IQ.Lvbs/IQ.Pilot
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IQ.Pilot Release Commit @ d400490

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IQ.Lvbs CI [bot]
2026-07-25 14:42:10 -05:00
parent f0ef157344
commit 729bde8fb9
66 changed files with 435 additions and 538 deletions
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24
selfdrive/ui/mici/layouts/settings/models.py
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@@ -121,16 +121,16 @@ class ModelsLayoutMici(NavScroller):
self._clear.set_click_callback(self._confirm_clear_cache)
self._clear.set_enabled(lambda: ui_state.is_offroad())
self._lagd = BigParamControl("live learning steer delay", "IQLiveSteerDelay")
self._sw_delay = MappedParamToggle("software delay", "IQSoftwareSteerDelay", _DELAY_OPTIONS, _DELAY_VALUES)
self._sw_delay.set_visible(lambda: not self._lagd._checked)
self._steer_delay = BigParamControl("self-tuning steer delay", "IQLiveSteerDelay")
self._sw_delay = MappedParamToggle("manual delay offset", "IQSoftwareSteerDelay", _DELAY_OPTIONS, _DELAY_VALUES)
self._sw_delay.set_visible(lambda: not self._steer_delay._checked)
self._lane_turn = BigParamControl("use lane turn desires", "IQLaneTurnDesire")
self._lane_speed = MappedParamToggle("lane turn speed", "IQLaneTurnValue", _LANE_TURN_OPTIONS, _LANE_TURN_VALUES)
self._lane_speed.set_visible(lambda: self._lane_turn._checked)
self._main_items = [self._current, self._cancel, self._supercombo, self._vision, self._policy, self._redownload, self._refresh, self._clear,
self._lagd, self._sw_delay, self._lane_turn, self._lane_speed]
self._steer_delay, self._sw_delay, self._lane_turn, self._lane_speed]
self._scroller.add_widgets(self._main_items)
@property
@@ -368,7 +368,7 @@ class ModelsLayoutMici(NavScroller):
self._last_cache_t = now
self._clear.set_value(f"{self._calculate_cache_size():.1f} MB")
self._update_lagd_subtext()
self._update_steer_delay_subtext()
def _progress_target_bundle(self):
try:
@@ -445,21 +445,21 @@ class ModelsLayoutMici(NavScroller):
return f"failed: {_display_model_name(bundle)}"
return self._active_model_name()
def _update_lagd_subtext(self):
if self._lagd._checked:
def _update_steer_delay_subtext(self):
if self._steer_delay._checked:
try:
self._lagd.set_value(f"live {ui_state.sm['liveDelay'].lateralDelay:.3f} s")
self._steer_delay.set_value(f"measured {ui_state.sm['liveDelay'].lateralDelay:.3f} s")
except Exception:
self._lagd.set_value("")
self._steer_delay.set_value("")
return
try:
sw = float(ui_state.params.get("IQSoftwareSteerDelay", return_default=True))
except (TypeError, ValueError):
sw = 0.2
if ui_state.CP is not None:
self._lagd.set_value(f"total {ui_state.CP.steerActuatorDelay + sw:.2f} s")
self._steer_delay.set_value(f"total {ui_state.CP.steerActuatorDelay + sw:.2f} s")
else:
self._lagd.set_value(f"+{sw:.2f} s software")
self._steer_delay.set_value(f"+{sw:.2f} s offset")
def _active_model_name(self) -> str:
if not self._has_active_bundle_param():
@@ -495,5 +495,5 @@ class ModelsLayoutMici(NavScroller):
def show_event(self):
super().show_event()
for w in (self._lagd, self._sw_delay, self._lane_turn, self._lane_speed):
for w in (self._steer_delay, self._sw_delay, self._lane_turn, self._lane_speed):
w.refresh()