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Lead Info

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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent af4e8a5ede
commit 91ce962e7c
5 changed files with 95 additions and 5 deletions
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selfdrive/ui/qt/onroad/model.cc
+16 -4
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@@ -35,7 +35,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
drawLaneLines(painter);
drawPath(painter, model, surface_rect.height());
if (longitudinal_control && sm.alive("radarState") && !frogpilot_toggles.value("hide_lead_marker").toBool()) {
if ((longitudinal_control || frogpilot_toggles.value("lead_info").toBool()) && sm.alive("radarState") && !frogpilot_toggles.value("hide_lead_marker").toBool()) {
update_leads(radar_state, model.getPosition());
const auto &lead_two = radar_state.getLeadTwo();
if (lead_one.getStatus()) {
@@ -46,6 +46,8 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
}
} else {
// FrogPilot variables
frogpilot_nvg->leadTextRect = QRect();
}
if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
drawLead(painter, lead_two, lead_vertices[1], surface_rect, QColor(frogpilot_toggles.value("lead_marker_color").toString()));
}
@@ -59,11 +61,18 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
updateAdjacentLeads(frogpilot_radar_state, model.getPosition());
if (lead_left.getStatus()) {
frogpilot_nvg->adjacentLeadTextRect = QRect();
if (lead_left.getStatus() && lead_right.getStatus() && (lead_left.getDRel() < lead_right.getDRel())) {
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_left), adjacent_lead_vertices[0], surface_rect, frogpilot_nvg->blueColor(), true);
}
if (lead_right.getStatus()) {
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_right), adjacent_lead_vertices[1], surface_rect, frogpilot_nvg->purpleColor(), true);
} else {
if (lead_left.getStatus()) {
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_left), adjacent_lead_vertices[0], surface_rect, frogpilot_nvg->blueColor(), true);
}
if (lead_right.getStatus()) {
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_right), adjacent_lead_vertices[1], surface_rect, frogpilot_nvg->purpleColor(), true);
}
}
}
@@ -277,6 +286,9 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
painter.drawPolygon(chevron, std::size(chevron));
// FrogPilot variables
if (frogpilot_toggles.value("lead_info").toBool()) {
frogpilot_nvg->paintLeadMetrics(painter, adjacent, chevron, lead_data);
}
}
// Projects a point in car to space to the corresponding point in full frame image space.