longitudinal personality: change via steering wheel distance button

selfdrive/car/gm/carcontroller.py

@@ -118,7 +118,7 @@ def update(self, CC, CS, now_nanos):
         # Send dashboard UI commands (ACC status)
         send_fcw = hud_alert == VisualAlert.fcw
         can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
+                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)

selfdrive/car/gm/gmcan.py

@@ -102,17 +102,17 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
 
-def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
   target_speed = min(target_speed_kph, 255)
 
   values = {
     "ACCAlwaysOne": 1,
     "ACCResumeButton": 0,
     "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": 3 * enabled,  # 3 "far", 0 "inactive"
+    "ACCGapLevel": hud_control.leadDistanceBars * enabled,  # 3 "far", 0 "inactive"
     "ACCCmdActive": enabled,
     "ACCAlwaysOne2": 1,
-    "ACCLeadCar": lead_car_in_sight,
+    "ACCLeadCar": hud_control.leadVisible,
     "FCWAlert": 0x3 if fcw else 0
   }
 

selfdrive/controls/controlsd.py

@@ -146,6 +146,7 @@ def __init__(self, CI=None):
     self.steer_limited = False
     self.desired_curvature = 0.0
     self.experimental_mode = False
+    self.personality = log.LongitudinalPersonality.standard
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
 
@@ -650,6 +651,12 @@ def state_control(self, CS):
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
+    # decrement personality on distance button press
+    if self.CP.openpilotLongitudinalControl:
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+        self.personality = (self.personality - 1) % 3
+        self.params.put('LongitudinalPersonality', str(self.personality))
+
     return CC, lac_log
 
   def publish_logs(self, CS, start_time, CC, lac_log):
@@ -769,6 +776,7 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     controlsState.forceDecel = bool(force_decel)
     controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter
     controlsState.experimentalMode = self.experimental_mode
+    controlsState.personality = self.personality
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:
@@ -825,6 +833,10 @@ def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      try:
+        self.personality = int(self.params.get('LongitudinalPersonality'))
+      except (ValueError, TypeError):
+        self.personality = log.LongitudinalPersonality.standard
       if self.CP.notCar:
         self.joystick_mode = self.params.get_bool("JoystickDebugMode")
       time.sleep(0.1)

selfdrive/controls/lib/longitudinal_planner.py

@@ -2,8 +2,6 @@
 import math
 import numpy as np
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
-from cereal import log
 
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
@@ -61,16 +59,6 @@ def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
-    self.params = Params()
-    self.param_read_counter = 0
-    self.personality = log.LongitudinalPersonality.standard
-    self.read_param()
-
-  def read_param(self):
-    try:
-      self.personality = int(self.params.get('LongitudinalPersonality'))
-    except (ValueError, TypeError):
-      self.personality = log.LongitudinalPersonality.standard
 
   @staticmethod
   def parse_model(model_msg, model_error):
@@ -89,9 +77,6 @@ def parse_model(model_msg, model_error):
     return x, v, a, j
 
   def update(self, sm):
-    if self.param_read_counter % 50 == 0:
-      self.read_param()
-    self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
@@ -130,11 +115,11 @@ def update(self, sm):
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsState'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
 
     self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
@@ -170,6 +155,5 @@ def publish(self, sm, pm):
     longitudinalPlan.fcw = self.fcw
 
     longitudinalPlan.solverExecutionTime = self.mpc.solve_time
-    longitudinalPlan.personality = self.personality
 
     pm.send('longitudinalPlan', plan_send)

selfdrive/ui/qt/offroad/settings.cc

@@ -91,9 +91,21 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
   long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
                                           tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
-                                             "In relaxed mode openpilot will stay further away from lead cars."),
+                                             "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with "
+                                             "your steering wheel distance button."),
                                           "../assets/offroad/icon_speed_limit.png",
                                           longi_button_texts);
+
+  // Watch param to update the personality setting in the UI
+  ParamWatcher *lp_watch = new ParamWatcher(this);
+  lp_watch->addParam("LongitudinalPersonality");
+  QObject::connect(lp_watch, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    lp_watch->addParam("LongitudinalPersonality");
+    if (isVisible()) {
+      long_personality_setting->refresh();
+    }
+  });
+
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 

selfdrive/ui/qt/widgets/controls.h

@@ -234,6 +234,15 @@ class ButtonParamControl : public AbstractControl {
     }
   }
 
+  void refresh() {
+    int value = atoi(params.get(key).c_str());
+    button_group->button(value)->setChecked(true);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
 private:
   std::string key;
   Params params;