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openpilot v0.7.8 release

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This commit is contained in:
Vehicle Researcher
2020-08-13 00:37:05 +00:00
parent f370bf5ba6
commit 0aa4867be4
147 changed files with 3679 additions and 2713 deletions
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selfdrive/ui/linux.cc
+1 -1
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@@ -83,7 +83,7 @@ int touch_read(TouchState *s, int* out_x, int* out_y) {
#include "sound.hpp"
bool Sound::init(int volume) { return true; }
bool Sound::play(AudibleAlert alert) { return true; }
bool Sound::play(AudibleAlert alert) { printf("play sound: %d\n", (int)alert); return true; }
void Sound::stop() {}
void Sound::setVolume(int volume) {}
Sound::~Sound() {}
selfdrive/ui/paint.cc
+17 -23
View File
@@ -368,11 +368,14 @@ static void ui_draw_world(UIState *s) {
// Draw lane edges and vision/mpc tracks
ui_draw_vision_lanes(s);
if (scene->lead_data[0].getStatus()) {
draw_lead(s, scene->lead_data[0]);
}
if (scene->lead_data[1].getStatus() && (std::abs(scene->lead_data[0].getDRel() - scene->lead_data[1].getDRel()) > 3.0)) {
draw_lead(s, scene->lead_data[1]);
// Draw lead indicators if openpilot is handling longitudinal
if (s->longitudinal_control) {
if (scene->lead_data[0].getStatus()) {
draw_lead(s, scene->lead_data[0]);
}
if (scene->lead_data[1].getStatus() && (std::abs(scene->lead_data[0].getDRel() - scene->lead_data[1].getDRel()) > 3.0)) {
draw_lead(s, scene->lead_data[1]);
}
}
nvgRestore(s->vg);
}
@@ -557,7 +560,7 @@ static void ui_draw_vision_face(UIState *s) {
const int face_size = 96;
const int face_x = (s->scene.ui_viz_rx + face_size + (bdr_s * 2));
const int face_y = (footer_y + ((footer_h - face_size) / 2));
ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, s->scene.controls_state.getDriverMonitoringOn());
ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, s->scene.dmonitoring_state.getFaceDetected());
}
static void ui_draw_driver_view(UIState *s) {
@@ -569,19 +572,11 @@ static void ui_draw_driver_view(UIState *s) {
const int valid_frame_x = frame_x + (frame_w - valid_frame_w) / 2 + ff_xoffset;
// blackout
if (!scene->is_rhd) {
NVGpaint gradient = nvgLinearGradient(s->vg, valid_frame_x + valid_frame_w,
box_y,
valid_frame_x + box_h / 2, box_y,
nvgRGBAf(0,0,0,1), nvgRGBAf(0,0,0,0));
ui_draw_rect(s->vg, valid_frame_x + box_h / 2, box_y, valid_frame_w - box_h / 2, box_h, gradient);
} else {
NVGpaint gradient = nvgLinearGradient(s->vg, valid_frame_x,
box_y,
valid_frame_w - box_h / 2, box_y,
nvgRGBAf(0,0,0,1), nvgRGBAf(0,0,0,0));
ui_draw_rect(s->vg, valid_frame_x, box_y, valid_frame_w - box_h / 2, box_h, gradient);
}
NVGpaint gradient = nvgLinearGradient(s->vg, scene->is_rhd ? valid_frame_x : (valid_frame_x + valid_frame_w),
box_y,
scene->is_rhd ? (valid_frame_w - box_h / 2) : (valid_frame_x + box_h / 2), box_y,
COLOR_BLACK, COLOR_BLACK_ALPHA(0));
ui_draw_rect(s->vg, scene->is_rhd ? valid_frame_x : (valid_frame_x + box_h / 2), box_y, valid_frame_w - box_h / 2, box_h, gradient);
ui_draw_rect(s->vg, scene->is_rhd ? valid_frame_x : valid_frame_x + box_h / 2, box_y, valid_frame_w - box_h / 2, box_h, COLOR_BLACK_ALPHA(144));
// borders
@@ -589,7 +584,7 @@ static void ui_draw_driver_view(UIState *s) {
ui_draw_rect(s->vg, valid_frame_x + valid_frame_w, box_y, frame_w - valid_frame_w - (valid_frame_x - frame_x), box_h, nvgRGBA(23, 51, 73, 255));
// draw face box
if (scene->driver_state.getFaceProb() > 0.4) {
if (scene->dmonitoring_state.getFaceDetected()) {
auto fxy_list = scene->driver_state.getFacePosition();
const float face_x = fxy_list[0];
const float face_y = fxy_list[1];
@@ -600,6 +595,7 @@ static void ui_draw_driver_view(UIState *s) {
} else {
fbox_x = valid_frame_x + valid_frame_w - box_h / 2 + (face_x + 0.5) * (box_h / 2) - 0.5 * 0.6 * box_h / 2;
}
if (std::abs(face_x) <= 0.35 && std::abs(face_y) <= 0.4) {
ui_draw_rect(s->vg, fbox_x, fbox_y, 0.6 * box_h / 2, 0.6 * box_h / 2,
nvgRGBAf(1.0, 1.0, 1.0, 0.8 - ((std::abs(face_x) > std::abs(face_y) ? std::abs(face_x) : std::abs(face_y))) * 0.6 / 0.375),
@@ -613,7 +609,7 @@ static void ui_draw_driver_view(UIState *s) {
const int face_size = 85;
const int x = (valid_frame_x + face_size + (bdr_s * 2)) + (scene->is_rhd ? valid_frame_w - box_h / 2:0);
const int y = (box_y + box_h - face_size - bdr_s - (bdr_s * 1.5));
ui_draw_circle_image(s->vg, x, y, face_size, s->img_face, scene->driver_state.getFaceProb() > 0.4);
ui_draw_circle_image(s->vg, x, y, face_size, s->img_face, scene->dmonitoring_state.getFaceDetected());
}
static void ui_draw_vision_header(UIState *s) {
@@ -853,8 +849,6 @@ void ui_nvg_init(UIState *s) {
assert(s->vg);
s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/fonts/courbd.ttf");
assert(s->font_courbd >= 0);
s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../assets/fonts/opensans_regular.ttf");
assert(s->font_sans_regular >= 0);
s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../assets/fonts/opensans_semibold.ttf");
selfdrive/ui/sidebar.cc
+8 -12
View File
@@ -10,17 +10,13 @@ static void ui_draw_sidebar_background(UIState *s) {
}
static void ui_draw_sidebar_settings_button(UIState *s) {
bool settingsActive = s->active_app == cereal::UiLayoutState::App::SETTINGS;
const int settings_btn_xr = !s->scene.uilayout_sidebarcollapsed ? settings_btn_x : -(sbr_w);
ui_draw_image(s->vg, settings_btn_xr, settings_btn_y, settings_btn_w, settings_btn_h, s->img_button_settings, settingsActive ? 1.0f : 0.65f);
const float alpha = s->active_app == cereal::UiLayoutState::App::SETTINGS ? 1.0f : 0.65f;
ui_draw_image(s->vg, settings_btn_x, settings_btn_y, settings_btn_w, settings_btn_h, s->img_button_settings, alpha);
}
static void ui_draw_sidebar_home_button(UIState *s) {
bool homeActive = s->active_app == cereal::UiLayoutState::App::HOME;
const int home_btn_xr = !s->scene.uilayout_sidebarcollapsed ? home_btn_x : -(sbr_w);
ui_draw_image(s->vg, home_btn_xr, home_btn_y, home_btn_w, home_btn_h, s->img_button_home, homeActive ? 1.0f : 0.65f);
const float alpha = s->active_app == cereal::UiLayoutState::App::HOME ? 1.0f : 0.65f;;
ui_draw_image(s->vg, home_btn_x, home_btn_y, home_btn_w, home_btn_h, s->img_button_home, alpha);
}
static void ui_draw_sidebar_network_strength(UIState *s) {
@@ -32,7 +28,7 @@ static void ui_draw_sidebar_network_strength(UIState *s) {
{cereal::ThermalData::NetworkStrength::GREAT, 5}};
const int network_img_h = 27;
const int network_img_w = 176;
const int network_img_x = !s->scene.uilayout_sidebarcollapsed ? 58 : -(sbr_w);
const int network_img_x = 58;
const int network_img_y = 196;
const int img_idx = s->scene.thermal.getNetworkType() == cereal::ThermalData::NetworkType::NONE ? 0 : network_strength_map[s->scene.thermal.getNetworkStrength()];
ui_draw_image(s->vg, network_img_x, network_img_y, network_img_w, network_img_h, s->img_network[img_idx], 1.0f);
@@ -41,7 +37,7 @@ static void ui_draw_sidebar_network_strength(UIState *s) {
static void ui_draw_sidebar_battery_icon(UIState *s) {
const int battery_img_h = 36;
const int battery_img_w = 76;
const int battery_img_x = !s->scene.uilayout_sidebarcollapsed ? 160 : -(sbr_w);
const int battery_img_x = 160;
const int battery_img_y = 255;
int battery_img = s->scene.thermal.getBatteryStatus() == "Charging" ? s->img_battery_charging : s->img_battery;
@@ -60,7 +56,7 @@ static void ui_draw_sidebar_network_type(UIState *s) {
{cereal::ThermalData::NetworkType::CELL3_G, "3G"},
{cereal::ThermalData::NetworkType::CELL4_G, "4G"},
{cereal::ThermalData::NetworkType::CELL5_G, "5G"}};
const int network_x = !s->scene.uilayout_sidebarcollapsed ? 50 : -(sbr_w);
const int network_x = 50;
const int network_y = 273;
const int network_w = 100;
const char *network_type = network_type_map[s->scene.thermal.getNetworkType()];
@@ -72,7 +68,7 @@ static void ui_draw_sidebar_network_type(UIState *s) {
}
static void ui_draw_sidebar_metric(UIState *s, const char* label_str, const char* value_str, const int severity, const int y_offset, const char* message_str) {
const int metric_x = !s->scene.uilayout_sidebarcollapsed ? 30 : -(sbr_w);
const int metric_x = 30;
const int metric_y = 338 + y_offset;
const int metric_w = 240;
const int metric_h = message_str ? strchr(message_str, '\n') ? 124 : 100 : 148;
selfdrive/ui/sound.hpp
+2 -2
View File
@@ -2,7 +2,7 @@
#include <map>
#include "cereal/gen/cpp/log.capnp.h"
#if defined(QCOM) || defined(QCOM2)
#if defined(QCOM)
#include <SLES/OpenSLES.h>
#include <SLES/OpenSLES_Android.h>
#endif
@@ -18,7 +18,7 @@ class Sound {
void setVolume(int volume);
~Sound();
#if defined(QCOM) || defined(QCOM2)
#if defined(QCOM)
private:
SLObjectItf engine_ = nullptr;
SLObjectItf outputMix_ = nullptr;
selfdrive/ui/ui.cc
+11 -23
View File
@@ -193,8 +193,6 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
int num_back_fds, const int *back_fds,
const VisionStreamBufs front_bufs, int num_front_fds,
const int *front_fds) {
const VisionUIInfo ui_info = back_bufs.buf_info.ui_info;
assert(num_back_fds == UI_BUF_COUNT);
assert(num_front_fds == UI_BUF_COUNT);
@@ -206,14 +204,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->scene.frontview = getenv("FRONTVIEW") != NULL;
s->scene.fullview = getenv("FULLVIEW") != NULL;
s->scene.transformed_width = ui_info.transformed_width;
s->scene.transformed_height = ui_info.transformed_height;
s->scene.front_box_x = ui_info.front_box_x;
s->scene.front_box_y = ui_info.front_box_y;
s->scene.front_box_width = ui_info.front_box_width;
s->scene.front_box_height = ui_info.front_box_height;
s->scene.world_objects_visible = false; // Invisible until we receive a calibration message.
s->scene.gps_planner_active = false;
s->rgb_width = back_bufs.width;
s->rgb_height = back_bufs.height;
@@ -225,13 +216,6 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->rgb_front_stride = front_bufs.stride;
s->rgb_front_buf_len = front_bufs.buf_len;
s->rgb_transform = (mat4){{
2.0f/s->rgb_width, 0.0f, 0.0f, -1.0f,
0.0f, 2.0f/s->rgb_height, 0.0f, -1.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
}};
read_param(&s->speed_lim_off, "SpeedLimitOffset");
read_param(&s->is_metric, "IsMetric");
read_param(&s->longitudinal_control, "LongitudinalControl");
@@ -285,8 +269,7 @@ void handle_message(UIState *s, SubMaster &sm) {
auto event = sm["controlsState"];
scene.controls_state = event.getControlsState();
s->controls_timeout = 1 * UI_FREQ;
scene.frontview = scene.controls_state.getRearViewCam();
if (!scene.frontview){ s->controls_seen = true; }
s->controls_seen = true;
auto alert_sound = scene.controls_state.getAlertSound();
if (scene.alert_type.compare(scene.controls_state.getAlertType()) != 0) {
@@ -379,12 +362,17 @@ void handle_message(UIState *s, SubMaster &sm) {
scene.driver_state = sm["driverState"].getDriverState();
}
if (sm.updated("dMonitoringState")) {
auto data = sm["dMonitoringState"].getDMonitoringState();
scene.is_rhd = data.getIsRHD();
s->preview_started = data.getIsPreview();
scene.dmonitoring_state = sm["dMonitoringState"].getDMonitoringState();
scene.is_rhd = scene.dmonitoring_state.getIsRHD();
scene.frontview = scene.dmonitoring_state.getIsPreview();
}
s->started = scene.thermal.getStarted() || s->preview_started;
// timeout on frontview
if ((sm.frame - sm.rcv_frame("dMonitoringState")) > 1*UI_FREQ) {
scene.frontview = false;
}
s->started = scene.thermal.getStarted() || scene.frontview;
// Handle onroad/offroad transition
if (!s->started) {
if (s->status != STATUS_STOPPED) {
@@ -831,7 +819,7 @@ int main(int argc, char* argv[]) {
if (s->controls_timeout > 0) {
s->controls_timeout--;
} else if (s->started) {
} else if (s->started && !s->scene.frontview) {
if (!s->controls_seen) {
// car is started, but controlsState hasn't been seen at all
s->scene.alert_text1 = "openpilot Unavailable";
selfdrive/ui/ui.hpp
+1 -10
View File
@@ -92,8 +92,6 @@ typedef struct UIScene {
int frontview;
int fullview;
int transformed_width, transformed_height;
ModelData model;
float mpc_x[50];
@@ -114,16 +112,11 @@ typedef struct UIScene {
int ui_viz_rw;
int ui_viz_ro;
int front_box_x, front_box_y, front_box_width, front_box_height;
std::string alert_text1;
std::string alert_text2;
std::string alert_type;
cereal::ControlsState::AlertSize alert_size;
// Used to show gps planner status
bool gps_planner_active;
cereal::HealthData::HwType hwType;
int satelliteCount;
uint8_t athenaStatus;
@@ -132,6 +125,7 @@ typedef struct UIScene {
cereal::RadarState::LeadData::Reader lead_data[2];
cereal::ControlsState::Reader controls_state;
cereal::DriverState::Reader driver_state;
cereal::DMonitoringState::Reader dmonitoring_state;
} UIScene;
typedef struct {
@@ -160,7 +154,6 @@ typedef struct UIState {
NVGcontext *vg;
// fonts and images
int font_courbd;
int font_sans_regular;
int font_sans_semibold;
int font_sans_bold;
@@ -203,7 +196,6 @@ typedef struct UIState {
int rgb_width, rgb_height, rgb_stride;
size_t rgb_buf_len;
mat4 rgb_transform;
int rgb_front_width, rgb_front_height, rgb_front_stride;
size_t rgb_front_buf_len;
@@ -233,7 +225,6 @@ typedef struct UIState {
float alert_blinking_alpha;
bool alert_blinked;
bool started;
bool preview_started;
bool vision_seen;
std::atomic<float> light_sensor;