IQ.Pilot Release Commit @ dab4674

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

@@ -3,13 +3,11 @@ Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed
 """
 
 from iqpilot.selfdrive.ui.mici.widgets.stock_button import BigButton, BigParamControl
-from iqpilot.selfdrive.ui.mici.layouts.settings.iq_widgets import MappedParamToggle, IQModeSelector, SafeParamControl
+from iqpilot.selfdrive.ui.mici.layouts.settings.iq_widgets import FollowDistanceSelector, MappedParamToggle, IQModeSelector, SafeParamControl
 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
 
-FOLLOW_DISTANCE_VALUES = [0, 1, 2, 3]
-
 MS_TO_MPH = 2.23694
 _SPEED_MPH = [10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80]
 _SPEED_OPTIONS = [f"{s} mph" for s in _SPEED_MPH]
@@ -77,12 +75,11 @@ class CruiseLayoutMici(NavScroller):
     self._dynamic_panel = DynamicSettingsPanel()
     self._slc_panel = SlcSettingsPanel()
 
-    self._mode = IQModeSelector()
+    self._follow_dist = FollowDistanceSelector()
+    self._mode = IQModeSelector(self._follow_dist.refresh)
     self._dynamic_settings = BigButton(tr("iq.dynamic settings"))
     self._dynamic_settings.set_click_callback(lambda: gui_app.push_widget(self._dynamic_panel))
     self._dynamic_settings.set_visible(self._mode.is_dynamic)
-    self._follow_dist = MappedParamToggle(tr("Follow Distance"), "LongitudinalPersonality",
-                                          [tr("aggressive"), tr("standard"), tr("relaxed"), tr("stock")], FOLLOW_DISTANCE_VALUES)
     self._speed_limit = MappedParamToggle(tr("Speed Limit"), "IQSpeedAssistMode",
                                           [tr("off"), tr("info"), tr("warning"), tr("control")])
     self._slc_settings = BigButton(tr("speed limit settings"))

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

@@ -3,6 +3,15 @@ Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed
 """
 
 from iqpilot.common.params import Params, UnknownKeyName
+from iqpilot.selfdrive.longitudinal_settings import (
+  LONGITUDINAL_MODE_DYNAMIC,
+  LONGITUDINAL_MODE_PILOT,
+  PERSONALITY_VALUES,
+  apply_longitudinal_mode,
+  get_follow_distance_state,
+  get_longitudinal_mode,
+  set_valid_personality,
+)
 from iqpilot.selfdrive.ui.mici.widgets.stock_button import BigButton, BigMultiToggle, BigToggle, BigParamControl
 from iqpilot.system.ui.lib.multilang import tr
 
@@ -90,27 +99,49 @@ class MappedParamToggle(BigMultiToggle):
       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"]
-  PERSONALITY_RELAXED = 2
 
-  def __init__(self):
+  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.refresh()
 
   def _index(self) -> int:
-    p = self._params
-    if not p.get_bool("AlphaLongitudinalEnabled"):
-      return 0
-    if not p.get_bool("ExperimentalMode"):
-      return 1
-    return 2 if p.get_bool("IQDynamicMode") else 3
+    return get_longitudinal_mode(self._params)
 
   def is_dynamic(self) -> bool:
     return self._index() == 2
@@ -119,27 +150,12 @@ class IQModeSelector(BigMultiToggle):
     self.set_value(self._display_options[self._index()])
 
   def _apply(self, idx: int):
-    p = self._params
-    if idx == 0:
-      p.put_bool("AlphaLongitudinalEnabled", False)
-      p.put_bool("ExperimentalMode", False)
-      p.put_bool("IQDynamicMode", False)
-    elif idx == 1:
-      p.put_bool("AlphaLongitudinalEnabled", True)
-      p.put_bool("ExperimentalMode", False)
-      p.put_bool("IQDynamicMode", False)
-      p.put("LongitudinalPersonality", self.PERSONALITY_RELAXED)
-    elif idx == 2:
-      p.put_bool("AlphaLongitudinalEnabled", True)
-      p.put_bool("ExperimentalMode", True)
-      p.put_bool("IQDynamicMode", True)
-    else:
-      p.put_bool("AlphaLongitudinalEnabled", True)
-      p.put_bool("ExperimentalMode", True)
-      p.put_bool("IQDynamicMode", False)
-    p.put_bool("OnroadCycleRequested", True)
+    apply_longitudinal_mode(self._params, idx)
+    self._params.put_bool("OnroadCycleRequested", True)
 
   def _handle_mouse_release(self, mouse_pos):
     nxt = (self._index() + 1) % len(self.OPTIONS)
     self._apply(nxt)
     self.set_value(self._display_options[nxt])
+    if self._mode_callback:
+      self._mode_callback()

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

@@ -78,8 +78,10 @@ class LaneChangePanel(NavScroller):
                                     [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._edge_guard = BigParamControl(tr("Lane Edge Guard"), "IQEdgeGuard")
+    self._edge_guard.set_value(tr("Blocks lane changes when a road edge is detected on the target side."))
     self._continuous = BigParamControl(tr("Continuous Changes"), "LaneChangeContinuous")
-    self._scroller.add_widgets([self._timer, self._bsm_delay, self._continuous])
+    self._scroller.add_widgets([self._timer, self._bsm_delay, self._edge_guard, self._continuous])
 
   def show_event(self):
     super().show_event()
@@ -91,6 +93,7 @@ class LaneChangePanel(NavScroller):
     self._bsm_delay.set_enabled(
       enable_bsm and int(ui_state.params.get("IQLaneChangeTimer", return_default=True)) > AutoLaneChangeMode.NUDGE
     )
+    self._edge_guard.refresh()
     self._continuous.refresh()