Merge branch 'master' into PA-dev2

Edison-CBS · Oct 27, 2024 · 3e0bab1 · 3e0bab1
2 parents 81408fb + 94d10eb
commit 3e0bab1
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Showing 29 changed files with 253 additions and 18 deletions.
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
@@ -223,6 +223,7 @@ jobs:
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: Run regen
+      if: false
       timeout-minutes: 4
       run: |
         ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
@@ -84,7 +84,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_toggles offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""

diff --git a/opendbc_repo b/opendbc_repo
diff --git a/panda b/panda
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-22530fd1bd915d5b37db900e2ac42a9501cd5972
+8f9dba78b0a2a4fbf8122f61d49e9529dba9b3b4
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
@@ -28,7 +28,7 @@ qt_libs = [widgets, qt_util] + base_libs
 
 qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
-          "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
+          "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
           "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]

diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
@@ -149,10 +149,6 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address);
   list->addItem(ipLabel);
 
-  // SSH keys
-  list->addItem(new SshToggle());
-  list->addItem(new SshControl());
-
   // Roaming toggle
   const bool roamingEnabled = params.getBool("GsmRoaming");
   roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled);

diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -0,0 +1,36 @@
+#include <QDebug>
+
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
+  // SSH keys
+  addItem(new SshToggle());
+  addItem(new SshControl());
+
+  joystickToggle = new ParamControl("JoystickDebugMode", tr("Joystick Debug Mode"), "", "");
+  QObject::connect(joystickToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    params.putBool("LongitudinalManeuverMode", false);
+    longManeuverToggle->refresh();
+  });
+  addItem(joystickToggle);
+
+  longManeuverToggle = new ParamControl("LongitudinalManeuverMode", tr("Longitudinal Maneuver Mode"), "", "");
+  QObject::connect(longManeuverToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    params.putBool("JoystickDebugMode", false);
+    joystickToggle->refresh();
+  });
+  addItem(longManeuverToggle);
+
+  // Joystick and longitudinal maneuvers should be hidden on release branches
+  // also the toggles should be not available to change in onroad state
+  const bool is_release = params.getBool("IsReleaseBranch");
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    for (auto btn : findChildren<ParamControl *>()) {
+      btn->setVisible(!is_release);
+      btn->setEnabled(offroad);
+    }
+  });
+
+}
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class DeveloperPanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit DeveloperPanel(SettingsWindow *parent);
+
+private:
+  Params params;
+  ParamControl* joystickToggle;
+  ParamControl* longManeuverToggle;
+};
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
@@ -14,6 +14,7 @@
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -393,6 +394,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     {tr("Network"), networking},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
+    {tr("Developer"), new DeveloperPanel(this)},
   };
 
   nav_btns = new QButtonGroup(this);

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
@@ -42,7 +42,12 @@ def setup_settings_device(click, pm: PubMaster):
 
 def setup_settings_toggles(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 760)
+  click(278, 650)
+  time.sleep(UI_DELAY)
+
+def setup_settings_developer(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 960)
   time.sleep(UI_DELAY)
 
 def setup_onroad(click, pm: PubMaster):
@@ -175,6 +180,7 @@ def setup_pair_device(click, pm: PubMaster):
   "pair_device": setup_pair_device,
   "settings_device": setup_settings_device,
   "settings_toggles": setup_settings_toggles,
+  "settings_developer": setup_settings_developer,
   "onroad": setup_onroad,
   "onroad_disengaged": setup_onroad_disengaged,
   "onroad_override": setup_onroad_override,

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
@@ -113,6 +113,17 @@
         <translation>رفض، إلغاء التثبيت %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -618,6 +629,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>البرنامج</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
@@ -113,6 +113,17 @@
         <translation>Ablehnen, deinstallieren %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -600,6 +611,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>Software</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
@@ -113,6 +113,17 @@
         <translation>Rechazar, desinstalar %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -602,6 +613,10 @@ Esto puede tardar un minuto.</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
@@ -113,6 +113,17 @@
         <translation>Refuser, désinstaller %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -602,6 +613,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Software</source>
         <translation>Logiciel</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
@@ -113,6 +113,17 @@
         <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -596,6 +607,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>ｿﾌﾄｳｪｱ</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
@@ -113,6 +113,17 @@
         <translation>거절, %1 제거</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
@@ -113,6 +113,17 @@
         <translation>Rejeitar, desintalar %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -602,6 +613,10 @@ Isso pode levar até um minuto.</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
@@ -113,6 +113,17 @@
         <translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>ซอฟต์แวร์</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
@@ -113,6 +113,17 @@
         <translation>Reddet, Kurulumu kaldır. %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -596,6 +607,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>Yazılım</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>