mirror of
https://github.com/sunnypilot/sunnypilot.git
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[TIZI/TICI] ui: Cruise panel (#1691)
* init cruise panel * init descriptions * damn descriptions * init SLA sub layout * reorder * icbm it * callback for `Custom ACC Speed Increments` toggle to update dependent UI elements dynamically. * works * more init * more * [TIZI/TICI] ui: individual button states support for MultipleButtonActionSP * less * convert * init properly --------- Co-authored-by: nayan <nayan8teen@gmail.com>
This commit is contained in:
Jason Wen
@@ -4,27 +4,190 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.common.params import Params
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from openpilot.system.ui.widgets.scroller_tici import Scroller
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from enum import IntEnum
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from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_settings import SpeedLimitSettingsLayout
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.lib.multilang import tr, tr_noop
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from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, simple_button_item_sp
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.scroller_tici import Scroller
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class PanelType(IntEnum):
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CRUISE = 0
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SLA = 1
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ICBM_DESC = tr_noop("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons " +
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"by emulating button presses for limited longitudinal control.")
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ICMB_UNAVAILABLE = tr_noop("Intelligent Cruise Button Management is currently unavailable on this platform.")
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ICMB_UNAVAILABLE_LONG_AVAILABLE = tr_noop("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.")
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ICMB_UNAVAILABLE_LONG_UNAVAILABLE = tr_noop("sunnypilot Longitudinal Control is the default longitudinal control for this platform.")
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ACC_ENABLED_DESCRIPTION = tr_noop("Enable custom Short & Long press increments for cruise speed increase/decrease.")
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ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot longitudinal control enabled.")
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ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
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ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
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class CruiseLayout(Widget):
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def __init__(self):
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super().__init__()
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self._current_panel = PanelType.CRUISE
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self._speed_limit_layout = SpeedLimitSettingsLayout(lambda: self._set_current_panel(PanelType.CRUISE))
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self._params = Params()
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items = self._initialize_items()
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self._scroller = Scroller(items, line_separator=True, spacing=0)
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def _initialize_items(self):
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self.icbm_toggle = toggle_item_sp(
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title=tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
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description="",
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param="IntelligentCruiseButtonManagement")
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self.scc_v_toggle = toggle_item_sp(
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title=tr("Smart Cruise Control - Vision"),
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description=tr("Use vision path predictions to estimate the appropriate speed to drive through turns ahead."),
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param="SmartCruiseControlVision")
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self.scc_m_toggle = toggle_item_sp(
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title=tr("Smart Cruise Control - Map"),
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description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
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param="SmartCruiseControlMap")
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self.custom_acc_toggle = toggle_item_sp(
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title=tr("Custom ACC Speed Increments"),
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description="",
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param="CustomAccIncrementsEnabled",
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callback=self._on_custom_acc_toggle)
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self.custom_acc_short_increment = option_item_sp(
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title=tr("Short Press Increment"),
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param="CustomAccShortPressIncrement",
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min_value=1, max_value=10, value_change_step=1,
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inline=True)
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self.custom_acc_long_increment = option_item_sp(
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title=tr("Long Press Increment"),
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param="CustomAccLongPressIncrement",
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value_map={1: 1, 2: 5, 3: 10},
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min_value=1, max_value=3, value_change_step=1,
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inline=True)
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self.sla_settings_button = simple_button_item_sp(
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button_text=lambda: tr("Speed Limit"),
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button_width=800,
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callback=lambda: self._set_current_panel(PanelType.SLA)
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)
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self.dec_toggle = toggle_item_sp(
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title=tr("Enable Dynamic Experimental Control"),
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description=tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
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param="DynamicExperimentalControl")
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items = [
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self.icbm_toggle,
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self.dec_toggle,
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self.scc_v_toggle,
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self.scc_m_toggle,
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self.custom_acc_toggle,
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self.custom_acc_short_increment,
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self.custom_acc_long_increment,
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self.sla_settings_button,
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]
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return items
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def _render(self, rect):
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self._scroller.render(rect)
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if self._current_panel == PanelType.SLA:
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self._speed_limit_layout.render(rect)
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else:
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self._scroller.render(rect)
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def show_event(self):
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self._set_current_panel(PanelType.CRUISE)
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self._scroller.show_event()
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self.icbm_toggle.show_description(True)
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self.custom_acc_toggle.show_description(True)
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def _set_current_panel(self, panel: PanelType):
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self._current_panel = panel
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if panel == PanelType.SLA:
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self._speed_limit_layout.show_event()
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def _update_state(self):
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super()._update_state()
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if ui_state.CP is not None and ui_state.CP_SP is not None:
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has_icbm = ui_state.has_icbm
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has_long = ui_state.has_longitudinal_control
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if ui_state.CP_SP.intelligentCruiseButtonManagementAvailable and not has_long:
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self.icbm_toggle.action_item.set_enabled(ui_state.is_offroad())
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self.icbm_toggle.set_description(tr(ICBM_DESC))
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else:
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ui_state.params.remove("IntelligentCruiseButtonManagement")
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self.icbm_toggle.action_item.set_enabled(False)
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long_desc = ICMB_UNAVAILABLE
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if has_long:
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if ui_state.CP.alphaLongitudinalAvailable:
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long_desc += " " + ICMB_UNAVAILABLE_LONG_AVAILABLE
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else:
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long_desc += " " + ICMB_UNAVAILABLE_LONG_UNAVAILABLE
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new_desc = "<b>" + tr(long_desc) + "</b>\n\n" + tr(ICBM_DESC)
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if self.icbm_toggle.description != new_desc:
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self.icbm_toggle.set_description(new_desc)
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self.icbm_toggle.show_description(True)
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if has_long or has_icbm:
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self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
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self.dec_toggle.action_item.set_enabled(has_long)
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self.scc_v_toggle.action_item.set_enabled(True)
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self.scc_m_toggle.action_item.set_enabled(True)
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else:
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ui_state.params.remove("CustomAccIncrementsEnabled")
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ui_state.params.remove("DynamicExperimentalControl")
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ui_state.params.remove("SmartCruiseControlVision")
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ui_state.params.remove("SmartCruiseControlMap")
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self.custom_acc_toggle.action_item.set_enabled(False)
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self.dec_toggle.action_item.set_enabled(False)
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self.scc_v_toggle.action_item.set_enabled(False)
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self.scc_m_toggle.action_item.set_enabled(False)
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else:
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has_icbm = has_long = False
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self.icbm_toggle.action_item.set_enabled(False)
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self.icbm_toggle.set_description(tr(ONROAD_ONLY_DESCRIPTION))
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show_custom_acc_desc = False
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if ui_state.is_offroad():
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new_custom_acc_desc = tr(ONROAD_ONLY_DESCRIPTION)
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show_custom_acc_desc = True
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else:
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if has_long or has_icbm:
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if has_long and ui_state.CP.pcmCruise:
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new_custom_acc_desc = tr(ACC_PCMCRUISE_DISABLED_DESCRIPTION)
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show_custom_acc_desc = True
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else:
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new_custom_acc_desc = tr(ACC_ENABLED_DESCRIPTION)
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else:
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new_custom_acc_desc = tr(ACC_NOLONG_DESCRIPTION)
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show_custom_acc_desc = True
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self.custom_acc_toggle.action_item.set_state(False)
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if self.custom_acc_toggle.description != new_custom_acc_desc:
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self.custom_acc_toggle.set_description(new_custom_acc_desc)
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if show_custom_acc_desc:
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self.custom_acc_toggle.show_description(True)
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self._on_custom_acc_toggle(self.custom_acc_toggle.action_item.get_state())
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def _on_custom_acc_toggle(self, state):
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self.custom_acc_short_increment.set_visible(state)
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self.custom_acc_long_increment.set_visible(state)
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self.custom_acc_short_increment.action_item.set_enabled(self.custom_acc_toggle.action_item.enabled)
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self.custom_acc_long_increment.action_item.set_enabled(self.custom_acc_toggle.action_item.enabled)
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@@ -0,0 +1,65 @@
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"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from collections.abc import Callable
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import pyray as rl
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.lib.multilang import tr
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from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
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from openpilot.system.ui.widgets.network import NavButton
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from openpilot.system.ui.widgets.scroller_tici import Scroller
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.sunnypilot.widgets import get_highlighted_description
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SPEED_LIMIT_POLICY_BUTTONS = [tr("Car Only"), tr("Map Only"), tr("Car First"), tr("Map First"), tr("Combined")]
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SPEED_LIMIT_POLICY_DESCRIPTIONS = [
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tr("Car Only: Use Speed Limit data only from Car"),
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tr("Map Only: Use Speed Limit data only from OpenStreetMaps"),
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tr("Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps"),
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tr("Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car"),
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tr("Combined: Use combined Speed Limit data from Car & OpenStreetMaps")
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]
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class SpeedLimitPolicyLayout(Widget):
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def __init__(self, back_btn_callback: Callable):
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super().__init__()
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self._back_button = NavButton(tr("Back"))
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self._back_button.set_click_callback(back_btn_callback)
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items = self._initialize_items()
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self._scroller = Scroller(items, line_separator=False, spacing=0)
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def _initialize_items(self):
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self._speed_limit_policy = multiple_button_item_sp(
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title=lambda: tr("Speed Limit Source"),
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description=self._get_policy_description,
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buttons=SPEED_LIMIT_POLICY_BUTTONS,
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param="SpeedLimitPolicy",
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button_width=250,
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)
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items = [
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self._speed_limit_policy
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]
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return items
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@staticmethod
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def _get_policy_description():
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return get_highlighted_description(ui_state.params, "SpeedLimitPolicy", SPEED_LIMIT_POLICY_DESCRIPTIONS)
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def _render(self, rect):
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self._back_button.set_position(self._rect.x, self._rect.y + 20)
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self._back_button.render()
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content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
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self._scroller.render(content_rect)
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def show_event(self):
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self._scroller.show_event()
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self._speed_limit_policy.show_description(True)
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@@ -0,0 +1,178 @@
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"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from collections.abc import Callable
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from enum import IntEnum
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import pyray as rl
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from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_policy import SpeedLimitPolicyLayout
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import OffsetType as SpeedLimitOffsetType
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from openpilot.system.ui.lib.multilang import tr
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from openpilot.system.ui.sunnypilot.widgets import get_highlighted_description
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from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, option_item_sp, simple_button_item_sp, LineSeparatorSP
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.network import NavButton
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from openpilot.system.ui.widgets.scroller_tici import Scroller
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SPEED_LIMIT_MODE_BUTTONS = [tr("Off"), tr("Info"), tr("Warning"), tr("Assist")]
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SPEED_LIMIT_OFFSET_TYPE_BUTTONS = [tr("None"), tr("Fixed"), tr("%")]
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SPEED_LIMIT_MODE_DESCRIPTIONS = [
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tr("Off: Disables the Speed Limit functions."),
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tr("Information: Displays the current road's speed limit."),
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tr("Warning: Provides a warning when exceeding the current road's speed limit."),
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tr("Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons."),
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]
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SPEED_LIMIT_OFFSET_DESCRIPTIONS = [
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tr("None: No Offset"),
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tr("Fixed: Adds a fixed offset [Speed Limit + Offset]"),
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tr("Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]"),
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]
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class PanelType(IntEnum):
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SETTINGS = 0
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POLICY = 1
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class SpeedLimitSettingsLayout(Widget):
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def __init__(self, back_btn_callback: Callable):
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super().__init__()
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self._current_panel = PanelType.SETTINGS
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self._back_button = NavButton(tr("Back"))
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self._back_button.set_click_callback(back_btn_callback)
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self._policy_layout = SpeedLimitPolicyLayout(lambda: self._set_current_panel(PanelType.SETTINGS))
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items = self._initialize_items()
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self._scroller = Scroller(items, line_separator=False, spacing=0)
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def _initialize_items(self):
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self._speed_limit_mode = multiple_button_item_sp(
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title=lambda: tr("Speed Limit"),
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description=self._get_mode_description,
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buttons=SPEED_LIMIT_MODE_BUTTONS,
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param="SpeedLimitMode",
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button_width=380,
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)
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self._source_button = simple_button_item_sp(
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button_text=lambda: tr("Customize Source"),
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button_width=720,
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callback=lambda: self._set_current_panel(PanelType.POLICY)
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)
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self._speed_limit_offset_type = multiple_button_item_sp(
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title=lambda: tr("Speed Limit Offset"),
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description="",
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buttons=SPEED_LIMIT_OFFSET_TYPE_BUTTONS,
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param="SpeedLimitOffsetType",
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button_width=450,
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)
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self._speed_limit_value_offset = option_item_sp(
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title="",
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param="SpeedLimitValueOffset",
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min_value=-30,
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max_value=30,
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description=self._get_offset_description,
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label_callback=self._get_offset_label,
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)
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items = [
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self._speed_limit_mode,
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LineSeparatorSP(40),
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self._source_button,
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LineSeparatorSP(40),
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self._speed_limit_offset_type,
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self._speed_limit_value_offset
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]
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return items
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def _set_current_panel(self, panel: PanelType):
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self._current_panel = panel
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if panel == PanelType.POLICY:
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self._policy_layout.show_event()
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@staticmethod
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def _get_mode_description():
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return get_highlighted_description(ui_state.params, "SpeedLimitMode", SPEED_LIMIT_MODE_DESCRIPTIONS)
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@staticmethod
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def _get_offset_description():
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return get_highlighted_description(ui_state.params, "SpeedLimitOffsetType", SPEED_LIMIT_OFFSET_DESCRIPTIONS)
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@staticmethod
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def _get_offset_label(value):
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offset_type = int(ui_state.params.get("SpeedLimitOffsetType", return_default=True))
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unit = tr("km/h") if ui_state.is_metric else tr("mph")
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if offset_type == int(SpeedLimitOffsetType.percentage):
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return f"{value}%"
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elif offset_type == int(SpeedLimitOffsetType.fixed):
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return f"{value} {unit}"
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return str(value)
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def _update_state(self):
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super()._update_state()
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speed_limit_mode_param = ui_state.params.get("SpeedLimitMode", return_default=True)
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if ui_state.CP is not None and ui_state.CP_SP is not None:
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brand = ui_state.CP.brand
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has_long = ui_state.has_longitudinal_control
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has_icbm = ui_state.has_icbm
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"""
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Speed Limit Assist is available when:
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- has_long or has_icbm, and
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- is not a release branch or not a disallowed brand, and
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- is not always disallwed
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"""
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sla_disallow_in_release = brand == "tesla" and ui_state.is_sp_release
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sla_always_disallow = brand == "rivian"
|
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sla_available = (has_long or has_icbm) and not sla_disallow_in_release and not sla_always_disallow
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||||
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if not sla_available and speed_limit_mode_param == int(SpeedLimitMode.assist):
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ui_state.params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
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|
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else:
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sla_available = False
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|
||||
if not sla_available:
|
||||
self._speed_limit_mode.action_item.set_enabled_buttons({
|
||||
int(SpeedLimitMode.off),
|
||||
int(SpeedLimitMode.information),
|
||||
int(SpeedLimitMode.warning),
|
||||
})
|
||||
else:
|
||||
self._speed_limit_mode.action_item.set_enabled_buttons(None)
|
||||
|
||||
offset_type = ui_state.params.get("SpeedLimitOffsetType", return_default=True)
|
||||
self._speed_limit_value_offset.set_visible(offset_type != int(SpeedLimitOffsetType.off))
|
||||
|
||||
def _render(self, rect):
|
||||
if self._current_panel == PanelType.POLICY:
|
||||
self._policy_layout.render(rect)
|
||||
return
|
||||
|
||||
self._back_button.set_position(self._rect.x, self._rect.y + 20)
|
||||
self._back_button.render()
|
||||
|
||||
content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
|
||||
self._scroller.render(content_rect)
|
||||
|
||||
def show_event(self):
|
||||
self._current_panel = PanelType.SETTINGS
|
||||
self._scroller.show_event()
|
||||
self._speed_limit_mode.show_description(True)
|
||||
|
||||
def hide_event(self):
|
||||
self._current_panel = PanelType.SETTINGS
|
||||
self._scroller.hide_event()
|
||||
@@ -39,6 +39,9 @@ class UIStateSP:
|
||||
self.onroad_brightness_timer: int = 0
|
||||
self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
|
||||
self.reset_onroad_sleep_timer()
|
||||
self.CP_SP: custom.CarParamsSP | None = None
|
||||
self.has_icbm: bool = False
|
||||
self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
|
||||
|
||||
def update(self) -> None:
|
||||
if self.sunnylink_enabled:
|
||||
@@ -121,6 +124,7 @@ class UIStateSP:
|
||||
CP_SP_bytes = self.params.get("CarParamsSPPersistent")
|
||||
if CP_SP_bytes is not None:
|
||||
self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
|
||||
self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
|
||||
self.active_bundle = self.params.get("ModelManager_ActiveBundle")
|
||||
self.blindspot = self.params.get_bool("BlindSpot")
|
||||
self.chevron_metrics = self.params.get("ChevronInfo")
|
||||
|
||||
@@ -0,0 +1,18 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
|
||||
def get_highlighted_description(params, param_name: str, descriptions: list[str]) -> str:
|
||||
index = int(params.get(param_name, return_default=True))
|
||||
lines = []
|
||||
for i, desc in enumerate(descriptions):
|
||||
if i == index:
|
||||
lines.append(f"<b>{desc}</b>")
|
||||
else:
|
||||
lines.append(f"{desc}")
|
||||
|
||||
return "<br>".join(lines)
|
||||
|
||||
Reference in New Issue
Block a user