IQ.Pilot Release Commit @ bec7652

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

@@ -0,0 +1,217 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+
+import unicodedata
+
+import pyray as rl
+
+from iqpilot.selfdrive.car.vehicle_catalog import load_catalog
+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, FontWeight, MousePos
+from iqpilot.system.ui.lib.text_measure import measure_text_cached
+from iqpilot.system.ui.widgets import Widget
+from iqpilot.system.ui.widgets.scroller import NavScroller
+from iqpilot.system.ui.lib.multilang import tr
+
+
+def _ascii_safe(text: str) -> str:
+  return unicodedata.normalize("NFD", text).encode("ascii", "ignore").decode("ascii")
+
+
+def _load_platforms() -> dict:
+  try:
+    return load_catalog()
+  except Exception:
+    return {}
+
+
+class _PickerRow(Widget):
+  HEIGHT = 92
+
+  def __init__(self, label: str, on_tap):
+    super().__init__()
+    self._label = label
+    self._on_tap = on_tap
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
+    self._font = gui_app.font(FontWeight.MEDIUM)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    self._on_tap(self._label)
+
+  def _render(self, _):
+    color = rl.Color(255, 255, 255, 255) if self.is_pressed else rl.Color(255, 255, 255, 200)
+    ts = measure_text_cached(self._font, self._label, 46)
+    rl.draw_text_ex(self._font, self._label, rl.Vector2(self._rect.x + 44, self._rect.y + (self.HEIGHT - ts.y) / 2), 46, 0, color)
+
+
+class _VerticalPicker(NavScroller):
+  def __init__(self, options: list[str], on_pick):
+    super().__init__(horizontal=False, snap_items=False, pad_start=20, pad_end=20)
+    self._on_pick = on_pick
+    rows = [_PickerRow(o, self._pick) for o in options]
+    for row in rows:
+      row.set_touch_valid_callback(lambda: self._scroller.scroll_panel.is_touch_valid())
+    self._scroller.add_widgets(rows)
+
+  def _pick(self, option: str):
+    gui_app.pop_widget()
+    self._on_pick(option)
+
+
+class VehicleLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self._platforms = _load_platforms()
+
+    self._vehicle_btn = BigButton(tr("vehicle"))
+    self._vehicle_btn.set_click_callback(self._on_vehicle_clicked)
+
+    self._toyota_long = BigParamControl(tr("enforce factory long."), "IQToyotaFactoryLong",
+                                        toggle_callback=self._on_toyota_long)
+    self._hyundai_tuning = MappedParamToggle(tr("hyundai long. tuning"), "IQHyundaiLongTune",
+                                             [tr("off"), tr("dynamic"), tr("predictive")], [0, 1, 2])
+    self._subaru_snag = BigParamControl(tr("creep from standstill (beta)"), "IQSubaruCreepAssist")
+    self._subaru_manual = BigParamControl(tr("stop and go manual brake"), "IQSubaruCreepAssistManualBrake")
+    self._vw_pq_hca = BigParamControl(tr("PQ HCA status 7 mode"), "pqhca5or7Toggle")
+    self._vw_lateral = BigParamControl(tr("lateral when cruise faulted"), "AllowLateralWhenLongUnavailable")
+    self._vw_mqb_acc_resume = BigParamControl(tr("MQB ACC resume"), "iqMqbAccResume")
+    self._vw_mqb_steering_lockout = BigParamControl(tr("MQB steering lockout"), "iqMqbSteeringLockout")
+    self._tesla_vtb = BigParamControl(tr("virtual torque blending"), "IQTeslaTorqueBlend")
+    self._tesla_fsd_visualization = BigParamControl(tr("FSD visuals"), "IQTeslaFsdVisualization")
+
+    self._brand_widgets = {
+      "toyota": [self._toyota_long],
+      "hyundai": [self._hyundai_tuning],
+      "subaru": [self._subaru_snag, self._subaru_manual],
+      "volkswagen": [self._vw_pq_hca, self._vw_lateral, self._vw_mqb_acc_resume, self._vw_mqb_steering_lockout],
+      "tesla": [self._tesla_vtb, self._tesla_fsd_visualization],
+    }
+    self._all_brand_widgets = [w for ws in self._brand_widgets.values() for w in ws]
+
+    self._scroller.add_widgets([self._vehicle_btn] + self._all_brand_widgets)
+
+  def _get_current_brand(self) -> str:
+    bundle = ui_state.params.get("CarPlatformBundle")
+    if bundle:
+      return bundle.get("brand", "")
+    if ui_state.CP:
+      return getattr(ui_state.CP, "brand", "")
+    return ""
+
+  def _vw_flags(self):
+    try:
+      from iqdbc.car.volkswagen.values import CAR
+      bundle = ui_state.params.get("CarPlatformBundle")
+      if bundle and (platform := bundle.get("platform")):
+        return CAR[platform].config.flags
+      if ui_state.CP:
+        return ui_state.CP.flags
+    except Exception:
+      pass
+    return 0
+
+  def _uses_vw_hca_status_toggle(self) -> bool:
+    from iqdbc.car.volkswagen.values import VolkswagenFlags
+    return bool(self._vw_flags() & (VolkswagenFlags.PQ | VolkswagenFlags.MLB))
+
+  def _is_vw_mqb(self) -> bool:
+    from iqdbc.car.volkswagen.values import VolkswagenFlags
+    flags = self._vw_flags()
+    return not bool(flags & (VolkswagenFlags.PQ | VolkswagenFlags.MLB | VolkswagenFlags.MEB | VolkswagenFlags.MEB_GEN2 | VolkswagenFlags.MQB_EVO))
+
+  def _supports_vw_lateral_when_faulted(self) -> bool:
+    from iqdbc.car.volkswagen.values import VolkswagenFlags
+    # PQ, MEB, MQB_EVO and base MQB all implement cruiseFaultLateralMode in carstate.py.
+    # MLB does not.
+    return not bool(self._vw_flags() & VolkswagenFlags.MLB)
+
+  def _pretty_name(self, platform: str) -> str:
+    for name, v in self._platforms.items():
+      if v.get("platform") == platform:
+        make = v.get("make", "")
+        if make and name.lower().startswith(make.lower() + " "):
+          return name[len(make) + 1:]
+        return name
+    return _ascii_safe(platform).replace("_", " ").title()
+
+  def _vehicle_status(self) -> str:
+    bundle = ui_state.params.get("CarPlatformBundle")
+    if bundle:
+      name = _ascii_safe(bundle.get("name", "?"))
+      make = bundle.get("make", "")
+      if make and name.lower().startswith(make.lower() + " "):
+        name = name[len(make) + 1:]
+      return name[:1].upper() + name[1:]
+    if ui_state.CP and ui_state.CP.carFingerprint not in ("", "MOCK"):
+      return self._pretty_name(ui_state.CP.carFingerprint)
+    return "tap to select"
+
+  def _on_vehicle_clicked(self):
+    if ui_state.params.get("CarPlatformBundle"):
+      ui_state.params.remove("CarPlatformBundle")
+      self._refresh()
+    else:
+      self._open_make_picker()
+
+  def _open_make_picker(self):
+    makes = sorted({v.get("make", "") for v in self._platforms.values() if v.get("make")})
+    label_to_make = {_ascii_safe(m): m for m in makes}
+    gui_app.push_widget(_VerticalPicker(list(label_to_make.keys()),
+                                        lambda lbl: self._open_model_picker(label_to_make.get(lbl, ""))))
+
+  def _open_model_picker(self, make: str):
+    if not make:
+      return
+    prefix = make + " "
+    label_to_key: dict = {}
+    for key in sorted(p for p, v in self._platforms.items() if v.get("make") == make):
+      label = key[len(prefix):] if key.lower().startswith(prefix.lower()) else key
+      label_to_key[_ascii_safe(label)] = key
+    gui_app.push_widget(_VerticalPicker(list(label_to_key.keys()),
+                                        lambda lbl: self._select_platform(label_to_key.get(lbl, ""))))
+
+  def _select_platform(self, key: str):
+    if key and (data := self._platforms.get(key)):
+      ui_state.params.put("CarPlatformBundle", {**data, "name": key})
+    gui_app.pop_widgets_to(self)
+    self._refresh()
+
+  def _on_toyota_long(self, checked: bool):
+    if checked and ui_state.params.get_bool("AlphaLongitudinalEnabled"):
+      ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
+    ui_state.params.put_bool("OnroadCycleRequested", True)
+
+  def _refresh(self):
+    self._vehicle_btn.set_value(self._vehicle_status())
+
+    brand = self._get_current_brand()
+    offroad = ui_state.is_offroad()
+    uses_hca_status_toggle = self._uses_vw_hca_status_toggle()
+    is_mqb = self._is_vw_mqb()
+    supports_lateral_when_faulted = self._supports_vw_lateral_when_faulted()
+    visible = set(self._brand_widgets.get(brand, []))
+    for w in self._all_brand_widgets:
+      show = w in visible
+      if w is self._vw_pq_hca:
+        show = show and uses_hca_status_toggle
+      elif w in (self._vw_mqb_acc_resume, self._vw_mqb_steering_lockout):
+        show = show and is_mqb
+      elif w is self._vw_lateral:
+        show = show and supports_lateral_when_faulted
+      w.set_visible(show)
+      if show:
+        w.refresh()
+    for w in (self._toyota_long, self._subaru_snag, self._subaru_manual, self._tesla_vtb, self._tesla_fsd_visualization):
+      w.set_enabled(offroad)
+
+  def _update_state(self):
+    super()._update_state()
+    self._vehicle_btn.set_value(self._vehicle_status())
+
+  def show_event(self):
+    super().show_event()
+    self._refresh()