split out experimental long toggle (#25698)

* split out experimental long toggle * clean up * update translations old-commit-hash: 3ef37fe2e8
3 years ago · c6e4fb646d
parent 4b6fbd26a5
commit c6e4fb646d
8 changed files with 109 additions and 63 deletions
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@ -66,7 +66,8 @@ class LongitudinalPlanner:
    self.solverExecutionTime = 0.0

  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):
    if (len(model_msg.position.x) == 33 and
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@ -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 (op_long) {
-      // normal description and toggle
+    if (!CP.getExperimentalLongitudinalAvailable()) {
      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 {
      // 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);
  }
 }

--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@ -164,11 +164,14 @@ private:
    QPainter p(this);
    p.setPen(Qt::gray);
    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();
        int bottom = r.bottom() + inner_layout.spacing() / 2;
        p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom);
      }
    }
+  }
  QVBoxLayout outer_layout;
  QVBoxLayout inner_layout;
 };
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@ -108,7 +108,7 @@
 <context>
    <name>DevicePanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="+159"/>
+        <location filename="../qt/offroad/settings.cc" line="+151"/>
        <source>Dongle ID</source>
        <translation>ドングル番号 (Dongle ID)</translation>
    </message>
@ -1153,7 +1153,7 @@ location set</source>
 <context>
    <name>TogglesPanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="-332"/>
+        <location filename="../qt/offroad/settings.cc" line="-324"/>
        <source>Enable openpilot</source>
        <translation>openpilot を有効化</translation>
    </message>
@ -1198,12 +1198,22 @@ location set</source>
        <translation type="unfinished"></translation>
    </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>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <location line="-65"/>
+        <location line="-55"/>
        <source>Disengage On Accelerator Pedal</source>
        <translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation>
    </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>
    </message>
    <message>
-        <location line="+12"/>
+        <location line="+18"/>
        <source>Show ETA in 24h Format</source>
        <translation>24時間表示</translation>
    </message>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -108,7 +108,7 @@
 <context>
    <name>DevicePanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="+159"/>
+        <location filename="../qt/offroad/settings.cc" line="+151"/>
        <source>Dongle ID</source>
        <translation>Dongle ID</translation>
    </message>
@ -1153,7 +1153,7 @@ location set</source>
 <context>
    <name>TogglesPanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="-332"/>
+        <location filename="../qt/offroad/settings.cc" line="-324"/>
        <source>Enable openpilot</source>
        <translation>openpilot 사용</translation>
    </message>
@ -1198,12 +1198,22 @@ location set</source>
        <translation>🌮 e2e long 사용 (매우 실험적) 🌮 </translation>
    </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>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <location line="-65"/>
+        <location line="-55"/>
        <source>Disengage On Accelerator Pedal</source>
        <translation>가속페달 조작시 해제</translation>
    </message>
@ -1213,7 +1223,7 @@ location set</source>
        <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
    </message>
    <message>
-        <location line="+12"/>
+        <location line="+18"/>
        <source>Show ETA in 24h Format</source>
        <translation>24시간 형식으로 도착예정시간 표시</translation>
    </message>
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@ -108,7 +108,7 @@
 <context>
    <name>DevicePanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="+159"/>
+        <location filename="../qt/offroad/settings.cc" line="+151"/>
        <source>Dongle ID</source>
        <translation>Dongle ID</translation>
    </message>
@ -1157,7 +1157,7 @@ trabalho definido</translation>
 <context>
    <name>TogglesPanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="-332"/>
+        <location filename="../qt/offroad/settings.cc" line="-324"/>
        <source>Enable openpilot</source>
        <translation>Ativar openpilot</translation>
    </message>
@ -1202,12 +1202,22 @@ trabalho definido</translation>
        <translation>🌮 End-to-end longitudinal (experimental) 🌮</translation>
    </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>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <location line="-65"/>
+        <location line="-55"/>
        <source>Disengage On Accelerator Pedal</source>
        <translation>Desacionar Com Pedal Do Acelerador</translation>
    </message>
@ -1217,7 +1227,7 @@ trabalho definido</translation>
        <translation>Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.</translation>
    </message>
    <message>
-        <location line="+12"/>
+        <location line="+18"/>
        <source>Show ETA in 24h Format</source>
        <translation>Mostrar ETA em formato 24h</translation>
    </message>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@ -108,7 +108,7 @@
 <context>
    <name>DevicePanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="+159"/>
+        <location filename="../qt/offroad/settings.cc" line="+151"/>
        <source>Dongle ID</source>
        <translation>设备ID（Dongle ID）</translation>
    </message>
@ -1151,7 +1151,7 @@ location set</source>
 <context>
    <name>TogglesPanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="-332"/>
+        <location filename="../qt/offroad/settings.cc" line="-324"/>
        <source>Enable openpilot</source>
        <translation>启用openpilot</translation>
    </message>
@ -1196,12 +1196,22 @@ location set</source>
        <translation type="unfinished"></translation>
    </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>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <location line="-65"/>
+        <location line="-55"/>
        <source>Disengage On Accelerator Pedal</source>
        <translation>踩油门时取消控制</translation>
    </message>
@ -1211,7 +1221,7 @@ location set</source>
        <translation>启用后，踩下油门踏板将取消openpilot。</translation>
    </message>
    <message>
-        <location line="+12"/>
+        <location line="+18"/>
        <source>Show ETA in 24h Format</source>
        <translation>以24小时格式显示预计到达时间</translation>
    </message>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@ -108,7 +108,7 @@
 <context>
    <name>DevicePanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="+159"/>
+        <location filename="../qt/offroad/settings.cc" line="+151"/>
        <source>Dongle ID</source>
        <translation>Dongle ID</translation>
    </message>
@ -1153,7 +1153,7 @@ location set</source>
 <context>
    <name>TogglesPanel</name>
    <message>
-        <location filename="../qt/offroad/settings.cc" line="-332"/>
+        <location filename="../qt/offroad/settings.cc" line="-324"/>
        <source>Enable openpilot</source>
        <translation>啟用 openpilot</translation>
    </message>
@ -1198,12 +1198,22 @@ location set</source>
        <translation type="unfinished"></translation>
    </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>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <location line="-65"/>
+        <location line="-55"/>
        <source>Disengage On Accelerator Pedal</source>
        <translation>油門取消控車</translation>
    </message>
@ -1213,7 +1223,7 @@ location set</source>
        <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
    </message>
    <message>
-        <location line="+12"/>
+        <location line="+18"/>
        <source>Show ETA in 24h Format</source>
        <translation>預計到達時間單位改用 24 小時制</translation>
    </message>