@ -65,6 +65,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
" " ,
" ../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
{
" NavSettingTime24h " ,
@ -92,23 +98,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
toggles [ param . toStdString ( ) ] = toggle ;
}
QObject : : connect ( toggles [ " EndToEndLong " ] , & ParamControl : : toggleFlipped , [ = ] ( bool state ) {
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 , [ = ] ( ) {
connect ( toggles [ " ExperimentalLongitudinalEnabled " ] , & ToggleControl : : toggleFlipped , [ = ] ( ) {
updateToggles ( ) ;
} ) ;
}
@ -118,8 +108,8 @@ void TogglesPanel::showEvent(QShowEvent *event) {
}
void TogglesPanel : : updateToggles ( ) {
// update e2e toggle
auto toggle = toggles [ " EndToEndLong " ] ;
auto e2e_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. " ) ;
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 ( ) ) ) ;
cereal : : CarParams : : Reader CP = cmsg . getRoot < cereal : : CarParams > ( ) ;
const bool exp_long = CP . getExperimentalLongitudinalAvailable ( ) ;
const bool op_long = CP . getOpenpilotLongitudinalControl ( ) & & ! CP . getExperimentalLongitudinalAvailable ( ) ;
if ( ! CP . getExperimentalLongitudinalAvailable ( ) ) {
params . remove ( " ExperimentalLongitudinalEnabled " ) ;
}
op_long_toggle - > setVisible ( CP . getExperimentalLongitudinalAvailable ( ) ) ;
if ( op_long ) {
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
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 " ) ;
}
e2e_toggle - > setEnabled ( true ) ;
e2e_toggle - > setDescription ( e2e_description ) ;
} else {
// no long for now
e2e_toggle - > setEnabled ( false ) ;
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 ( ) ;
toggle - > setEnabled ( op_long | | ( exp_long & & ! uiState ( ) - > scene . started ) ) ;
e2e_toggle - > refresh ( ) ;
} else {
toggle - > setDescription ( e2e_description ) ;
e2e_toggle - > setDescription ( e2e_description ) ;
op_long_toggle - > setVisible ( false ) ;
}
}
Jason Young
3 years ago