IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/ui/mici/layouts/settings/steering.py

@@ -0,0 +1,151 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+
+from iqpilot.cereal import car
+from iqpilot.common.params import Params
+from iqpilot.selfdrive.controls.lib.helpers.lane_change import AutoLaneChangeMode
+from iqpilot.selfdrive.ui.mici.widgets.stock_button import BigButton, BigParamControl
+from iqpilot.selfdrive.ui.mici.layouts.settings.iq_widgets import MappedParamToggle
+from iqpilot.selfdrive.ui.ui_state import ui_state
+from iqpilot.system.ui.lib.application import gui_app
+from iqpilot.system.ui.widgets.scroller import NavScroller
+from iqpilot.system.ui.lib.multilang import tr
+
+
+def _aol_modes() -> list[str]:
+  return [tr("stay engaged"), tr("standby"), tr("disengage")]
+
+
+class SabBrakeToggle(BigParamControl):
+  """Driver-intervention toggle backed by AolSteeringMode == 2."""
+  def __init__(self):
+    super().__init__(tr("Driver Intervention Handling"), "AolEnabled")
+
+  def refresh(self):
+    self.set_checked(int(self.params.get("AolSteeringMode", return_default=True)) == 2)
+
+  def _handle_mouse_release(self, mouse_pos):
+    super(BigParamControl, self)._handle_mouse_release(mouse_pos)
+    enabled = self._checked
+    current_mode = int(self.params.get("AolSteeringMode", return_default=True))
+    if enabled:
+      self.params.put("AolSteeringMode", 2)
+    elif current_mode == 2:
+      self.params.put("AolSteeringMode", 1)
+
+
+def _has_limited_sab_options() -> bool:
+  brand = ""
+  if ui_state.is_offroad():
+    bundle = ui_state.params.get("CarPlatformBundle")
+    if bundle:
+      brand = bundle.get("brand", "")
+  if not brand:
+    brand = ui_state.CP.brand if ui_state.CP else ""
+  return brand == "rivian"
+
+
+class SabSettingsPanel(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self._main_cruise = BigParamControl(tr("Availability While Cruise Changes"), "AolMainCruiseAllowed")
+    self._brake = SabBrakeToggle()
+    self._mode = MappedParamToggle(tr("Brake Response Mode"), "AolSteeringMode",
+                                   _aol_modes(), [0, 1, 2])
+    self._steer_override = BigParamControl(tr("Pause While You Steer"), "AolPauseOnSteeringOverride")
+    self._scroller.add_widgets([self._main_cruise, self._brake, self._mode, self._steer_override])
+
+  def show_event(self):
+    super().show_event()
+    limited = _has_limited_sab_options()
+    if limited:
+      ui_state.params.remove("AolMainCruiseAllowed")
+      ui_state.params.put_bool("AolUnifiedEngagementMode", True)
+      ui_state.params.put("AolSteeringMode", 2)
+    offroad = ui_state.is_offroad()
+    for w in (self._main_cruise, self._brake, self._mode):
+      w.refresh()
+      w.set_enabled(offroad and not limited)
+    self._steer_override.refresh()
+    self._steer_override.set_enabled(offroad)
+
+
+class LaneChangePanel(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self._timer = MappedParamToggle(tr("Auto Lane Change"), "IQLaneChangeTimer",
+                                    [tr("off"), tr("nudge"), tr("no nudge"), "0.5 s", "1 s", "2 s", "3 s"],
+                                    [-1, 0, 1, 2, 3, 4, 5])
+    self._bsm_delay = BigParamControl(tr("Delay with Blind Spot"), "IQLaneChangeBsmDelay")
+    self._continuous = BigParamControl(tr("Continuous Changes"), "LaneChangeContinuous")
+    self._scroller.add_widgets([self._timer, self._bsm_delay, self._continuous])
+
+  def show_event(self):
+    super().show_event()
+    self._timer.refresh()
+    enable_bsm = bool(ui_state.CP and ui_state.CP.enableBsm)
+    if not enable_bsm and ui_state.params.get_bool("IQLaneChangeBsmDelay"):
+      ui_state.params.remove("IQLaneChangeBsmDelay")
+    self._bsm_delay.refresh()
+    self._bsm_delay.set_enabled(
+      enable_bsm and int(ui_state.params.get("IQLaneChangeTimer", return_default=True)) > AutoLaneChangeMode.NUDGE
+    )
+    self._continuous.refresh()
+
+
+class SteeringLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    self._sab_panel = SabSettingsPanel()
+    self._lc_panel = LaneChangePanel()
+
+    self._aol = BigParamControl(tr("AOL"), "AolEnabled", toggle_callback=self._on_aol_toggled)
+    self._sab_settings_button = BigButton(tr("steering assistance behavior"))
+    self._sab_settings_button.set_click_callback(lambda: gui_app.push_widget(self._sab_panel))
+    self._lane_change = BigButton(tr("lane change"))
+    self._lane_change.set_click_callback(lambda: gui_app.push_widget(self._lc_panel))
+    self._nnff = BigParamControl(tr("Neural Net FF"), "NeuralNetworkFeedForward", toggle_callback=self._on_nnff_toggled)
+
+    self._scroller.add_widgets([
+      self._aol, self._sab_settings_button, self._lane_change,
+      self._nnff,
+    ])
+
+  def _aol_mode_str(self) -> str:
+    try:
+      return _aol_modes()[int(ui_state.params.get("AolSteeringMode", return_default=True))]
+    except (TypeError, ValueError, IndexError):
+      return _aol_modes()[0]
+
+  def _on_aol_toggled(self, checked: bool):
+    if checked:
+      ui_state.params.put_bool("AolUnifiedEngagementMode", True)
+
+  def _on_nnff_toggled(self, checked: bool):
+    return None
+
+  def _refresh(self):
+    offroad = ui_state.is_offroad()
+    self._aol.refresh()
+    self._aol.set_value(self._aol_mode_str())
+    self._nnff.refresh()
+
+    steering_supported = (ui_state.CP is not None and
+                          ui_state.CP.steerControlType != car.CarParams.SteerControlType.angle)
+    if not steering_supported:
+      ui_state.params.remove("NeuralNetworkFeedForward")
+      self._nnff.refresh()
+
+    self._aol.set_enabled(offroad)
+    self._sab_settings_button.set_enabled(offroad and self._aol._checked)
+    self._nnff.set_enabled(offroad and steering_supported)
+
+  def _update_state(self):
+    super()._update_state()
+    self._refresh()
+
+  def show_event(self):
+    super().show_event()
+    self._refresh()