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240 lines
9.7 KiB
240 lines
9.7 KiB
from cereal import log
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from openpilot.common.params import Params, UnknownKeyName
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.list_view import multiple_button_item, 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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from openpilot.selfdrive.ui.ui_state import ui_state
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PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
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# Description constants
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DESCRIPTIONS = {
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"OpenpilotEnabledToggle": (
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"Use the openpilot system for adaptive cruise control and lane keep driver assistance. " +
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"Your attention is required at all times to use this feature."
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),
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"DisengageOnAccelerator": "When enabled, pressing the accelerator pedal will disengage openpilot.",
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"LongitudinalPersonality": (
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"Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " +
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"In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
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"your steering wheel distance button."
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),
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"IsLdwEnabled": (
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"Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
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"without a turn signal activated while driving over 31 mph (50 km/h)."
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),
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"AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.",
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'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
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"IsMetric": "Display speed in km/h instead of mph.",
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"RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
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}
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class TogglesLayout(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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# param, title, desc, icon, needs_restart
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self._toggle_defs = {
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"OpenpilotEnabledToggle": (
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"Enable openpilot",
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DESCRIPTIONS["OpenpilotEnabledToggle"],
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"chffr_wheel.png",
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True,
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),
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"ExperimentalMode": (
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"Experimental Mode",
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"",
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"experimental_white.png",
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False,
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),
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"DisengageOnAccelerator": (
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"Disengage on Accelerator Pedal",
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DESCRIPTIONS["DisengageOnAccelerator"],
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"disengage_on_accelerator.png",
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False,
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),
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"IsLdwEnabled": (
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"Enable Lane Departure Warnings",
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DESCRIPTIONS["IsLdwEnabled"],
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"warning.png",
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False,
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),
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"AlwaysOnDM": (
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"Always-On Driver Monitoring",
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DESCRIPTIONS["AlwaysOnDM"],
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"monitoring.png",
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False,
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),
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"RecordFront": (
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"Record and Upload Driver Camera",
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DESCRIPTIONS["RecordFront"],
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"monitoring.png",
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True,
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),
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"RecordAudio": (
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"Record and Upload Microphone Audio",
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DESCRIPTIONS["RecordAudio"],
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"microphone.png",
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True,
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),
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"IsMetric": (
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"Use Metric System",
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DESCRIPTIONS["IsMetric"],
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"metric.png",
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False,
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),
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}
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self._long_personality_setting = multiple_button_item(
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"Driving Personality",
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DESCRIPTIONS["LongitudinalPersonality"],
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buttons=["Aggressive", "Standard", "Relaxed"],
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button_width=255,
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callback=self._set_longitudinal_personality,
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selected_index=self._params.get("LongitudinalPersonality", return_default=True),
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icon="speed_limit.png"
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)
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self._toggles = {}
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self._locked_toggles = set()
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for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
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toggle = toggle_item(
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title,
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desc,
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self._params.get_bool(param),
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callback=lambda state, p=param: self._toggle_callback(state, p),
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icon=icon,
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)
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try:
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locked = self._params.get_bool(param + "Lock")
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except UnknownKeyName:
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locked = False
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toggle.action_item.set_enabled(not locked)
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if needs_restart and not locked:
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toggle.set_description(toggle.description + " Changing this setting will restart openpilot if the car is powered on.")
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# track for engaged state updates
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if locked:
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self._locked_toggles.add(param)
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self._toggles[param] = toggle
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# insert longitudinal personality after NDOG toggle
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if param == "DisengageOnAccelerator":
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self._toggles["LongitudinalPersonality"] = self._long_personality_setting
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self._update_experimental_mode_icon()
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self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
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ui_state.add_engaged_transition_callback(self._update_toggles)
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def _update_state(self):
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if ui_state.sm.updated["selfdriveState"]:
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personality = PERSONALITY_TO_INT[ui_state.sm["selfdriveState"].personality]
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if personality != ui_state.personality and ui_state.started:
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self._long_personality_setting.action_item.set_selected_button(personality)
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ui_state.personality = personality
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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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e2e_description = (
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"openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
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"Experimental features are listed below:<br>" +
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"<h4>End-to-End Longitudinal Control</h4><br>" +
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"Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
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"Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " +
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"mistakes should be expected.<br>" +
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"<h4>New Driving Visualization</h4><br>" +
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"The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. " +
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"The Experimental mode logo will also be shown in the top right corner."
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)
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if ui_state.CP is not None:
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if ui_state.has_longitudinal_control:
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self._toggles["ExperimentalMode"].action_item.set_enabled(True)
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self._toggles["ExperimentalMode"].set_description(e2e_description)
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self._long_personality_setting.action_item.set_enabled(True)
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else:
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# no long for now
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self._toggles["ExperimentalMode"].action_item.set_enabled(False)
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self._toggles["ExperimentalMode"].action_item.set_state(False)
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self._long_personality_setting.action_item.set_enabled(False)
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self._params.remove("ExperimentalMode")
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unavailable = "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
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long_desc = unavailable + " openpilot longitudinal control may come in a future update."
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if ui_state.CP.alphaLongitudinalAvailable:
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if self._is_release:
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long_desc = unavailable + " " + ("An alpha version of openpilot longitudinal control can be tested, along with " +
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"Experimental mode, on non-release branches.")
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else:
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long_desc = "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
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self._toggles["ExperimentalMode"].set_description("<b>" + long_desc + "</b><br><br>" + e2e_description)
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else:
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self._toggles["ExperimentalMode"].set_description(e2e_description)
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self._update_experimental_mode_icon()
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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 param in self._toggle_defs:
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self._toggles[param].action_item.set_state(self._params.get_bool(param))
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# these toggles need restart, block while engaged
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for toggle_def in self._toggle_defs:
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if self._toggle_defs[toggle_def][3] and toggle_def not in self._locked_toggles:
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self._toggles[toggle_def].action_item.set_enabled(not ui_state.engaged)
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def _render(self, rect):
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self._scroller.render(rect)
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def _update_experimental_mode_icon(self):
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icon = "experimental.png" if self._toggles["ExperimentalMode"].action_item.get_state() else "experimental_white.png"
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self._toggles["ExperimentalMode"].set_icon(icon)
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def _handle_experimental_mode_toggle(self, state: bool):
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confirmed = self._params.get_bool("ExperimentalModeConfirmed")
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if state and not confirmed:
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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("ExperimentalMode", True)
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self._params.put_bool("ExperimentalModeConfirmed", True)
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else:
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self._toggles["ExperimentalMode"].action_item.set_state(False)
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self._update_experimental_mode_icon()
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# show confirmation dialog
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content = (f"<h1>{self._toggles['ExperimentalMode'].title}</h1><br>" +
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f"<p>{self._toggles['ExperimentalMode'].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._update_experimental_mode_icon()
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self._params.put_bool("ExperimentalMode", state)
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def _toggle_callback(self, state: bool, param: str):
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if param == "ExperimentalMode":
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self._handle_experimental_mode_toggle(state)
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return
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self._params.put_bool(param, state)
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if self._toggle_defs[param][3]:
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self._params.put_bool("OnroadCycleRequested", True)
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def _set_longitudinal_personality(self, button_index: int):
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self._params.put("LongitudinalPersonality", button_index)
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