152 lines
5.7 KiB
Python
152 lines
5.7 KiB
Python
"""
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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 iqpilot.cereal import car
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from iqpilot.common.params import Params
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from iqpilot.selfdrive.controls.lib.helpers.lane_change import AutoLaneChangeMode
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from iqpilot.selfdrive.ui.mici.widgets.stock_button import BigButton, BigParamControl
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from iqpilot.selfdrive.ui.mici.layouts.settings.iq_widgets import MappedParamToggle
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from iqpilot.selfdrive.ui.ui_state import ui_state
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from iqpilot.system.ui.lib.application import gui_app
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from iqpilot.system.ui.widgets.scroller import NavScroller
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from iqpilot.system.ui.lib.multilang import tr
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def _aol_modes() -> list[str]:
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return [tr("stay engaged"), tr("standby"), tr("disengage")]
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class SabBrakeToggle(BigParamControl):
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"""Driver-intervention toggle backed by AolSteeringMode == 2."""
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def __init__(self):
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super().__init__(tr("Driver Intervention Handling"), "AolEnabled")
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def refresh(self):
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self.set_checked(int(self.params.get("AolSteeringMode", return_default=True)) == 2)
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def _handle_mouse_release(self, mouse_pos):
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super(BigParamControl, self)._handle_mouse_release(mouse_pos)
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enabled = self._checked
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current_mode = int(self.params.get("AolSteeringMode", return_default=True))
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if enabled:
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self.params.put("AolSteeringMode", 2)
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elif current_mode == 2:
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self.params.put("AolSteeringMode", 1)
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def _has_limited_sab_options() -> bool:
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brand = ""
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if ui_state.is_offroad():
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bundle = ui_state.params.get("CarPlatformBundle")
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if bundle:
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brand = bundle.get("brand", "")
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if not brand:
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brand = ui_state.CP.brand if ui_state.CP else ""
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return brand == "rivian"
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class SabSettingsPanel(NavScroller):
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def __init__(self):
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super().__init__()
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self._main_cruise = BigParamControl(tr("Availability While Cruise Changes"), "AolMainCruiseAllowed")
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self._brake = SabBrakeToggle()
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self._mode = MappedParamToggle(tr("Brake Response Mode"), "AolSteeringMode",
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_aol_modes(), [0, 1, 2])
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self._steer_override = BigParamControl(tr("Pause While You Steer"), "AolPauseOnSteeringOverride")
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self._scroller.add_widgets([self._main_cruise, self._brake, self._mode, self._steer_override])
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def show_event(self):
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super().show_event()
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limited = _has_limited_sab_options()
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if limited:
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ui_state.params.remove("AolMainCruiseAllowed")
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ui_state.params.put_bool("AolUnifiedEngagementMode", True)
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ui_state.params.put("AolSteeringMode", 2)
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offroad = ui_state.is_offroad()
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for w in (self._main_cruise, self._brake, self._mode):
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w.refresh()
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w.set_enabled(offroad and not limited)
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self._steer_override.refresh()
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self._steer_override.set_enabled(offroad)
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class LaneChangePanel(NavScroller):
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def __init__(self):
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super().__init__()
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self._timer = MappedParamToggle(tr("Auto Lane Change"), "IQLaneChangeTimer",
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[tr("off"), tr("nudge"), tr("no nudge"), "0.5 s", "1 s", "2 s", "3 s"],
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[-1, 0, 1, 2, 3, 4, 5])
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self._bsm_delay = BigParamControl(tr("Delay with Blind Spot"), "IQLaneChangeBsmDelay")
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self._continuous = BigParamControl(tr("Continuous Changes"), "LaneChangeContinuous")
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self._scroller.add_widgets([self._timer, self._bsm_delay, self._continuous])
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def show_event(self):
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super().show_event()
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self._timer.refresh()
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enable_bsm = bool(ui_state.CP and ui_state.CP.enableBsm)
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if not enable_bsm and ui_state.params.get_bool("IQLaneChangeBsmDelay"):
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ui_state.params.remove("IQLaneChangeBsmDelay")
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self._bsm_delay.refresh()
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self._bsm_delay.set_enabled(
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enable_bsm and int(ui_state.params.get("IQLaneChangeTimer", return_default=True)) > AutoLaneChangeMode.NUDGE
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)
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self._continuous.refresh()
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class SteeringLayoutMici(NavScroller):
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def __init__(self):
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super().__init__()
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self._sab_panel = SabSettingsPanel()
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self._lc_panel = LaneChangePanel()
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self._aol = BigParamControl(tr("AOL"), "AolEnabled", toggle_callback=self._on_aol_toggled)
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self._sab_settings_button = BigButton(tr("steering assistance behavior"))
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self._sab_settings_button.set_click_callback(lambda: gui_app.push_widget(self._sab_panel))
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self._lane_change = BigButton(tr("lane change"))
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self._lane_change.set_click_callback(lambda: gui_app.push_widget(self._lc_panel))
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self._nnff = BigParamControl(tr("Neural Net FF"), "NeuralNetworkFeedForward", toggle_callback=self._on_nnff_toggled)
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self._scroller.add_widgets([
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self._aol, self._sab_settings_button, self._lane_change,
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self._nnff,
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])
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def _aol_mode_str(self) -> str:
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try:
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return _aol_modes()[int(ui_state.params.get("AolSteeringMode", return_default=True))]
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except (TypeError, ValueError, IndexError):
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return _aol_modes()[0]
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def _on_aol_toggled(self, checked: bool):
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if checked:
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ui_state.params.put_bool("AolUnifiedEngagementMode", True)
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def _on_nnff_toggled(self, checked: bool):
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return None
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def _refresh(self):
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offroad = ui_state.is_offroad()
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self._aol.refresh()
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self._aol.set_value(self._aol_mode_str())
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self._nnff.refresh()
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steering_supported = (ui_state.CP is not None and
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ui_state.CP.steerControlType != car.CarParams.SteerControlType.angle)
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if not steering_supported:
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ui_state.params.remove("NeuralNetworkFeedForward")
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self._nnff.refresh()
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self._aol.set_enabled(offroad)
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self._sab_settings_button.set_enabled(offroad and self._aol._checked)
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self._nnff.set_enabled(offroad and steering_supported)
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def _update_state(self):
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super()._update_state()
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self._refresh()
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def show_event(self):
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super().show_event()
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self._refresh()
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