344 lines
16 KiB
Python
344 lines
16 KiB
Python
from iqpilot.cereal import log
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from iqpilot.common.params import Params, UnknownKeyName
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from iqpilot.system.ui.widgets import Widget
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from iqpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
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from iqpilot.system.ui.widgets.scroller_tici import Scroller
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from iqpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
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from iqpilot.system.ui.lib.application import gui_app
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from iqpilot.system.ui.lib.multilang import tr, tr_noop
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from iqpilot.system.ui.widgets import DialogResult
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from iqpilot.selfdrive.ui.ui_state import ui_state
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if gui_app.iqpilot_ui():
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from iqpilot.system.ui.iqwidgets.widgets.list_view import toggle_item
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from iqpilot.system.ui.iqwidgets.widgets.list_view import multiple_button_item
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from iqpilot.ui.layouts.settings.iq_dynamic import IQDynamicLayout
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PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
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PERSONALITY_DISPLAY_TO_PARAM = [PERSONALITY_TO_INT["relaxed"], PERSONALITY_TO_INT["standard"], PERSONALITY_TO_INT["aggressive"]]
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PERSONALITY_PARAM_TO_DISPLAY = {param: idx for idx, param in enumerate(PERSONALITY_DISPLAY_TO_PARAM)}
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# Description constants
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DESCRIPTIONS = {
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"OpenpilotEnabledToggle": tr_noop(
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"Use the IQ.Pilot system for adaptive cruise control and lane keep driver assistance. " +
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"Your attention is required at all times to use this feature."
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),
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"DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage IQ.Pilot."),
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"LongitudinalPersonality": tr_noop(
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"Standard is recommended. In aggressive mode, IQ.Pilot will follow lead cars closer and be more aggressive with the gas and brake. " +
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"In relaxed mode IQ.Pilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
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"your steering wheel distance button."
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),
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"IQSpeedAssistMode": tr_noop(
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"Controls IQ.Pilot speed limit behavior. Off disables speed limit features, Information only displays limits, Warning highlights overspeed, and Control adjusts set speed using detected limits."
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),
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"IsLdwEnabled": tr_noop(
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"Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
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"without a turn signal activated while driving over 31 mph (50 km/h)."
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),
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"AlwaysOnDM": tr_noop("Enable driver monitoring even when IQ.Pilot is not engaged."),
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"DashcamEnabled": tr_noop("Record and upload driving data and video. Disabling this stops all recording! No logs, no video, no audio."),
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'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
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"IsMetric": tr_noop("Display speed in km/h instead of mph."),
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"IQAutoUnits": tr_noop(
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"Set the units from the device location. Speeds switch to km/h everywhere except the United States, " +
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"the United Kingdom and Liberia, and are re-checked when you cross a border."
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),
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"RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in Konn3kt."),
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"LongitudinalControlMode": tr_noop(
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"Choose longitudinal behavior: IQ.Pilot (IQ longitudinal + end-to-end), "
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"IQ.Dynamic (IQ longitudinal + dynamic mode), IQ.Chill (IQ longitudinal + relaxed personality), "
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"or Stock ACC."
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),
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}
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class TogglesLayout(Widget):
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def __init__(self):
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super().__init__()
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self._params = Params()
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# Keep IQ.Pilot enabled by default; the UI no longer exposes this toggle.
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self._params.put_bool("OpenpilotEnabledToggle", True)
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# param, title, desc, icon, needs_restart
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self._toggle_defs = {
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"DisengageOnAccelerator": (
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lambda: tr("Disengage on Accelerator Pedal"),
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DESCRIPTIONS["DisengageOnAccelerator"],
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"disengage_on_accelerator.png",
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False,
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),
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"IsLdwEnabled": (
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lambda: tr("Enable Lane Departure Warnings"),
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DESCRIPTIONS["IsLdwEnabled"],
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"warning.png",
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False,
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),
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"DashcamEnabled": (
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lambda: tr("Enable Dashcam"),
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DESCRIPTIONS["DashcamEnabled"],
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"camera.png",
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True,
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),
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"RecordFront": (
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lambda: tr("Record and Upload Driver Camera"),
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DESCRIPTIONS["RecordFront"],
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"monitoring.png",
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True,
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),
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"RecordAudio": (
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lambda: tr("Record and Upload Microphone Audio"),
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DESCRIPTIONS["RecordAudio"],
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"microphone.png",
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True,
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),
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"IsMetric": (
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lambda: tr("Use Metric System"),
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DESCRIPTIONS["IsMetric"],
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"metric.png",
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False,
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),
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"IQAutoUnits": (
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lambda: tr("Set Units From Location"),
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DESCRIPTIONS["IQAutoUnits"],
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"metric.png",
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False,
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),
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}
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self._long_personality_setting = multiple_button_item(
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lambda: tr("Driving Personality"),
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lambda: tr(DESCRIPTIONS["LongitudinalPersonality"]),
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buttons=[lambda: tr("Relaxed"), lambda: tr("Standard"), lambda: tr("Aggressive")],
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button_width=300,
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callback=self._set_longitudinal_personality,
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selected_index=PERSONALITY_PARAM_TO_DISPLAY.get(self._params.get("LongitudinalPersonality", return_default=True), 1),
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icon="speed_limit.png"
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)
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self._speed_limit_mode_setting = multiple_button_item(
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lambda: tr("Speed Limit"),
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lambda: tr(DESCRIPTIONS["IQSpeedAssistMode"]),
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buttons=[lambda: tr("Off"), lambda: tr("Info"), lambda: tr("Warning"), lambda: tr("Control")],
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button_width=220,
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callback=self._set_speed_limit_mode,
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selected_index=self._params.get("IQSpeedAssistMode", return_default=True),
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icon="speed_limit.png",
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)
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self._longitudinal_control_mode_setting = multiple_button_item(
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lambda: tr("Longitudinal Control"),
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lambda: tr(DESCRIPTIONS["LongitudinalControlMode"]),
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buttons=[lambda: tr("Stock ACC"), lambda: tr("IQ.Chill"), lambda: tr("IQ.Dynamic"), lambda: tr("IQ.Pilot")],
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button_width=250,
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callback=self._set_longitudinal_control_mode,
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selected_index=self._get_longitudinal_control_mode_index(),
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icon="experimental_white.png",
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)
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self._toggles = {}
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self._locked_toggles = set()
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self._toggles["LongitudinalControlMode"] = self._longitudinal_control_mode_setting
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self._toggles["LongitudinalPersonality"] = self._long_personality_setting
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self._toggles["IQSpeedAssistMode"] = self._speed_limit_mode_setting
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for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
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initial_state = self._params.get_bool(param)
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toggle = toggle_item(
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title,
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desc,
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initial_state,
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callback=lambda state, p=param: self._toggle_callback(state, p),
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icon=icon,
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)
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try:
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locked = self._params.get_bool(param + "Lock")
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except UnknownKeyName:
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locked = False
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toggle.action_item.set_enabled(not locked)
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# Make description callable for live translation
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additional_desc = ""
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if needs_restart and not locked:
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additional_desc = tr("Changing this setting will restart IQ.Pilot if the car is powered on.")
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toggle.set_description(lambda og_desc=toggle.description, add_desc=additional_desc: tr(og_desc) + (" " + tr(add_desc) if add_desc else ""))
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# track for engaged state updates
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if locked:
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self._locked_toggles.add(param)
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self._toggles[param] = toggle
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self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
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self._iq_dynamic_panel: "IQDynamicLayout | None" = None
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self._show_iq_dynamic = False
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if gui_app.iqpilot_ui():
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self._iq_dynamic_panel = IQDynamicLayout(self._close_iq_dynamic_panel)
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ui_state.add_engaged_transition_callback(self._update_toggles)
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def _update_state(self):
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if ui_state.sm.updated["selfdriveState"]:
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personality = PERSONALITY_TO_INT[ui_state.sm["selfdriveState"].personality]
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if personality != ui_state.personality and ui_state.started:
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self._long_personality_setting.action_item.set_selected_button(PERSONALITY_PARAM_TO_DISPLAY.get(personality, 1))
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ui_state.personality = personality
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self._speed_limit_mode_setting.action_item.set_selected_button(self._params.get("IQSpeedAssistMode", return_default=True))
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def _close_iq_dynamic_panel(self):
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self._show_iq_dynamic = False
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def set_cruise_panel_callback(self, callback: "Callable") -> None:
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"""Register callback invoked on double-click of IQ.Dynamic (button index 2)."""
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action = self._longitudinal_control_mode_setting.action_item
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if hasattr(action, 'set_double_click_callback'):
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action.set_double_click_callback(2, callback)
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def show_event(self):
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self._show_iq_dynamic = False
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self._scroller.show_event()
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self._update_toggles()
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def _update_toggles(self):
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ui_state.update_params()
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e2e_description = tr(
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"Longitudinal Control modes:<br>" +
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"IQ.Pilot features are listed below:<br>" +
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"<h4>IQ.Pilot End-to-End Longitudinal Control</h4><br>" +
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"Let the driving model control the gas and brakes. IQ.Pilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
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"Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This feature is still being improved; " +
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"mistakes should be expected.<br>" +
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"<h4>IQ.Dynamic</h4><br>" +
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"Dynamically blends between adaptive cruise behavior and end-to-end behavior based on scene/context.<br>" +
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"<h4>IQ.Chill</h4><br>" +
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"Uses standard traffic-aware cruise behavior for longitudinal control.<br>" +
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"<h4>New Driving Visualization</h4><br>" +
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"The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. " +
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"The IQ.Pilot logo will also be shown in the top right corner."
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)
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alpha_available = bool(ui_state.CP is not None and ui_state.CP.alphaLongitudinalAvailable)
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alpha_requested = self._params.get_bool("AlphaLongitudinalEnabled")
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toyota_stock_long_forced = bool(
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ui_state.CP is not None and
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ui_state.CP.brand == "toyota" and
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self._params.get_bool("IQToyotaFactoryLong")
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)
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iq_modes_selectable = alpha_available or alpha_requested or toyota_stock_long_forced
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availability_note = ""
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if ui_state.CP is None:
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availability_note = tr("Vehicle longitudinal capability has not been detected yet. Start the car once to detect support.")
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elif toyota_stock_long_forced:
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availability_note = tr("Factory Toyota longitudinal control is currently enforced. Choose an IQ longitudinal mode to disable it.")
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elif not alpha_available:
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availability_note = tr("IQ longitudinal modes are unavailable for this vehicle. Stock ACC is the only available option.")
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self._toggles["LongitudinalControlMode"].set_visible(True)
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self._long_personality_setting.set_visible(True)
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mode_index = self._get_longitudinal_control_mode_index()
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longitudinal_control_item = self._toggles["LongitudinalControlMode"]
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longitudinal_control_item.action_item.set_selected_button(mode_index)
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longitudinal_control_item.action_item.set_enabled(not ui_state.engaged)
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longitudinal_control_item.action_item.set_enabled_buttons([True, iq_modes_selectable, iq_modes_selectable, iq_modes_selectable])
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description = tr(DESCRIPTIONS["LongitudinalControlMode"]) + "<br><br>" + e2e_description
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if availability_note:
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description += "<br><br><i>" + availability_note + "</i>"
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longitudinal_control_item.set_description(description)
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personality_enabled = iq_modes_selectable and mode_index in (2, 3)
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self._long_personality_setting.action_item.set_enabled(personality_enabled)
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# TODO: make a param control list item so we don't need to manage internal state as much here
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# refresh toggles from params to mirror external changes
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for param in self._toggle_defs:
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self._toggles[param].action_item.set_state(self._params.get_bool(param))
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# these toggles need restart, block while engaged
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for toggle_def in self._toggle_defs:
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if self._toggle_defs[toggle_def][3] and toggle_def not in self._locked_toggles:
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self._toggles[toggle_def].action_item.set_enabled(not ui_state.engaged)
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def _render(self, rect):
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if self._show_iq_dynamic and self._iq_dynamic_panel is not None:
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self._iq_dynamic_panel.render(rect)
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else:
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self._scroller.render(rect)
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def _get_longitudinal_control_mode_index(self) -> int:
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if not self._params.get_bool("AlphaLongitudinalEnabled"):
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return 0 # Stock ACC
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if not self._params.get_bool("ExperimentalMode"):
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return 1 # IQ.Chill
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return 2 if self._params.get_bool("IQDynamicMode") else 3 # IQ.Dynamic / IQ.Pilot
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def _apply_longitudinal_control_mode(self, button_index: int):
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# 0 = Stock ACC, 1 = IQ.Chill, 2 = IQ.Dynamic, 3 = IQ.Pilot
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previous_alpha = self._params.get_bool("AlphaLongitudinalEnabled")
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previous_toyota_stock_long = self._params.get_bool("IQToyotaFactoryLong")
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if button_index == 0:
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self._params.put_bool("AlphaLongitudinalEnabled", False)
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self._params.put_bool("ExperimentalMode", False)
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self._params.put_bool("IQDynamicMode", False)
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elif button_index == 1:
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self._params.put_bool("AlphaLongitudinalEnabled", True)
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self._params.put_bool("ExperimentalMode", False)
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self._params.put_bool("IQDynamicMode", False)
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self._params.put("LongitudinalPersonality", PERSONALITY_TO_INT["relaxed"])
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elif button_index == 2:
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self._params.put_bool("AlphaLongitudinalEnabled", True)
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self._params.put_bool("ExperimentalMode", True)
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self._params.put_bool("IQDynamicMode", True)
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else:
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self._params.put_bool("AlphaLongitudinalEnabled", True)
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self._params.put_bool("ExperimentalMode", True)
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self._params.put_bool("IQDynamicMode", False)
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if button_index != 0 and previous_toyota_stock_long:
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self._params.put_bool("IQToyotaFactoryLong", False)
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if previous_alpha != self._params.get_bool("AlphaLongitudinalEnabled") or previous_toyota_stock_long != self._params.get_bool("IQToyotaFactoryLong"):
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self._params.put_bool("OnroadCycleRequested", True)
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def _toggle_callback(self, state: bool, param: str):
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self._params.put_bool(param, state)
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if param == "IQAutoUnits" and state:
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self._params.remove("IQAutoUnitsRegion")
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if self._toggle_defs[param][3]:
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self._params.put_bool("OnroadCycleRequested", True)
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def _set_longitudinal_personality(self, button_index: int):
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self._params.put("LongitudinalPersonality", PERSONALITY_DISPLAY_TO_PARAM[button_index])
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def _set_speed_limit_mode(self, button_index: int):
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self._params.put("IQSpeedAssistMode", button_index)
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def _set_longitudinal_control_mode(self, button_index: int):
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# 0 = Stock ACC, 1 = IQ.Chill, 2 = IQ.Dynamic, 3 = IQ.Pilot
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if button_index == self._get_longitudinal_control_mode_index():
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if button_index == 2 and self._iq_dynamic_panel is not None:
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self._show_iq_dynamic = True
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return
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# IQ.Pilot and IQ.Dynamic both require ExperimentalMode confirmation.
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if button_index in (2, 3) and not self._params.get_bool("ExperimentalModeConfirmed"):
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def confirm_callback(result: int):
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if result == DialogResult.CONFIRM:
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self._apply_longitudinal_control_mode(button_index)
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self._params.put_bool("ExperimentalModeConfirmed", True)
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else:
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self._toggles["LongitudinalControlMode"].action_item.set_selected_button(self._get_longitudinal_control_mode_index())
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self._update_toggles()
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content = (f"<h1>{self._toggles['LongitudinalControlMode'].title}</h1><br>" +
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f"<p>{self._toggles['LongitudinalControlMode'].description}</p>")
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dlg = ConfirmDialog(content, tr("Enable"), rich=True)
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gui_app.set_modal_overlay(dlg, callback=confirm_callback)
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else:
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self._apply_longitudinal_control_mode(button_index)
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self._update_toggles()
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