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Qt driverview (#21063)

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* CameraViewWidget

* continue

* cleanup

* mv DriverViewWindow to ui/qt/offroad

* write IsDriverViewEnabled in showEvent/hideEvnet

* sm.update(0) in onTimeout()

* CameraViewWidget

* use unique_ptr for vipc_client

* virtual draw

* fix viewport

* connected()->frameReceived()

* bg_colors use QColor

* fix draw

* rebase master

* whitespace

* apply reviews

* indent

* like onroad

continue

* white space

* continue

* show == false

* remove border

* use widget's size

* fix shadowed rect

* cleanup driverview

* fix transform

* remove video_rect

Co-authored-by: deanlee <deanlee3@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 9876723169
This commit is contained in:
Adeeb Shihadeh
2021-06-01 20:59:41 -07:00
committed by GitHub
parent dbc269d1a3
commit 56e9dbcf99
14 changed files with 502 additions and 175 deletions
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selfdrive/ui/ui.cc
+3 -7
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@@ -203,7 +203,7 @@ static void update_state(UIState *s) {
scene.light_sensor = std::clamp<float>((1023.0 / max_lines) * (max_lines - camera_state.getIntegLines() * gain), 0.0, 1023.0);
}
scene.started = sm["deviceState"].getDeviceState().getStarted() || scene.driver_view;
scene.started = sm["deviceState"].getDeviceState().getStarted();
}
static void update_params(UIState *s) {
@@ -251,7 +251,6 @@ static void update_status(UIState *s) {
s->status = STATUS_DISENGAGED;
s->scene.started_frame = s->sm->frame;
s->scene.is_rhd = Params().getBool("IsRHD");
s->scene.end_to_end = Params().getBool("EndToEndToggle");
s->wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
@@ -259,9 +258,7 @@ static void update_status(UIState *s) {
ui_resize(s, s->fb_w, s->fb_h);
// Choose vision ipc client
if (s->scene.driver_view) {
s->vipc_client = s->vipc_client_front;
} else if (s->wide_camera){
if (s->wide_camera){
s->vipc_client = s->vipc_client_wide;
} else {
s->vipc_client = s->vipc_client_rear;
@@ -277,7 +274,7 @@ static void update_status(UIState *s) {
QUIState::QUIState(QObject *parent) : QObject(parent) {
ui_state.sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "liveLocationKalman",
"pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss",
"pandaState", "carParams", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss",
"gpsLocationExternal", "roadCameraState",
});
@@ -288,7 +285,6 @@ QUIState::QUIState(QObject *parent) : QObject(parent) {
ui_state.wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
ui_state.vipc_client_rear = new VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, true);
ui_state.vipc_client_front = new VisionIpcClient("camerad", VISION_STREAM_RGB_FRONT, true);
ui_state.vipc_client_wide = new VisionIpcClient("camerad", VISION_STREAM_RGB_WIDE, true);
ui_state.vipc_client = ui_state.vipc_client_rear;