control.action_item.value_change_step != new_step:
self._lane_turn_value_control.action_item.value_change_step = new_step
lagd_desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time.")
delay_desc = tr("Let IQ.Pilot measure how long your steering takes to respond and keep that figure up to date. "
"Switch it off to pin the timing yourself.")
if live_delay:
lagd_desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
delay_desc += f"<br>{tr('Measured:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
elif ui_state.CP:
sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
sw = float(ui_state.params.get("IQSoftwareSteerDelay", "0.2"))
cp = ui_state.CP.steerActuatorDelay
lagd_desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
self._lagd_toggle.set_description(lagd_desc)
delay_desc += f"<br>{tr('Rack:')} {cp:.2f} s + {tr('Offset:')} {sw:.2f} s = {tr('Total:')} {cp + sw:.2f} s"
self._steer_delay_toggle.set_description(delay_desc)
def _render(self, rect):
if self._current_panel == PanelType.LANE_CHANGE:
@@ -1210,16 +1211,16 @@ class IQDeveloperLayout(DeveloperLayout):
UPDATES_DESCRIPTIONS = {
'disable_updates_offroad': tr_noop(
"When enabled, automatic software updates will be off.<br><b>This requires a reboot to take effect.</b>"
"Turns off over-the-air update checks entirely.<br><b>Reboot for this to take effect.</b>"
),
'disable_updates_onroad': tr_noop(
"Please enable \"Always Offroad\" mode or turn off the vehicle to adjust these toggles."
"Put the device in Always Offroad, or shut the car down, before touching these."
),
'install_mode_offroad': tr_noop(
"Choose whether updates only download and wait for confirmation, or download and install automatically after they are ready."
"Pick whether a ready update just waits for your go-ahead, or downloads and installs on its own."
),
'install_mode_onroad': tr_noop(
"Please enable \"Always Offroad\" mode or turn off the vehicle to adjust update install behavior."
"Put the device in Always Offroad, or shut the car down, before changing how updates install."
)
}
@@ -1392,7 +1393,7 @@ class IQDeviceLayout(DeviceLayout):
self._max_time_offroad = option_item(
title=lambda: tr("Max Time Offroad"),
description=lambda: tr("Device will automatically shutdown after set time once the engine is turned off.\n(30h is the default)"),
description=lambda: tr("Powers the device down once it has sat this long with the engine off.\n(30h by default)"),
param="MaxTimeOffroad",
min_value=0,
max_value=11,
@@ -1418,7 +1419,7 @@ class IQDeviceLayout(DeviceLayout):
)
self._change_language_btn = button_item(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog)
# Quiet Mode moved to the settings-hub top bar (bell bubble); this is just the dcam preview now.
# Silent Mode moved to the settings-hub top bar (bell bubble); this is just the dcam preview now.
self._driver_camera_btn = button_item(lambda: tr("Driver Camera Preview"), lambda: tr("PREVIEW"),
callback=self._show_driver_camera)
@@ -1505,9 +1506,9 @@ class IQDeviceLayout(DeviceLayout):
@staticmethod
def wake_mode_description() -> str:
def_str = tr("Default: Device will boot/wake-up normally & will be ready to engage.")
offrd_str = tr("Offroad: Device will be in Always Offroad mode after boot/wake-up.")
header = tr("Controls state of the device after boot/sleep.")
def_str = tr("Default: comes up ready to drive, engagement available straight away.")
offrd_str = tr("Offroad: lands in Always Offroad every time it boots or wakes.")
header = tr("Sets which state the device settles into after a boot or a wake from sleep.")
return f"{header}\n\n{def_str}\n{offrd_str}"
@@ -1522,7 +1523,7 @@ class IQDeviceLayout(DeviceLayout):
def _second_confirm(result: int):
if result == DialogResult.CONFIRM:
gui_app.set_modal_overlay(ConfirmDialog(
text=tr("The reset cannot be undone. You have been warned."),
text=tr("There's no undo once this runs — last chance to back out."),
confirm_text=tr("Confirm")
), callback=_do_reset)
@@ -1537,15 +1538,15 @@ class IQDeviceLayout(DeviceLayout):
gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Enter Always Offroad Mode")))
return
_offroad_mode_state = ui_state.params.get_bool("OffroadMode")
_offroad_mode_str = tr("Are you sure you want to exit Always Offroad mode?") if _offroad_mode_state else \
tr("Are you sure you want to enter Always Offroad mode?")
_offroad_mode_state = ui_state.params.get_bool("IQAlwaysOffroad")
_offroad_mode_str = tr("Leave Always Offroad mode now?") if _offroad_mode_state else \
tr("Switch the device into Always Offroad mode?")
def _set_always_offroad(result: int):
if result == DialogResult.CONFIRM and not ui_state.engaged:
if _offroad_mode_state:
ui_state.params.put(FORCE_ONROAD_PARAM, 0)
ui_state.params.put_bool("OffroadMode", not _offroad_mode_state)
ui_state.params.put_bool("IQAlwaysOffroad", not _offroad_mode_state)
gui_app.set_modal_overlay(ConfirmDialog(_offroad_mode_str, tr("Confirm")), callback=lambda result: _set_always_offroad(result))
@@ -1570,7 +1571,7 @@ class IQDeviceLayout(DeviceLayout):
def _set_force_onroad(result: int):
if result == DialogResult.CONFIRM and not ui_state.engaged:
# Force On-Road relies on Always Offroad being active so expiry returns to offroad.
ui_state.params.put_bool("OffroadMode", True)
ui_state.params.put_bool("IQAlwaysOffroad", True)
ui_state.params.put(FORCE_ONROAD_PARAM, int(time.time()) + FORCE_ONROAD_DURATION_SEC)
gui_app.set_modal_overlay(ConfirmDialog(prompt, tr("Confirm")), callback=_set_force_onroad)
@@ -1585,7 +1586,7 @@ class IQDeviceLayout(DeviceLayout):
super()._update_state()
# Handle Always Offroad button
always_offroad = ui_state.params.get_bool("OffroadMode")
always_offroad = ui_state.params.get_bool("IQAlwaysOffroad")
now = int(time.time())
force_onroad_until = ui_state.params.get(FORCE_ONROAD_PARAM, return_default=True)
force_onroad_active = force_onroad_until > now
@@ -2006,7 +2007,7 @@ class ModelsLayout(Widget):
if not ui_state.is_offroad():
self.current_model_item.action_item.set_enabled(False)
self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
self.current_model_item.set_description(tr("Reachable only with the car switched off or Always Offroad turned on."))
else:
self.current_model_item.action_item.set_enabled(True)
self.current_model_item.set_description("")
@@ -2248,7 +2249,7 @@ class SubaruSettings(BrandSettings):
if not self._supported:
return tr("Not available on this Subaru platform.")
if not ui_state.is_offroad():
return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.")
return tr("Flip on Always Offroad from the Device panel, or power the car down, to change this.")
return ""
def update_settings(self):
@@ -2296,7 +2297,7 @@ class TeslaSettings(BrandSettings):
f"{tr('Active above {} only.').format(_speed_text(COOP_STEERING_MIN_KMH))}")
if not ui_state.is_offroad():
blocker = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.")
blocker = tr("Flip on Always Offroad from the Device panel, or power the car down, to change this.")
body = f"<b>{blocker}</b><br><br>{body}"
self.coop_steering_toggle.set_description(body)
@@ -2574,11 +2575,11 @@ class PlatformSelector(Button):
def _open_picker(self):
dialog = TreeOptionDialog(
tr("Select a vehicle"),
tr("Pick your vehicle"),
self.selection.picker_folders(),
search_prompt=tr("Search make or model"),
search_title=tr("Search your vehicle"),
search_subtitle=tr("Enter model year (e.g., 2021) and model (Toyota Corolla):"),
search_title=tr("Find your vehicle"),
search_subtitle=tr("Type a year then a model — for example, 2021 Toyota Corolla:"),
search_funcs=[lambda node: node.data.get('display_name', ''), lambda node: node.data.get('search_tags', '')],
)
done = partial(self._on_picked, dialog)
@@ -2588,8 +2589,8 @@ class PlatformSelector(Button):
def _on_picked(self, dialog, res):
if res != DialogResult.CONFIRM or not dialog.selection_ref:
return
when = tr("This setting will take effect immediately.") if ui_state.is_offroad else \
tr("This setting will take effect once the device enters offroad state.")
when = tr("Applies right away.") if ui_state.is_offroad else \
tr("Applies the next time the device goes offroad.")
def confirm(result):
if result == DialogResult.CONFIRM and self.selection.force(dialog.selection_ref):

18
iqpilot/ui/onroad/hud_renderer.py
View File

@@ -1,18 +1,24 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
IQ.Pilot road-view HUD: extends the stock renderer and layers on the IQ overlays
(developer bar, nav map, road name, speed + speed-limit, turn signals, rocket-fuel
accel bar, soft warnings, steering arc).
"""
import pyray as rl
from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
from openpilot.iqpilot.ui.onroad.hud_overlays import DeveloperUiRenderer
from openpilot.iqpilot.ui.onroad.hud_overlays import (
DeveloperUiRenderer,
RoadNameRenderer,
RocketFuel,
SpeedLimitRenderer,
TurnSignalController,
SpeedRenderer,
)
from openpilot.iqpilot.ui.onroad.nav_map_panel import NavMapPanel
from openpilot.iqpilot.ui.onroad.hud_overlays import RoadNameRenderer
from openpilot.iqpilot.ui.onroad.hud_overlays import RocketFuel
from openpilot.iqpilot.ui.onroad.hud_overlays import SpeedLimitRenderer
from openpilot.iqpilot.ui.onroad.hud_overlays import TurnSignalController
from openpilot.iqpilot.ui.onroad.hud_overlays import SpeedRenderer
from openpilot.iqpilot.ui.onroad.soft_warning import SoftWarningRenderer
ENABLE_FLOATING_NAV_MAP_PANEL = False