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Visuals - Custom Onroad UI - Paths - Blind Spot

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Show when a vehicle is detected in the blindspot.
This commit is contained in:
FrogAi
2024-05-25 12:39:42 -07:00
parent 692fca7879
commit 61c75f0185
4 changed files with 20 additions and 1 deletions
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selfdrive/frogpilot/controls/frogpilot_planner.py
+1 -1
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@@ -98,7 +98,7 @@ class FrogPilotPlanner:
if run_cem and (controlsState.enabled or frogpilotCarControl.alwaysOnLateral) and driving_gear:
self.cem.update(carState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles)
check_lane_width = frogpilot_toggles.adjacent_lanes or frogpilot_toggles.lane_detection
check_lane_width = frogpilot_toggles.adjacent_lanes or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed:
self.lane_width_left = calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0])
self.lane_width_right = calculate_lane_width(modelData.laneLines[3], modelData.laneLines[2], modelData.roadEdges[1])
selfdrive/ui/qt/onroad/annotated_camera.cc
+17
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@@ -313,6 +313,23 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.setBrush(bg);
painter.drawPolygon(scene.track_vertices);
// Paint blindspot path
if (scene.blind_spot_path) {
QLinearGradient bs(0, height(), 0, 0);
bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
painter.setBrush(bs);
if (blindSpotLeft) {
painter.drawPolygon(scene.track_adjacent_vertices[4]);
}
if (blindSpotRight) {
painter.drawPolygon(scene.track_adjacent_vertices[5]);
}
}
// Paint adjacent lane paths
if (scene.adjacent_path && (laneWidthLeft != 0 || laneWidthRight != 0)) {
const float minLaneWidth = laneDetectionWidth * 0.5f;
selfdrive/ui/ui.cc
+1
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@@ -312,6 +312,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
scene.acceleration_path = custom_paths && params.getBool("AccelerationPath");
scene.adjacent_path = custom_paths && params.getBool("AdjacentPath");
scene.adjacent_path_metrics = scene.adjacent_path && params.getBool("AdjacentPathMetrics");
scene.blind_spot_path = custom_paths && params.getBool("BlindSpotPath");
scene.compass = custom_onroad_ui && params.getBool("Compass");
scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
selfdrive/ui/ui.h
+1
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@@ -127,6 +127,7 @@ typedef struct UIScene {
bool adjacent_path_metrics;
bool always_on_lateral_active;
bool blind_spot_left;
bool blind_spot_path;
bool blind_spot_right;
bool compass;
bool conditional_experimental;