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94 lines
4.0 KiB
94 lines
4.0 KiB
#include <QDebug>
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#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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#include "common/util.h"
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DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
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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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alphaLongToggle = new ParamControl("ExperimentalLongitudinalEnabled", tr("openpilot Longitudinal Control (Alpha)"), "", "../assets/offroad/icon_speed_limit.png");
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QObject::connect(alphaLongToggle, &ParamControl::toggleFlipped, [=](bool state) {
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updateToggles();
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});
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addItem(alphaLongToggle);
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alphaLongToggle->setConfirmation(true, false);
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// Joystick and longitudinal maneuvers should be hidden on release branches
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const bool is_release = params.getBool("IsReleaseBranch");
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for (auto btn : findChildren<ParamControl *>()) {
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if (btn != alphaLongToggle) {
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btn->setVisible(!is_release);
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}
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}
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// Toggles should be not available to change in onroad state
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QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
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for (auto btn : findChildren<ParamControl *>()) {
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btn->setEnabled(offroad);
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}
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});
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}
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void DeveloperPanel::updateToggles() {
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const bool is_release = params.getBool("IsReleaseBranch");
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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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const QString alpha_long_description = 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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alphaLongToggle->setDescription("<b>" + alpha_long_description + "</b>");
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if (!CP.getExperimentalLongitudinalAvailable() && !CP.getOpenpilotLongitudinalControl()) {
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params.remove("ExperimentalLongitudinalEnabled");
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alphaLongToggle->setEnabled(false);
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alphaLongToggle->setDescription("<b>" + tr("openpilot longitudinal control may come in a future update.") + "</b>");
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} else {
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if (is_release) {
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params.remove("ExperimentalLongitudinalEnabled");
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alphaLongToggle->setEnabled(false);
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alphaLongToggle->setDescription("<b>" + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.") + "</b>");
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}
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}
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// The car already have openpilot longitudinal control and the toggle not is necessary
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if (CP.getOpenpilotLongitudinalControl()) {
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alphaLongToggle->setVisible(false);
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}
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alphaLongToggle->refresh();
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// longManeuverToggle should not be toggable if the car don't have longitudinal control
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if (!hasLongitudinalControl(CP)) {
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longManeuverToggle->setEnabled(false);
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}
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} else {
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alphaLongToggle->setDescription("<b>" + tr("openpilot longitudinal control may come in a future update.") + "</b>");
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alphaLongToggle->setEnabled(false);
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}
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}
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void DeveloperPanel::showEvent(QShowEvent *event) {
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updateToggles();
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}
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