longitudinal personality: change via steering wheel distance button (#31792)

* start at param

* start by sending personality

* change to personality

* POC: button changes personality

* what's wrong with this?

* fix

* not really possible but fuzzy test catches this

* there's always a typo

* dang, we're dropping messages

* clean up

* no comment

* bump

* rename

* not all cars yet

* works but at what cost

* clean up

* inside settings

* write param so we save the distance button changes

* setChecked activates buttonToggled and already writes param!

* don't need this, we update from longitudinalPlan on changes

* some clean up

* more

* ui

* allow some time for ui to receive and write param

* plannerd: only track changes in case no ui

* Revert "plannerd: only track changes in case no ui"

This reverts commit 2b081aa6ce.

* write in plannerd as well, I assume this is atomic?

* don't write when setting checked (only user clicks)

* better nane

* more

* Update selfdrive/controls/lib/longitudinal_planner.py

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>

* doesn't write param now

* ParamWatcher is nice

* no debug

* Update translations

* fix

* odd drain sock proc replay behavior

* vanish

* Revert "odd drain sock proc replay behavior"

This reverts commit 29b70b3941.

* add GM

* only if OP long

* move personality to controlsState, since eventually it won't be exclusive to long planner

more

bump

* diff without translations

* fix

* put nonblocking

* CS should start at up to date personality always (no ui flicker)

* update toggle on cereal message change

* fix

* fix that

* ubmp

* mypy doesn't know this is an int :(

* update translations

* fix the tests

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
old-commit-hash: 3d63c7093a

selfdrive/controls/controlsd.py

@@ -651,6 +651,12 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
+    # decrement personality on distance button press
+    if self.CP.openpilotLongitudinalControl:
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+        self.personality = (self.personality - 1) % 3
+        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+
     return CC, lac_log
 
   def publish_logs(self, CS, start_time, CC, lac_log):

selfdrive/ui/qt/offroad/settings.cc

@@ -91,9 +91,14 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
   long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
                                           tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
-                                             "In relaxed mode openpilot will stay further away from lead cars."),
+                                             "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with "
+                                             "your steering wheel distance button."),
                                           "../assets/offroad/icon_speed_limit.png",
                                           longi_button_texts);
+
+  // set up uiState update for personality setting
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
+
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
@@ -119,6 +124,18 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
 }
 
+void TogglesPanel::updateState(const UIState &s) {
+  const SubMaster &sm = *(s.sm);
+
+  if (sm.updated("controlsState")) {
+    auto personality = sm["controlsState"].getControlsState().getPersonality();
+    if (personality != s.scene.personality && s.scene.started && isVisible()) {
+      long_personality_setting->setCheckedButton(static_cast<int>(personality));
+    }
+    uiState()->scene.personality = personality;
+  }
+}
+
 void TogglesPanel::expandToggleDescription(const QString &param) {
   toggles[param.toStdString()]->showDescription();
 }

selfdrive/ui/qt/offroad/settings.h

@@ -11,6 +11,7 @@
 #include <QWidget>
 
 
+#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
@@ -64,6 +65,9 @@ public:
 public slots:
   void expandToggleDescription(const QString &param);
 
+private slots:
+  void updateState(const UIState &s);
+
 private:
   Params params;
   std::map<std::string, ParamControl*> toggles;

selfdrive/ui/qt/widgets/controls.h

@@ -234,6 +234,19 @@ public:
     }
   }
 
+  void setCheckedButton(int id) {
+    button_group->button(id)->setChecked(true);
+  }
+
+  void refresh() {
+    int value = atoi(params.get(key).c_str());
+    button_group->button(value)->setChecked(true);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
 private:
   std::string key;
   Params params;

selfdrive/ui/translations/main_ar.ts

@@ -1103,10 +1103,6 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>شخصية القيادة</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>يوصى بالوضع القياسي. في الوضع الهجومي، سيتبع openpilot السيارات الرائدة بشكل أقرب، ويصبح أكثر هجومية في دواسات الوقود والمكابح. في وضعية الراحة يبقى openplot بعيداً لمسافة جيدة عن السيارة الرائدة.</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>يتم وضع openpilot بشكل قياسي في &lt;b&gt;وضعية الراحة&lt;/b&gt;. يمكن الوضع التجريبي &lt;b&gt;ميزات المستوى ألفا&lt;/b&gt; التي لا تكون جاهزة في وضع الراحة:</translation>
@@ -1151,6 +1147,10 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>تمكين التحكم الطولي من openpilot (ألفا) للسماح بالوضع التجريبي.</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_de.ts

@@ -1105,10 +1105,6 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation type="unfinished"></translation>
@@ -1137,6 +1133,10 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_fr.ts

@@ -1087,10 +1087,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Driving Personality</source>
         <translation>Personnalité de conduite</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>Le mode standard est recommandé. En mode agressif, openpilot suivra de plus près les voitures de tête et sera plus agressif avec l&apos;accélérateur et le frein. En mode détendu, openpilot restera plus éloigné des voitures de tête.</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>Par défaut, openpilot conduit en &lt;b&gt;mode détente&lt;/b&gt;. Le mode expérimental permet d&apos;activer des &lt;b&gt;fonctionnalités alpha&lt;/b&gt; qui ne sont pas prêtes pour le mode détente. Les fonctionnalités expérimentales sont listées ci-dessous :</translation>
@@ -1135,6 +1131,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activer le contrôle longitudinal d&apos;openpilot (en alpha) pour autoriser le mode expérimental.</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ja.ts

@@ -1097,10 +1097,6 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation type="unfinished"></translation>
@@ -1129,6 +1125,10 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ko.ts

@@ -1103,10 +1103,6 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>주행 모드</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>표준 모드를 권장합니다. 공격적 모드에서 openpilot은 앞 차량을 더 가까이 따라가며 적극적으로 가감속합니다. 편안한 모드에서 openpilot은 앞 차량을 더 멀리서 따라갑니다.</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다.</translation>
@@ -1131,6 +1127,10 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
         <translation>주행 시각화는 저속으로 주행 시 도로를 향한 광각 카메라로 자동 전환되어 일부 곡선 경로를 더 잘 보여줍니다. 실험 모드 로고는 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다.</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -1107,10 +1107,6 @@ Isso pode levar até um minuto.</translation>
         <source>Driving Personality</source>
         <translation>Temperamento de Direção</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente.</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
@@ -1135,6 +1131,10 @@ Isso pode levar até um minuto.</translation>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
         <translation>A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito. Quando um destino de navegação é definido e o modelo de condução o utiliza como entrada o caminho de condução no mapa fica verde.</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_th.ts

@@ -1103,10 +1103,6 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>บุคลิกการขับขี่</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>แนะนำให้ใช้แบบมาตรฐาน ในโหมดดุดัน openpilot จะตามรถคันหน้าใกล้ขึ้นและเร่งและเบรคแบบดุดันมากขึ้น ในโหมดผ่อนคลาย openpilot จะอยู่ห่างจากรถคันหน้ามากขึ้น</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา</translation>
@@ -1131,6 +1127,10 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>เปิดระบบควบคุมการเร่ง/เบรคโดย openpilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_tr.ts

@@ -1081,10 +1081,6 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation type="unfinished"></translation>
@@ -1129,6 +1125,10 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -1103,10 +1103,6 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>驾驶风格</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>推荐使用标准模式。在积极模式中，openpilot 会更靠近前车并在加速和刹车方面更积极。在舒适模式中，openpilot 会与前车保持较远的距离。</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。</translation>
@@ -1131,6 +1127,10 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
         <translation>行驶画面将在低速时切换到道路朝向的广角摄像头，以更好地显示一些转弯。实验模式标志也将显示在右上角。当设置了导航目的地并且驾驶模型正在使用它作为输入时，地图上的驾驶路径将变为绿色。</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -1103,10 +1103,6 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>駕駛風格</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。</translation>
@@ -1131,6 +1127,10 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
         <translation>行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖示也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/ui.h

@@ -155,6 +155,7 @@ typedef struct UIScene {
   vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
 
   bool navigate_on_openpilot = false;
+  cereal::LongitudinalPersonality personality;
 
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;