IQ.Pilot Release Commit @ bec7652
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IQ.Lvbs history cleanup
202
iqpilot/ui/layouts/settings/iq_dynamic.py
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202
iqpilot/ui/layouts/settings/iq_dynamic.py
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"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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"""
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from collections.abc import Callable
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import pyray as rl
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from iqpilot.common.params import Params
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from iqpilot.selfdrive.ui.ui_state import ui_state
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from iqpilot.system.ui.lib.multilang import tr
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from iqpilot.system.ui.iqwidgets.widgets.list_view import IQListItem, IQToggleAction, SafeIQToggleAction
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from iqpilot.system.ui.iqwidgets.widgets.list_view import OptionControl
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from iqpilot.system.ui.widgets import Widget
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from iqpilot.system.ui.widgets.network import NavButton
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from iqpilot.system.ui.widgets.scroller_tici import Scroller
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from iqdbc.car.volkswagen.values import CAR, VolkswagenFlags
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def _toggle_item(title: str, description: str, param: str) -> IQListItem:
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return IQListItem(
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title=lambda t=title: tr(t),
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description=lambda d=description: tr(d),
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action_item=IQToggleAction(
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initial_state=Params().get_bool(param),
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callback=lambda state, p=param: Params().put_bool(p, state),
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param=param,
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),
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)
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def _safe_toggle_item(title: str, description: str, param: str, default_on: bool = True) -> IQListItem:
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return IQListItem(
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title=lambda t=title: tr(t),
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description=lambda d=description: tr(d),
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action_item=SafeIQToggleAction(
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param=param,
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default_on=default_on,
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),
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)
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def _option_item(title: str, description: str, param: str, minimum: int, maximum: int,
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step: int = 1, label_callback=None, use_float_scaling: bool = False) -> IQListItem:
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return IQListItem(
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title=lambda t=title: tr(t),
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description=lambda d=description: tr(d),
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action_item=OptionControl(
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param=param,
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min_value=minimum,
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max_value=maximum,
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value_change_step=step,
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use_float_scaling=use_float_scaling,
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label_callback=label_callback,
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),
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)
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class IQDynamicLayout(Widget):
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def __init__(self, back_btn_callback: Callable):
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super().__init__()
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self._params = Params()
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self._back_button = NavButton(tr("Back"))
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self._back_button.set_click_callback(back_btn_callback)
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items = self._initialize_items()
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self._scroller = Scroller(items, line_separator=True, spacing=0)
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@staticmethod
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def _is_pq() -> bool:
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bundle = ui_state.params.get("CarPlatformBundle")
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if bundle:
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platform = bundle.get("platform")
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if platform:
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try:
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return bool(CAR[platform].config.flags & VolkswagenFlags.PQ)
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except (KeyError, AttributeError):
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return False
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elif ui_state.CP:
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return bool(ui_state.CP.flags & VolkswagenFlags.PQ)
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return False
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def _initialize_items(self):
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ms_to_mph = 2.23694
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def speed_label(value: float | int) -> str:
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try:
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speed_ms = float(value)
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except (TypeError, ValueError):
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return "-- mph"
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return f"{int(round(speed_ms * ms_to_mph))} mph"
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def distance_label(value: float | int) -> str:
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try:
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distance_m = float(value)
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except (TypeError, ValueError):
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return "-- m"
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if self._params.get_bool("IsMetric"):
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return f"{distance_m:.1f} m"
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return f"{distance_m * 3.28084:.0f} ft"
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def seconds_label(value: float | int) -> str:
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try:
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seconds = float(value)
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except (TypeError, ValueError):
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return "--.-s"
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return f"{seconds:.1f}s"
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self._blend_radar_toggle = _toggle_item(
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"Blend IQ.Pilot + Stock ACC Radar",
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"VW PQ only. Keep the factory ACC radar engaged and use its acceleration as IQ.Dynamic's ACC "
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"(chill) command, while IQ.Pilot still owns blended/e2e control for low speed, stops, and traffic.",
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"IQDynamicBlendStockRadar",
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)
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self._pq_only_items = [self._blend_radar_toggle]
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return [
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self._blend_radar_toggle,
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_toggle_item(
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"IQ.Dynamic Curves",
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"Allow IQ.Dynamic to enter blended control for curves and strong vision slowdown cues.",
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"IQDynamicConditionalCurves",
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),
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_toggle_item(
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"IQ.Dynamic Slower Lead",
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"Allow IQ.Dynamic to switch toward blended control when a slower lead vehicle is detected.",
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"IQDynamicConditionalSlowerLead",
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),
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_toggle_item(
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"IQ.Dynamic Stopped Lead",
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"Allow IQ.Dynamic to react more aggressively when a lead vehicle is nearly stopped.",
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"IQDynamicConditionalStoppedLead",
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),
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_toggle_item(
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"IQ.Dynamic Model Stops",
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"Allow IQ.Dynamic to switch toward blended control for stop-sign and stop-light style vision stops.",
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"IQDynamicConditionalModelStops",
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),
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_toggle_item(
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"IQ.Dynamic SLC Fallback",
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"Allow IQ.Dynamic to request blended control when Speed Limit Controller has no usable target.",
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"IQDynamicConditionalSLCFallback",
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),
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_option_item(
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"IQ.Dynamic Low Speed",
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"Below this speed, IQ.Dynamic prefers blended control when no lead is present.",
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"IQDynamicConditionalSpeed",
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500, 3500, step=50,
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use_float_scaling=True,
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label_callback=speed_label,
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),
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_toggle_item(
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"IQ Force Stops",
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"Bring the car to a complete stop for stop signs and stop lights, and feather the brake in the final meters of "
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"every stop so it settles gently instead of rocking on its suspension. Yields full braking authority when a lead "
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"is close. Override with the accelerator.",
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"IQForceStops",
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),
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_option_item(
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"IQ.Dynamic Lead Speed",
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"Below this speed, IQ.Dynamic prefers blended control even with a tracked lead.",
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"IQDynamicConditionalLeadSpeed",
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500, 4000, step=50,
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use_float_scaling=True,
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label_callback=speed_label,
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),
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_option_item(
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"IQ.Dynamic Model Stop Time",
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"Sets the vision stop prediction time horizon used by IQ.Dynamic and IQ Force Stops. Shorter values react later. Longer values react earlier.",
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"IQDynamicModelStopTime",
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100, 600,
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step=25,
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use_float_scaling=True,
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label_callback=seconds_label,
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),
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_option_item(
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"IQ.Dynamic Min Force Stop Length",
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"When IQ Force Stops is enabled, keep at least this much stopping distance in the force-stop ramp. Set to 0 to disable the minimum.",
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"IQDynamicMinimumForceStopLength",
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0, 5000,
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step=50,
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use_float_scaling=True,
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label_callback=distance_label,
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),
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]
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def _render(self, rect: rl.Rectangle):
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is_pq = self._is_pq()
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for item in self._pq_only_items:
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item.set_visible(is_pq)
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self._back_button.set_position(self._rect.x, self._rect.y + 20)
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self._back_button.render()
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content_rect = rl.Rectangle(
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rect.x,
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rect.y + self._back_button.rect.height + 40,
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rect.width,
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rect.height - self._back_button.rect.height - 40,
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)
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self._scroller.render(content_rect)
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def show_event(self):
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self._scroller.show_event()
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