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172 lines
6.6 KiB
172 lines
6.6 KiB
from openpilot.common.params import Params
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from openpilot.selfdrive.ui.widgets.ssh_key import ssh_key_item
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.list_view import toggle_item
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from openpilot.system.ui.widgets.scroller import Scroller
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from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.system.ui.widgets import DialogResult
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# Description constants
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DESCRIPTIONS = {
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'enable_adb': (
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"ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. " +
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"See https://docs.comma.ai/how-to/connect-to-comma for more info."
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),
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'ssh_key': (
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"Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " +
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"other than your own. A comma employee will NEVER ask you to add their GitHub username."
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),
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'alpha_longitudinal': (
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"<b>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
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"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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class DeveloperLayout(Widget):
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def __init__(self):
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super().__init__()
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self._params = Params()
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self._is_release = self._params.get_bool("IsReleaseBranch")
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# Build items and keep references for callbacks/state updates
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self._adb_toggle = toggle_item(
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"Enable ADB",
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description=DESCRIPTIONS["enable_adb"],
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initial_state=self._params.get_bool("AdbEnabled"),
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callback=self._on_enable_adb,
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enabled=ui_state.is_offroad,
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)
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# SSH enable toggle + SSH key management
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self._ssh_toggle = toggle_item(
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"Enable SSH",
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description="",
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initial_state=self._params.get_bool("SshEnabled"),
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callback=self._on_enable_ssh,
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)
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self._ssh_keys = ssh_key_item("SSH Keys", description=DESCRIPTIONS["ssh_key"])
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self._joystick_toggle = toggle_item(
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"Joystick Debug Mode",
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description="",
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initial_state=self._params.get_bool("JoystickDebugMode"),
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callback=self._on_joystick_debug_mode,
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enabled=ui_state.is_offroad,
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)
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self._long_maneuver_toggle = toggle_item(
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"Longitudinal Maneuver Mode",
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description="",
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initial_state=self._params.get_bool("LongitudinalManeuverMode"),
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callback=self._on_long_maneuver_mode,
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)
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self._alpha_long_toggle = toggle_item(
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"openpilot Longitudinal Control (Alpha)",
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description=DESCRIPTIONS["alpha_longitudinal"],
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initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
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callback=self._on_alpha_long_enabled,
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enabled=lambda: not ui_state.engaged,
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)
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self._alpha_long_toggle.set_description(self._alpha_long_toggle.description + " Changing this setting will restart openpilot if the car is powered on.")
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items = [
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self._adb_toggle,
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self._ssh_toggle,
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self._ssh_keys,
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self._joystick_toggle,
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self._long_maneuver_toggle,
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self._alpha_long_toggle,
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]
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self._scroller = Scroller(items, line_separator=True, spacing=0)
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# Toggles should be not available to change in onroad state
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ui_state.add_offroad_transition_callback(self._update_toggles)
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def _render(self, rect):
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self._scroller.render(rect)
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def show_event(self):
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self._scroller.show_event()
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self._update_toggles()
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def _update_toggles(self):
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ui_state.update_params()
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# Hide non-release toggles on release builds
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# TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
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for item in (self._adb_toggle, self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle):
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item.set_visible(not self._is_release)
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# CP gating
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if ui_state.CP is not None:
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alpha_avail = ui_state.CP.alphaLongitudinalAvailable
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if not alpha_avail or self._is_release:
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self._alpha_long_toggle.set_visible(False)
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self._params.remove("AlphaLongitudinalEnabled")
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else:
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self._alpha_long_toggle.set_visible(True)
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long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
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self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
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if not long_man_enabled:
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self._long_maneuver_toggle.action_item.set_state(False)
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self._params.put_bool("LongitudinalManeuverMode", False)
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else:
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self._long_maneuver_toggle.action_item.set_enabled(False)
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self._alpha_long_toggle.set_visible(False)
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# TODO: make a param control list item so we don't need to manage internal state as much here
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# refresh toggles from params to mirror external changes
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for key, item in (
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("AdbEnabled", self._adb_toggle),
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("SshEnabled", self._ssh_toggle),
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("JoystickDebugMode", self._joystick_toggle),
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("LongitudinalManeuverMode", self._long_maneuver_toggle),
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("AlphaLongitudinalEnabled", self._alpha_long_toggle),
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):
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item.action_item.set_state(self._params.get_bool(key))
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def _on_enable_adb(self, state: bool):
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self._params.put_bool("AdbEnabled", state)
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def _on_enable_ssh(self, state: bool):
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self._params.put_bool("SshEnabled", state)
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def _on_joystick_debug_mode(self, state: bool):
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self._params.put_bool("JoystickDebugMode", state)
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self._params.put_bool("LongitudinalManeuverMode", False)
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self._long_maneuver_toggle.action_item.set_state(False)
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def _on_long_maneuver_mode(self, state: bool):
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self._params.put_bool("LongitudinalManeuverMode", state)
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self._params.put_bool("JoystickDebugMode", False)
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self._joystick_toggle.action_item.set_state(False)
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def _on_alpha_long_enabled(self, state: bool):
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if state:
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def confirm_callback(result: int):
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if result == DialogResult.CONFIRM:
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self._params.put_bool("AlphaLongitudinalEnabled", True)
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self._params.put_bool("OnroadCycleRequested", True)
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self._update_toggles()
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else:
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self._alpha_long_toggle.action_item.set_state(False)
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# show confirmation dialog
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content = (f"<h1>{self._alpha_long_toggle.title}</h1><br>" +
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f"<p>{self._alpha_long_toggle.description}</p>")
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dlg = ConfirmDialog(content, "Enable", rich=True)
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gui_app.set_modal_overlay(dlg, callback=confirm_callback)
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else:
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self._params.put_bool("AlphaLongitudinalEnabled", False)
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self._params.put_bool("OnroadCycleRequested", True)
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self._update_toggles()
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