IQ.Pilot Prebuilt Release @ 27f668a

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

@@ -0,0 +1,189 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+
+from iqpilot.common.params import Params, UnknownKeyName
+from iqpilot.selfdrive.longitudinal_settings import (
+  LONGITUDINAL_MODE_DYNAMIC,
+  LONGITUDINAL_MODE_PILOT,
+  LONGITUDINAL_MODE_STOCK,
+  PERSONALITY_VALUES,
+  apply_longitudinal_mode,
+  get_follow_distance_state,
+  get_longitudinal_mode,
+  longitudinal_mode_needs_cycle,
+  next_longitudinal_mode,
+  set_valid_personality,
+)
+from iqpilot.selfdrive.ui.mici.widgets.stock_button import BigButton, BigMultiToggle, BigToggle, BigParamControl
+from iqpilot.selfdrive.ui.ui_state import ui_state
+from iqpilot.system.ui.lib.multilang import tr
+
+
+class SafeParamControl(BigParamControl):
+  """BigParamControl that tolerates a param missing from the COMPILED params registry.
+
+  A key added to params_keys.h only exists at runtime once params_pyx.so is rebuilt; a
+  .py-only / stale prebuilt deploy leaves get_bool/put_bool raising UnknownKeyName, which
+  would crash the UI on construction. Default to `default_on` for display and no-op the
+  write instead of crashing — mirrors the plannerd defensive read in long_mpc.py.
+  """
+
+  def __init__(self, text: str, param: str, default_on: bool = True, toggle_callback=None):
+    self._default_on = default_on
+    BigToggle.__init__(self, text, "", toggle_callback=toggle_callback)
+    self.param = param
+    self.params = Params()
+    self.set_checked(self._safe_get())
+
+  def _safe_get(self) -> bool:
+    try:
+      return self.params.get_bool(self.param)
+    except UnknownKeyName:
+      return self._default_on
+
+  def refresh(self):
+    self.set_checked(self._safe_get())
+
+  def _handle_mouse_release(self, mouse_pos):
+    BigToggle._handle_mouse_release(self, mouse_pos)
+    try:
+      self.params.put_bool(self.param, self._checked)
+    except UnknownKeyName:
+      pass
+
+
+class MappedParamToggle(BigMultiToggle):
+  """Multi-option toggle whose options map to arbitrary param values (int or float, drum-style).
+
+  Up to PILL_LIMIT options render as the stock vertical pill column; more options would
+  overflow the box, so they instead show the current value as a sub-label and cycle on tap.
+  """
+  PILL_LIMIT = 4
+
+  def __init__(self, text: str, param: str, options: list[str], values: list | None = None):
+    super().__init__(text, options)
+    self._param = param
+    self._values = values if values is not None else list(range(len(options)))
+    self._params = Params()
+    self.refresh()
+
+  def _value_only(self) -> bool:
+    return len(self._options) > self.PILL_LIMIT
+
+  def _width_hint(self) -> int:
+    if self._value_only():
+      return BigButton._width_hint(self)
+    return super()._width_hint()
+
+  def _draw_content(self, btn_x: float, btn_y: float, btn_width: float, btn_height: float):
+    if self._value_only():
+      BigButton._draw_content(self, btn_x, btn_y, btn_width, btn_height)
+    else:
+      super()._draw_content(btn_x, btn_y, btn_width, btn_height)
+
+  def refresh(self):
+    try:
+      raw = self._params.get(self._param, return_default=True)
+    except UnknownKeyName:
+      raw = self._values[0]
+    try:
+      cur = float(raw)
+    except (TypeError, ValueError):
+      cur = float(self._values[0])
+    idx = min(range(len(self._values)), key=lambda i: abs(float(self._values[i]) - cur))
+    self.set_value(self._options[idx])
+
+  def _handle_mouse_release(self, mouse_pos):
+    super()._handle_mouse_release(mouse_pos)
+    idx = self._options.index(self.value)
+    try:
+      self._params.put(self._param, self._values[idx])
+    except UnknownKeyName:
+      pass
+
+
+class FollowDistanceSelector(BigMultiToggle):
+  OPTIONS = ["aggressive", "standard", "relaxed", "stock"]
+
+  def __init__(self):
+    self._display_options = [tr(option) for option in self.OPTIONS]
+    super().__init__(tr("Follow Distance"), self._display_options)
+    self._params = Params()
+    self.refresh()
+
+  def refresh(self):
+    selection, enabled = get_follow_distance_state(self._params)
+    self.set_value(self._display_options[3 if selection is None else selection])
+    self.set_enabled(enabled)
+
+  def _handle_mouse_release(self, mouse_pos):
+    if get_longitudinal_mode(self._params) not in (LONGITUDINAL_MODE_DYNAMIC, LONGITUDINAL_MODE_PILOT):
+      return
+    BigButton._handle_mouse_release(self, mouse_pos)
+    selection, _ = get_follow_distance_state(self._params)
+    if selection is None:
+      self.refresh()
+      return
+    next_selection = PERSONALITY_VALUES[(PERSONALITY_VALUES.index(selection) + 1) % len(PERSONALITY_VALUES)]
+    set_valid_personality(self._params, next_selection)
+    self.set_value(self._display_options[next_selection])
+
+
+class IQModeSelector(BigMultiToggle):
+  """Longitudinal mode selector: Stock ACC / IQ.Chill / IQ.Dynamic / IQ.Pilot.
+
+  A single tap cycles to the next mode and applies the matching param combo immediately.
+  """
+  OPTIONS = ["Stock ACC", "IQ.Chill", "IQ.Dynamic", "IQ.Pilot"]
+
+  def __init__(self, mode_callback=None):
+    self._display_options = [tr(option) for option in self.OPTIONS]
+    super().__init__(tr("IQ Mode"), self._display_options)
+    self._params = Params()
+    self._mode_callback = mode_callback
+    self._mode = LONGITUDINAL_MODE_STOCK
+    self._iq_modes_available = False
+    self.refresh()
+    self.set_enabled(lambda: self._next() != self._mode)
+
+  def _index(self) -> int:
+    return get_longitudinal_mode(self._params)
+
+  def is_dynamic(self) -> bool:
+    return self._mode == LONGITUDINAL_MODE_DYNAMIC
+
+  def _toyota_factory_long_forced(self) -> bool:
+    cp = ui_state.CP
+    return bool(cp is not None and cp.brand == "toyota" and self._params.get_bool("IQToyotaFactoryLong"))
+
+  def _read_iq_modes_available(self) -> bool:
+    cp = ui_state.CP
+    alpha_available = bool(cp is not None and cp.alphaLongitudinalAvailable)
+    return alpha_available or self._params.get_bool("AlphaLongitudinalEnabled") or self._toyota_factory_long_forced()
+
+  def _next(self) -> int:
+    return next_longitudinal_mode(self._mode, ui_state.is_onroad(), self._iq_modes_available)
+
+  def refresh(self):
+    self._mode = self._index()
+    self._iq_modes_available = self._read_iq_modes_available()
+    self.set_value(self._display_options[self._mode])
+
+  def _apply(self, idx: int):
+    previous = self._mode
+    toyota_forced = self._toyota_factory_long_forced()
+    apply_longitudinal_mode(self._params, idx)
+    if idx != LONGITUDINAL_MODE_STOCK and toyota_forced:
+      self._params.put_bool("IQToyotaFactoryLong", False)
+    if longitudinal_mode_needs_cycle(previous, idx) or (idx != LONGITUDINAL_MODE_STOCK and toyota_forced):
+      self._params.put_bool("OnroadCycleRequested", True)
+
+  def _handle_mouse_release(self, mouse_pos):
+    nxt = self._next()
+    if nxt == self._mode:
+      return
+    self._apply(nxt)
+    self.refresh()
+    if self._mode_callback:
+      self._mode_callback()