From 1be13fdc55a24a72bc33703c7343c9421fdd0842 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 12 Sep 2025 08:37:24 -0400 Subject: [PATCH] Revert "UI: Developer UI" (#1238) * Revert "Revert & Reapply "UI: Developer UI" temporarily due to QT version mismatch (#1237)" This reverts commit 810a2d9448df89ef84ecc1c794b63fad55350d69. * Revert "UI: Developer UI (#1233)" This reverts commit 1bb4ca2547448f2189f67cb54db150e78bc4d487. --- common/params_keys.h | 1 - selfdrive/ui/qt/onroad/alerts.cc | 9 - selfdrive/ui/qt/onroad/annotated_camera.h | 1 - selfdrive/ui/qt/onroad/driver_monitoring.cc | 5 - selfdrive/ui/sunnypilot/SConscript | 1 - .../qt/offroad/settings/visuals_panel.cc | 12 - .../qt/offroad/settings/visuals_panel.h | 1 - .../sunnypilot/qt/onroad/annotated_camera.cc | 5 - .../sunnypilot/qt/onroad/annotated_camera.h | 3 - .../qt/onroad/developer_ui/developer_ui.cc | 227 ------------------ .../qt/onroad/developer_ui/developer_ui.h | 31 --- .../qt/onroad/developer_ui/ui_elements.h | 19 -- selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 190 --------------- selfdrive/ui/sunnypilot/qt/onroad/hud.h | 39 +-- selfdrive/ui/sunnypilot/ui.cc | 16 +- selfdrive/ui/sunnypilot/ui.h | 4 - selfdrive/ui/sunnypilot/ui_scene.h | 12 - selfdrive/ui/ui.h | 5 - 18 files changed, 3 insertions(+), 578 deletions(-) delete mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc delete mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h delete mode 100644 selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h delete mode 100644 selfdrive/ui/sunnypilot/ui_scene.h diff --git a/common/params_keys.h b/common/params_keys.h index fc7842720..afb6b348e 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -146,7 +146,6 @@ inline static std::unordered_map keys = { {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}}, {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}}, {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}}, - {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}}, {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}}, {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}}, {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}}, diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc index 2e8f3612e..d6829c6b0 100644 --- a/selfdrive/ui/qt/onroad/alerts.cc +++ b/selfdrive/ui/qt/onroad/alerts.cc @@ -4,9 +4,6 @@ #include #include "selfdrive/ui/qt/util.h" -#ifdef SUNNYPILOT -#include "selfdrive/ui/sunnypilot/ui.h" -#endif void OnroadAlerts::updateState(const UIState &s) { Alert a = getAlert(*(s.sm), s.scene.started_frame); @@ -76,12 +73,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { } QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2); -#ifdef SUNNYPILOT - const int dev_ui_info = uiStateSP()->scene.dev_ui_info; - const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0; - r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2); -#endif - QPainter p(this); // draw background + gradient diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index 5d9d21ab6..e3ca83790 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -12,7 +12,6 @@ #include "selfdrive/ui/sunnypilot/qt/onroad/model.h" #define ExperimentalButton ExperimentalButtonSP #define ModelRenderer ModelRendererSP -#define HudRenderer HudRendererSP #else #include "selfdrive/ui/qt/onroad/buttons.h" #include "selfdrive/ui/qt/onroad/hud.h" diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.cc b/selfdrive/ui/qt/onroad/driver_monitoring.cc index e67c48304..49f2c950b 100644 --- a/selfdrive/ui/qt/onroad/driver_monitoring.cc +++ b/selfdrive/ui/qt/onroad/driver_monitoring.cc @@ -73,11 +73,6 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) { float y = surface_rect.height() - offset; float opacity = is_active ? 0.65f : 0.2f; -#ifdef SUNNYPILOT - const int dev_ui_info = uiStateSP()->scene.dev_ui_info; - y -= dev_ui_info > 1 ? 50 : 0; -#endif - drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity); QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)]; diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 807bf0247..2f3c8ddd8 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -39,7 +39,6 @@ qt_src = [ "sunnypilot/qt/offroad/settings/visuals_panel.cc", "sunnypilot/qt/onroad/annotated_camera.cc", "sunnypilot/qt/onroad/buttons.cc", - "sunnypilot/qt/onroad/developer_ui/developer_ui.cc", "sunnypilot/qt/onroad/hud.cc", "sunnypilot/qt/onroad/model.cc", "sunnypilot/qt/onroad/onroad_home.cc", diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc index c3aaf12d2..dd2f05416 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc @@ -72,15 +72,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) { list->addItem(chevron_info_settings); param_watcher->addParam("ChevronInfo"); - // Visuals: Developer UI Info (Dev UI) - std::vector dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")}; - dev_ui_settings = new ButtonParamControlSP( - "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."), - "", - dev_ui_settings_texts, - 380); - list->addItem(dev_ui_settings); - sunnypilotScroller = new ScrollViewSP(list, this); vlayout->addWidget(sunnypilotScroller); @@ -99,7 +90,4 @@ void VisualsPanel::paramsRefresh() { if (chevron_info_settings) { chevron_info_settings->refresh(); } - if (dev_ui_settings) { - dev_ui_settings->refresh(); - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h index 30ff31c30..f342662c2 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h @@ -28,5 +28,4 @@ protected: std::map toggles; ParamWatcher * param_watcher; ButtonParamControlSP *chevron_info_settings; - ButtonParamControlSP *dev_ui_settings; }; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc index 1d5567161..3721a3d19 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc @@ -14,8 +14,3 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget void AnnotatedCameraWidgetSP::updateState(const UIState &s) { AnnotatedCameraWidget::updateState(s); } - -void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) { - AnnotatedCameraWidget::showEvent(event); - ui_update_params_sp(uiState()); -} diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h index 8c0a38565..46ce7d4be 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h @@ -15,7 +15,4 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget { public: explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr); void updateState(const UIState &s) override; - -protected: - void showEvent(QShowEvent *event) override; }; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc deleted file mode 100644 index 292ba6f7b..000000000 --- a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc +++ /dev/null @@ -1,227 +0,0 @@ -/** - * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - * - * This file is part of sunnypilot and is licensed under the MIT License. - * See the LICENSE.md file in the root directory for more details. - */ -#include - -#include "common/util.h" -#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h" - - -// Add Relative Distance to Primary Lead Car -// Unit: Meters -UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) { - QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-"; - QColor color = QColor(255, 255, 255, 255); - - if (lead_status) { - // Orange if close, Red if very close - if (lead_d_rel < 5) { - color = QColor(255, 0, 0, 255); - } else if (lead_d_rel < 15) { - color = QColor(255, 188, 0, 255); - } - } - - return UiElement(value, "REL DIST", "m", color); -} - -// Add Relative Velocity vs Primary Lead Car -// Unit: kph if metric, else mph -UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) { - QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-"; - QColor color = QColor(255, 255, 255, 255); - - if (lead_status) { - // Red if approaching faster than 10mph - // Orange if approaching (negative) - if (lead_v_rel < -4.4704) { - color = QColor(255, 0, 0, 255); - } else if (lead_v_rel < 0) { - color = QColor(255, 188, 0, 255); - } - } - - return UiElement(value, "REL SPEED", speed_unit, color); -} - -// Add Real Steering Angle -// Unit: Degrees -UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) { - QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg(""); - QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255); - - // Red if large steering angle - // Orange if moderate steering angle - if (std::fabs(angle_steers) > 180) { - color = QColor(255, 0, 0, 255); - } else if (std::fabs(angle_steers) > 90) { - color = QColor(255, 188, 0, 255); - } - - return UiElement(value, "REAL STEER", "", color); -} - -// Add Actual Lateral Acceleration (roll compensated) when using Torque -// Unit: m/s² -UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) { - double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81); - - QString value = QString::number(actualLateralAccel, 'f', 2); - QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255); - - return UiElement(value, "ACTUAL L.A.", "m/s²", color); -} - -// Add Desired Steering Angle when using PID -// Unit: Degrees -UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) { - QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-"; - QColor color = QColor(255, 255, 255, 255); - - if (lat_active) { - // Red if large steering angle - // Orange if moderate steering angle - if (std::fabs(angle_steers) > 180) { - color = QColor(255, 0, 0, 255); - } else if (std::fabs(angle_steers) > 90) { - color = QColor(255, 188, 0, 255); - } else { - color = QColor(0, 255, 0, 255); - } - } - - return UiElement(value, "DESIRED STEER", "", color); -} - -// Add Device Memory (RAM) Usage -// Unit: Percent -UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) { - QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%"); - QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255); - - return UiElement(value, "RAM", "", color); -} - -// Add Vehicle Current Acceleration -// Unit: m/s² -UiElement DeveloperUi::getAEgo(float a_ego) { - QString value = QString::number(a_ego, 'f', 1); - QColor color = QColor(255, 255, 255, 255); - - return UiElement(value, "ACC.", "m/s²", color); -} - -// Add Relative Velocity to Primary Lead Car -// Unit: kph if metric, else mph -UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) { - QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-"; - QColor color = QColor(255, 255, 255, 255); - - if (lead_status) { - // Red if approaching faster than 10mph - // Orange if approaching (negative) - if (lead_v_rel < -4.4704) { - color = QColor(255, 0, 0, 255); - } else if (lead_v_rel < 0) { - color = QColor(255, 188, 0, 255); - } - } - - return UiElement(value, "L.S.", speed_unit, color); -} - -// Add Friction Coefficient Raw from torqued -// Unit: None -UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) { - QString value = QString::number(friction_coefficient_filtered, 'f', 3); - QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255); - - return UiElement(value, "FRIC.", "", color); -} - -// Add Lateral Acceleration Factor Raw from torqued -// Unit: m/s² -UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) { - QString value = QString::number(lat_accel_factor_filtered, 'f', 3); - QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255); - - return UiElement(value, "L.A.", "m/s²", color); -} - -// Add Steering Torque from Car EPS -// Unit: Newton Meters -UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) { - QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1); - QColor color = QColor(255, 255, 255, 255); - - return UiElement(value, "E.T.", "N·dm", color); -} - -// Add Bearing Degree and Direction from Car (Compass) -// Unit: Meters -UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) { - QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-"; - QColor color = QColor(255, 255, 255, 255); - QString dir_value; - - if (bearing_accuracy_deg != 180.00) { - if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) { - dir_value = "N"; - } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) { - dir_value = "NE"; - } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) { - dir_value = "E"; - } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) { - dir_value = "SE"; - } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) { - dir_value = "S"; - } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) { - dir_value = "SW"; - } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) { - dir_value = "W"; - } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) { - dir_value = "NW"; - } - } else { - dir_value = "OFF"; - } - - return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color); -} - -// Add Altitude of Current Location -// Unit: Meters -UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) { - QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-"; - QColor color = QColor(255, 255, 255, 255); - - return UiElement(value, "ALT.", "m", color); -} - -// Add Actuators Output -// Unit: Degree (angle) or m/s² (torque) -UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType, - cereal::CarControl::Actuators::Reader &actuators, - float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) { - QString label; - QString value; - QString unit; - - if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) { - label = "DESIRED STEER"; - value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg(""); - } else { - label = "DESIRED L.A."; - double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81); - value = QString::number(desiredLateralAccel, 'f', 2); - unit = "m/s²"; - } - - value = lat_active ? value : "-"; - QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255); - - return UiElement(value, label, unit, color); -} diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h deleted file mode 100644 index 0c5c47220..000000000 --- a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h +++ /dev/null @@ -1,31 +0,0 @@ -/** - * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - * - * This file is part of sunnypilot and is licensed under the MIT License. - * See the LICENSE.md file in the root directory for more details. - */ -#pragma once - -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h" - -class DeveloperUi { - -public: - static UiElement getDRel(bool lead_status, float lead_d_rel); - static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit); - static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override); - static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override); - static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers); - static UiElement getMemoryUsagePercent(int memory_usage_percent); - static UiElement getAEgo(float a_ego); - static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit); - static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid); - static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid); - static UiElement getSteeringTorqueEps(float steering_torque_eps); - static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg); - static UiElement getAltitude(float gps_accuracy, float altitude); - static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType, - cereal::CarControl::Actuators::Reader &actuators, - float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override); -}; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h b/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h deleted file mode 100644 index 3711e5ac0..000000000 --- a/selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h +++ /dev/null @@ -1,19 +0,0 @@ -/** - * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - * - * This file is part of sunnypilot and is licensed under the MIT License. - * See the LICENSE.md file in the root directory for more details. - */ -#pragma once - -#include - -struct UiElement { - QString value{}; - QString label{}; - QString units{}; - QColor color{}; - - explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255)) - : value(value), label(label), units(units), color(color) {} -}; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc index 9ead933d0..233ca59f9 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc @@ -7,202 +7,12 @@ #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h" -#include "selfdrive/ui/qt/util.h" - - HudRendererSP::HudRendererSP() {} void HudRendererSP::updateState(const UIState &s) { HudRenderer::updateState(s); - - const SubMaster &sm = *(s.sm); - const bool cs_alive = sm.alive("controlsState"); - const auto cs = sm["controlsState"].getControlsState(); - const auto car_state = sm["carState"].getCarState(); - const auto car_control = sm["carControl"].getCarControl(); - const auto radar_state = sm["radarState"].getRadarState(); - const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1; - const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation(); - const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters(); - const auto car_params = sm["carParams"].getCarParams(); - - static int reverse_delay = 0; - bool reverse_allowed = false; - if (int(car_state.getGearShifter()) != 4) { - reverse_delay = 0; - reverse_allowed = false; - } else { - reverse_delay += 50; - if (reverse_delay >= 1000) { - reverse_allowed = true; - } - } - - reversing = reverse_allowed; - is_metric = s.scene.is_metric; - - // Handle older routes where vEgoCluster is not set - v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; - float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); - speed = cs_alive ? std::max(0.0, v_ego) : 0.0; - speed *= is_metric ? MS_TO_KPH : MS_TO_MPH; - - latActive = car_control.getLatActive(); - steerOverride = car_state.getSteeringPressed(); - - devUiInfo = s.scene.dev_ui_info; - - speedUnit = is_metric ? tr("km/h") : tr("mph"); - lead_d_rel = radar_state.getLeadOne().getDRel(); - lead_v_rel = radar_state.getLeadOne().getVRel(); - lead_status = radar_state.getLeadOne().getStatus(); - steerControlType = car_params.getSteerControlType(); - actuators = car_control.getActuators(); - torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE; - angleSteers = car_state.getSteeringAngleDeg(); - desiredCurvature = cs.getDesiredCurvature(); - curvature = cs.getCurvature(); - roll = sm["liveParameters"].getLiveParameters().getRoll(); - memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent(); - gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0; // External reports accuracy, internal does not. - altitude = gpsLocation.getAltitude(); - vEgo = car_state.getVEgo(); - aEgo = car_state.getAEgo(); - steeringTorqueEps = car_state.getSteeringTorqueEps(); - bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg(); - bearingDeg = gpsLocation.getBearingDeg(); - torquedUseParams = ltp.getUseParams(); - latAccelFactorFiltered = ltp.getLatAccelFactorFiltered(); - frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered(); - liveValid = ltp.getLiveValid(); } void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) { HudRenderer::draw(p, surface_rect); - if (!reversing) { - // Bottom Dev UI - if (devUiInfo == 2) { - QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61); - p.setPen(Qt::NoPen); - p.setBrush(QColor(0, 0, 0, 100)); - p.drawRect(rect_bottom); - drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y()); - } - - // Right Dev UI - if (devUiInfo != 0) { - QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170); - drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height()); - } - } -} - -void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) { - QRect real_rect = p.fontMetrics().boundingRect(text); - real_rect.moveCenter({x, y - real_rect.height() / 2}); - p.setPen(color); - p.drawText(real_rect.x(), real_rect.bottom(), text); -} - -int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) { - - p.setFont(InterFont(28, QFont::Bold)); - x += 92; - y += 80; - drawText(p, x, y, label); - - p.setFont(InterFont(30 * 2, QFont::Bold)); - y += 65; - drawText(p, x, y, value, color); - - p.setFont(InterFont(28, QFont::Bold)); - - if (units.length() > 0) { - p.save(); - x += 120; - y -= 25; - p.translate(x, y); - p.rotate(-90); - drawText(p, 0, 0, units); - p.restore(); - } - - return 130; -} - -void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) { - int rh = 5; - int ry = y; - - UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel); - rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color); - ry = y + rh; - - UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit); - rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color); - ry = y + rh; - - UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride); - rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color); - ry = y + rh; - - UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride); - rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color); - ry = y + rh; - - UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride); - rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color); -} - -int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) { - p.setFont(InterFont(38, QFont::Bold)); - QFontMetrics fm(p.font()); - QRect init_rect = fm.boundingRect(label + " "); - QRect real_rect = fm.boundingRect(init_rect, 0, label + " "); - real_rect.moveCenter({x, y}); - - QRect init_rect2 = fm.boundingRect(value); - QRect real_rect2 = fm.boundingRect(init_rect2, 0, value); - real_rect2.moveTop(real_rect.top()); - real_rect2.moveLeft(real_rect.right() + 10); - - QRect init_rect3 = fm.boundingRect(units); - QRect real_rect3 = fm.boundingRect(init_rect3, 0, units); - real_rect3.moveTop(real_rect.top()); - real_rect3.moveLeft(real_rect2.right() + 10); - - p.setPen(Qt::white); - p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label); - - p.setPen(color); - p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value); - p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units); - return 430; -} - -void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) { - int rw = 90; - - UiElement aEgoElement = DeveloperUi::getAEgo(aEgo); - rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color); - - UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit); - rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color); - - if (torqueLateral && torquedUseParams) { - UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid); - rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color); - - UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid); - rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color); - } else { - UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps); - rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color); - - UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg); - rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color); - } - - UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude); - rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color); } diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h index 968789bc1..1e98cd3a5 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h @@ -7,8 +7,9 @@ #pragma once +#include + #include "selfdrive/ui/qt/onroad/hud.h" -#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h" class HudRendererSP : public HudRenderer { Q_OBJECT @@ -17,40 +18,4 @@ public: HudRendererSP(); void updateState(const UIState &s) override; void draw(QPainter &p, const QRect &surface_rect) override; - -private: - Params params; - void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white); - void drawRightDevUI(QPainter &p, int x, int y); - int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color); - int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color); - void drawBottomDevUI(QPainter &p, int x, int y); - - bool lead_status; - float lead_d_rel; - float lead_v_rel; - bool torqueLateral; - float angleSteers; - float desiredCurvature; - float curvature; - float roll; - int memoryUsagePercent; - int devUiInfo; - float gpsAccuracy; - float altitude; - float vEgo; - float aEgo; - float steeringTorqueEps; - float bearingAccuracyDeg; - float bearingDeg; - bool torquedUseParams; - float latAccelFactorFiltered; - float frictionCoefficientFiltered; - bool liveValid; - QString speedUnit; - bool latActive; - bool steerOverride; - bool reversing; - cereal::CarParams::SteerControlType steerControlType; - cereal::CarControl::Actuators::Reader actuators; }; diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc index 1277195df..b2701356c 100644 --- a/selfdrive/ui/sunnypilot/ui.cc +++ b/selfdrive/ui/sunnypilot/ui.cc @@ -18,22 +18,13 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) { "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2", "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan", - "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP", - "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters", - "carStateSP", "liveParameters" + "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP" }); // update timer timer = new QTimer(this); QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update); timer->start(1000 / UI_FREQ); - - // Param watcher for UIScene param updates - param_watcher = new ParamWatcher(this); - connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) { - ui_update_params_sp(this); - }); - param_watcher->addParam("DevUIInfo"); } // This method overrides completely the update method from the parent class intentionally. @@ -48,11 +39,6 @@ void UIStateSP::update() { emit uiUpdate(*this); } -void ui_update_params_sp(UIStateSP *s) { - auto params = Params(); - s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str()); -} - DeviceSP::DeviceSP(QObject *parent) : Device(parent) { QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update); QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged); diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h index 393f997cb..cf8de1c4b 100644 --- a/selfdrive/ui/sunnypilot/ui.h +++ b/selfdrive/ui/sunnypilot/ui.h @@ -13,7 +13,6 @@ #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h" #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h" #include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/util.h" class UIStateSP : public UIState { Q_OBJECT @@ -74,7 +73,6 @@ private slots: private: std::vector sunnylinkRoles = {}; std::vector sunnylinkUsers = {}; - ParamWatcher *param_watcher; }; UIStateSP *uiStateSP(); @@ -94,5 +92,3 @@ private: DeviceSP *deviceSP(); inline DeviceSP *device() { return deviceSP(); } - -void ui_update_params_sp(UIStateSP *s); diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h deleted file mode 100644 index 93e0cd6c9..000000000 --- a/selfdrive/ui/sunnypilot/ui_scene.h +++ /dev/null @@ -1,12 +0,0 @@ -/** - * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - * - * This file is part of sunnypilot and is licensed under the MIT License. - * See the LICENSE.md file in the root directory for more details. - */ - -#pragma once - -typedef struct UISceneSP : UIScene { - int dev_ui_info = 0; -} UISceneSP; diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 5b3872b3d..e78b573b6 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -66,11 +66,6 @@ typedef struct UIScene { uint64_t started_frame; } UIScene; -#ifdef SUNNYPILOT -#include "sunnypilot/ui_scene.h" -#define UIScene UISceneSP -#endif - class UIState : public QObject { Q_OBJECT