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95 lines
3.8 KiB
95 lines
3.8 KiB
#include "selfdrive/ui/qt/offroad/developer_panel.h"
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#include "selfdrive/ui/qt/widgets/ssh_keys.h"
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#include "selfdrive/ui/qt/widgets/controls.h"
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DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
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adbToggle = new ParamControl("AdbEnabled", tr("Enable ADB"),
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tr("ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."), "");
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addItem(adbToggle);
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// SSH keys
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addItem(new SshToggle());
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addItem(new SshControl());
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joystickToggle = new ParamControl("JoystickDebugMode", tr("Joystick Debug Mode"), "", "");
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QObject::connect(joystickToggle, &ParamControl::toggleFlipped, [=](bool state) {
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params.putBool("LongitudinalManeuverMode", false);
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longManeuverToggle->refresh();
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});
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addItem(joystickToggle);
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longManeuverToggle = new ParamControl("LongitudinalManeuverMode", tr("Longitudinal Maneuver Mode"), "", "");
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QObject::connect(longManeuverToggle, &ParamControl::toggleFlipped, [=](bool state) {
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params.putBool("JoystickDebugMode", false);
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joystickToggle->refresh();
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});
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addItem(longManeuverToggle);
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experimentalLongitudinalToggle = new ParamControl(
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"AlphaLongitudinalEnabled",
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tr("openpilot Longitudinal Control (Alpha)"),
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QString("<b>%1</b><br><br>%2")
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.arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
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.arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
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"Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
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""
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);
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experimentalLongitudinalToggle->setConfirmation(true, false);
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QObject::connect(experimentalLongitudinalToggle, &ParamControl::toggleFlipped, [=]() {
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updateToggles(offroad);
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});
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addItem(experimentalLongitudinalToggle);
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// Joystick and longitudinal maneuvers should be hidden on release branches
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is_release = params.getBool("IsReleaseBranch");
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// Toggles should be not available to change in onroad state
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QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanel::updateToggles);
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}
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void DeveloperPanel::updateToggles(bool _offroad) {
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for (auto btn : findChildren<ParamControl *>()) {
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btn->setVisible(!is_release);
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/*
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* experimentalLongitudinalToggle should be toggelable when:
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* - visible, and
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* - during onroad & offroad states
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*/
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if (btn != experimentalLongitudinalToggle) {
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btn->setEnabled(_offroad);
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}
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}
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// longManeuverToggle and experimentalLongitudinalToggle should not be toggleable if the car does not have longitudinal control
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auto cp_bytes = params.get("CarParamsPersistent");
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if (!cp_bytes.empty()) {
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AlignedBuffer aligned_buf;
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capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
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cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
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if (!CP.getAlphaLongitudinalAvailable() || is_release) {
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params.remove("AlphaLongitudinalEnabled");
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experimentalLongitudinalToggle->setEnabled(false);
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}
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/*
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* experimentalLongitudinalToggle should be visible when:
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* - is not a release branch, and
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* - the car supports experimental longitudinal control (alpha)
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*/
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experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
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longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
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} else {
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longManeuverToggle->setEnabled(false);
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experimentalLongitudinalToggle->setVisible(false);
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}
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experimentalLongitudinalToggle->refresh();
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offroad = _offroad;
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}
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void DeveloperPanel::showEvent(QShowEvent *event) {
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updateToggles(offroad);
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}
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