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split out experimental long toggle (#25698)

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* split out experimental long toggle

* clean up

* update translations
vision-acc-fixes
Adeeb Shihadeh 3 years ago committed by GitHub
parent da6c7311a3
commit 3ef37fe2e8
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8 changed files with 109 additions and 63 deletions
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  1. 3
      selfdrive/controls/lib/longitudinal_planner.py
  2. 60
      selfdrive/ui/qt/offroad/settings.cc
  3. 3
      selfdrive/ui/qt/widgets/controls.h
  4. 20
      selfdrive/ui/translations/main_ja.ts
  5. 20
      selfdrive/ui/translations/main_ko.ts
  6. 20
      selfdrive/ui/translations/main_pt-BR.ts
  7. 20
      selfdrive/ui/translations/main_zh-CHS.ts
  8. 20
      selfdrive/ui/translations/main_zh-CHT.ts

3
selfdrive/controls/lib/longitudinal_planner.py
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@ -66,7 +66,8 @@ class LongitudinalPlanner:
self.solverExecutionTime = 0.0 self.solverExecutionTime = 0.0
def read_param(self): def read_param(self):
self.mpc.mode = 'blended' if self.params.get_bool('EndToEndLong') else 'acc' e2e = self.params.get_bool('EndToEndLong') and self.CP.openpilotLongitudinalControl
self.mpc.mode = 'blended' if e2e else 'acc'
def parse_model(self, model_msg): def parse_model(self, model_msg):
if (len(model_msg.position.x) == 33 and if (len(model_msg.position.x) == 33 and

60
selfdrive/ui/qt/offroad/settings.cc
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@ -65,6 +65,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
"", "",
"../assets/offroad/icon_road.png", "../assets/offroad/icon_road.png",
}, },
{
"ExperimentalLongitudinalEnabled",
tr("Experimental openpilot longitudinal control"),
tr("<b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b>"),
"../assets/offroad/icon_speed_limit.png",
},
#ifdef ENABLE_MAPS #ifdef ENABLE_MAPS
{ {
"NavSettingTime24h", "NavSettingTime24h",
@ -92,23 +98,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
toggles[param.toStdString()] = toggle; toggles[param.toStdString()] = toggle;
} }
QObject::connect(toggles["EndToEndLong"], &ParamControl::toggleFlipped, [=](bool state) { connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
if (CP.getExperimentalLongitudinalAvailable()) {
params.putBool("ExperimentalLongitudinalEnabled", state);
} else {
params.remove("ExperimentalLongitudinalEnabled");
}
} else {
params.remove("ExperimentalLongitudinalEnabled");
}
});
connect(uiState(), &UIState::offroadTransition, [=]() {
updateToggles(); updateToggles();
}); });
} }
@ -118,8 +108,8 @@ void TogglesPanel::showEvent(QShowEvent *event) {
} }
void TogglesPanel::updateToggles() { void TogglesPanel::updateToggles() {
// update e2e toggle auto e2e_toggle = toggles["EndToEndLong"];
auto toggle = toggles["EndToEndLong"]; auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
const QString e2e_description = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental."); const QString e2e_description = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.");
auto cp_bytes = params.get("CarParamsPersistent"); auto cp_bytes = params.get("CarParamsPersistent");
@ -128,29 +118,31 @@ void TogglesPanel::updateToggles() {
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>(); cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
const bool exp_long = CP.getExperimentalLongitudinalAvailable(); if (!CP.getExperimentalLongitudinalAvailable()) {
const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable();
if (op_long) {
// normal description and toggle
params.remove("ExperimentalLongitudinalEnabled"); params.remove("ExperimentalLongitudinalEnabled");
toggle->setDescription(e2e_description);
} else if (exp_long) {
toggle->setDescription("<b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br><br>" + e2e_description);
if (params.getBool("EndToEndLong") && !params.getBool("ExperimentalLongitudinalEnabled")) {
params.remove("EndToEndLong");
} }
op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable());
const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable();
const bool exp_long_enabled = CP.getExperimentalLongitudinalAvailable() && params.getBool("ExperimentalLongitudinalEnabled");
if (op_long || exp_long_enabled) {
// normal description and toggle
e2e_toggle->setEnabled(true);
e2e_toggle->setDescription(e2e_description);
} else { } else {
// no long for now // no long for now
e2e_toggle->setEnabled(false);
params.remove("EndToEndLong"); params.remove("EndToEndLong");
params.remove("ExperimentalLongitudinalEnabled");
toggle->setDescription("<b>openpilot longitudinal control is not currently available for this car.</b><br><br>" + e2e_description); const QString no_long = "openpilot longitudinal control is not currently available for this car.";
const QString exp_long = "Enable experimental longitudinal control to enable this.";
e2e_toggle->setDescription("<b>" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "</b><br><br>" + e2e_description);
} }
toggle->refresh(); e2e_toggle->refresh();
toggle->setEnabled(op_long || (exp_long && !uiState()->scene.started));
} else { } else {
toggle->setDescription(e2e_description); e2e_toggle->setDescription(e2e_description);
op_long_toggle->setVisible(false);
} }
} }

3
selfdrive/ui/qt/widgets/controls.h
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@ -164,11 +164,14 @@ private:
QPainter p(this); QPainter p(this);
p.setPen(Qt::gray); p.setPen(Qt::gray);
for (int i = 0; i < inner_layout.count() - 1; ++i) { for (int i = 0; i < inner_layout.count() - 1; ++i) {
QWidget *widget = inner_layout.itemAt(i)->widget();
if (widget->isVisible()) {
QRect r = inner_layout.itemAt(i)->geometry(); QRect r = inner_layout.itemAt(i)->geometry();
int bottom = r.bottom() + inner_layout.spacing() / 2; int bottom = r.bottom() + inner_layout.spacing() / 2;
p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom); p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom);
} }
} }
}
QVBoxLayout outer_layout; QVBoxLayout outer_layout;
QVBoxLayout inner_layout; QVBoxLayout inner_layout;
}; };

20
selfdrive/ui/translations/main_ja.ts
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@ -108,7 +108,7 @@
<context> <context>
<name>DevicePanel</name> <name>DevicePanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="+159"/> <location filename="../qt/offroad/settings.cc" line="+151"/>
<source>Dongle ID</source> <source>Dongle ID</source>
<translation>ドングル番号 (Dongle ID)</translation> <translation>ドングル番号 (Dongle ID)</translation>
</message> </message>
@ -1153,7 +1153,7 @@ location set</source>
<context> <context>
<name>TogglesPanel</name> <name>TogglesPanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="-332"/> <location filename="../qt/offroad/settings.cc" line="-324"/>
<source>Enable openpilot</source> <source>Enable openpilot</source>
<translation>openpilot を有効化</translation> <translation>openpilot を有効化</translation>
</message> </message>
@ -1198,12 +1198,22 @@ location set</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message> <message>
<location line="+59"/> <location line="+6"/>
<source>Experimental openpilot longitudinal control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+42"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source> <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message> <message>
<location line="-65"/> <location line="-55"/>
<source>Disengage On Accelerator Pedal</source> <source>Disengage On Accelerator Pedal</source>
<translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation> <translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation>
</message> </message>
@ -1213,7 +1223,7 @@ location set</source>
<translation>有効な場合は、アクセルを踏むと openpilot をキャンセルします。</translation> <translation>有効な場合は、アクセルを踏むと openpilot をキャンセルします。</translation>
</message> </message>
<message> <message>
<location line="+12"/> <location line="+18"/>
<source>Show ETA in 24h Format</source> <source>Show ETA in 24h Format</source>
<translation>24時間表示</translation> <translation>24時間表示</translation>
</message> </message>

20
selfdrive/ui/translations/main_ko.ts
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@ -108,7 +108,7 @@
<context> <context>
<name>DevicePanel</name> <name>DevicePanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="+159"/> <location filename="../qt/offroad/settings.cc" line="+151"/>
<source>Dongle ID</source> <source>Dongle ID</source>
<translation>Dongle ID</translation> <translation>Dongle ID</translation>
</message> </message>
@ -1153,7 +1153,7 @@ location set</source>
<context> <context>
<name>TogglesPanel</name> <name>TogglesPanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="-332"/> <location filename="../qt/offroad/settings.cc" line="-324"/>
<source>Enable openpilot</source> <source>Enable openpilot</source>
<translation>openpilot 사용</translation> <translation>openpilot 사용</translation>
</message> </message>
@ -1198,12 +1198,22 @@ location set</source>
<translation>🌮 e2e long 사용 (매우 실험적) 🌮 </translation> <translation>🌮 e2e long 사용 (매우 실험적) 🌮 </translation>
</message> </message>
<message> <message>
<location line="+59"/> <location line="+6"/>
<source>Experimental openpilot longitudinal control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+42"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source> <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message> <message>
<location line="-65"/> <location line="-55"/>
<source>Disengage On Accelerator Pedal</source> <source>Disengage On Accelerator Pedal</source>
<translation>가속페달 조작시 해제</translation> <translation>가속페달 조작시 해제</translation>
</message> </message>
@ -1213,7 +1223,7 @@ location set</source>
<translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation> <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
</message> </message>
<message> <message>
<location line="+12"/> <location line="+18"/>
<source>Show ETA in 24h Format</source> <source>Show ETA in 24h Format</source>
<translation>24시간 형식으로 도착예정시간 표시</translation> <translation>24시간 형식으로 도착예정시간 표시</translation>
</message> </message>

20
selfdrive/ui/translations/main_pt-BR.ts
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@ -108,7 +108,7 @@
<context> <context>
<name>DevicePanel</name> <name>DevicePanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="+159"/> <location filename="../qt/offroad/settings.cc" line="+151"/>
<source>Dongle ID</source> <source>Dongle ID</source>
<translation>Dongle ID</translation> <translation>Dongle ID</translation>
</message> </message>
@ -1157,7 +1157,7 @@ trabalho definido</translation>
<context> <context>
<name>TogglesPanel</name> <name>TogglesPanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="-332"/> <location filename="../qt/offroad/settings.cc" line="-324"/>
<source>Enable openpilot</source> <source>Enable openpilot</source>
<translation>Ativar openpilot</translation> <translation>Ativar openpilot</translation>
</message> </message>
@ -1202,12 +1202,22 @@ trabalho definido</translation>
<translation>🌮 End-to-end longitudinal (experimental) 🌮</translation> <translation>🌮 End-to-end longitudinal (experimental) 🌮</translation>
</message> </message>
<message> <message>
<location line="+59"/> <location line="+6"/>
<source>Experimental openpilot longitudinal control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+42"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source> <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message> <message>
<location line="-65"/> <location line="-55"/>
<source>Disengage On Accelerator Pedal</source> <source>Disengage On Accelerator Pedal</source>
<translation>Desacionar Com Pedal Do Acelerador</translation> <translation>Desacionar Com Pedal Do Acelerador</translation>
</message> </message>
@ -1217,7 +1227,7 @@ trabalho definido</translation>
<translation>Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.</translation> <translation>Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.</translation>
</message> </message>
<message> <message>
<location line="+12"/> <location line="+18"/>
<source>Show ETA in 24h Format</source> <source>Show ETA in 24h Format</source>
<translation>Mostrar ETA em formato 24h</translation> <translation>Mostrar ETA em formato 24h</translation>
</message> </message>

20
selfdrive/ui/translations/main_zh-CHS.ts
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@ -108,7 +108,7 @@
<context> <context>
<name>DevicePanel</name> <name>DevicePanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="+159"/> <location filename="../qt/offroad/settings.cc" line="+151"/>
<source>Dongle ID</source> <source>Dongle ID</source>
<translation>设备ID（Dongle ID）</translation> <translation>设备ID（Dongle ID）</translation>
</message> </message>
@ -1151,7 +1151,7 @@ location set</source>
<context> <context>
<name>TogglesPanel</name> <name>TogglesPanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="-332"/> <location filename="../qt/offroad/settings.cc" line="-324"/>
<source>Enable openpilot</source> <source>Enable openpilot</source>
<translation>启用openpilot</translation> <translation>启用openpilot</translation>
</message> </message>
@ -1196,12 +1196,22 @@ location set</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message> <message>
<location line="+59"/> <location line="+6"/>
<source>Experimental openpilot longitudinal control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+42"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source> <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message> <message>
<location line="-65"/> <location line="-55"/>
<source>Disengage On Accelerator Pedal</source> <source>Disengage On Accelerator Pedal</source>
<translation>踩油门时取消控制</translation> <translation>踩油门时取消控制</translation>
</message> </message>
@ -1211,7 +1221,7 @@ location set</source>
<translation>启用后，踩下油门踏板将取消openpilot。</translation> <translation>启用后，踩下油门踏板将取消openpilot。</translation>
</message> </message>
<message> <message>
<location line="+12"/> <location line="+18"/>
<source>Show ETA in 24h Format</source> <source>Show ETA in 24h Format</source>
<translation>以24小时格式显示预计到达时间</translation> <translation>以24小时格式显示预计到达时间</translation>
</message> </message>

20
selfdrive/ui/translations/main_zh-CHT.ts
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@ -108,7 +108,7 @@
<context> <context>
<name>DevicePanel</name> <name>DevicePanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="+159"/> <location filename="../qt/offroad/settings.cc" line="+151"/>
<source>Dongle ID</source> <source>Dongle ID</source>
<translation>Dongle ID</translation> <translation>Dongle ID</translation>
</message> </message>
@ -1153,7 +1153,7 @@ location set</source>
<context> <context>
<name>TogglesPanel</name> <name>TogglesPanel</name>
<message> <message>
<location filename="../qt/offroad/settings.cc" line="-332"/> <location filename="../qt/offroad/settings.cc" line="-324"/>
<source>Enable openpilot</source> <source>Enable openpilot</source>
<translation>啟用 openpilot</translation> <translation>啟用 openpilot</translation>
</message> </message>
@ -1198,12 +1198,22 @@ location set</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message> <message>
<location line="+59"/> <location line="+6"/>
<source>Experimental openpilot longitudinal control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+42"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source> <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message> <message>
<location line="-65"/> <location line="-55"/>
<source>Disengage On Accelerator Pedal</source> <source>Disengage On Accelerator Pedal</source>
<translation>油門取消控車</translation> <translation>油門取消控車</translation>
</message> </message>
@ -1213,7 +1223,7 @@ location set</source>
<translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation> <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
</message> </message>
<message> <message>
<location line="+12"/> <location line="+18"/>
<source>Show ETA in 24h Format</source> <source>Show ETA in 24h Format</source>
<translation>預計到達時間單位改用 24 小時制</translation> <translation>預計到達時間單位改用 24 小時制</translation>
</message> </message>

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