mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-17 23:32:07 +08:00
UI: new set speed design, show speed limits (#24736)
* basic US design * place based on center position * fix typo * eu sign without rounded box * same as steering wheel icon * proper rounded bottom for eu sign * add border * proper placement/sizes * needs to be semi bold * color changes * only when engaged * move helpers into util.h * Fix MAX placement * only change color when at least 5 over * implement override state * pixel perfect spacing around us sign old-commit-hash: d528cd556848404891e28b3342d146498e3991cc
This commit is contained in:
Willem Melching
+140
-22
@@ -174,17 +174,24 @@ void NvgWindow::updateState(const UIState &s) {
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const SubMaster &sm = *(s.sm);
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const auto cs = sm["controlsState"].getControlsState();
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float maxspeed = cs.getVCruise();
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bool cruise_set = maxspeed > 0 && (int)maxspeed != SET_SPEED_NA;
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float set_speed = cs.getVCruise();
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bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
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if (cruise_set && !s.scene.is_metric) {
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maxspeed *= KM_TO_MILE;
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set_speed *= KM_TO_MILE;
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}
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QString maxspeed_str = cruise_set ? QString::number(std::nearbyint(maxspeed)) : "N/A";
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float cur_speed = std::max(0.0, sm["carState"].getCarState().getVEgo() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH));
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auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();
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float speed_limit = sm["navInstruction"].getValid() ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0;
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speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
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setProperty("speedLimit", speed_limit);
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setProperty("has_us_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
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setProperty("has_eu_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
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setProperty("is_cruise_set", cruise_set);
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setProperty("speed", QString::number(std::nearbyint(cur_speed)));
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setProperty("maxSpeed", maxspeed_str);
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setProperty("speed", cur_speed);
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setProperty("setSpeed", set_speed);
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setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph");
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setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
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setProperty("status", s.status);
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@@ -205,26 +212,139 @@ void NvgWindow::drawHud(QPainter &p) {
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bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
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p.fillRect(0, 0, width(), header_h, bg);
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// max speed
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QRect rc(bdr_s * 2, bdr_s * 1.5, 184, 202);
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p.setPen(QPen(QColor(0xff, 0xff, 0xff, 100), 10));
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p.setBrush(QColor(0, 0, 0, 100));
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p.drawRoundedRect(rc, 20, 20);
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p.setPen(Qt::NoPen);
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QString speedLimitStr = QString::number(std::nearbyint(speedLimit));
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QString speedStr = QString::number(std::nearbyint(speed));
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QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
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configFont(p, "Open Sans", 48, "Regular");
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drawText(p, rc.center().x(), 118, "MAX", is_cruise_set ? 200 : 100);
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// Draw outer box + border to contain set speed and speed limit
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int default_rect_width = 172;
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int rect_width = default_rect_width;
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if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223;
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else if (has_eu_speed_limit) rect_width = 200;
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int rect_height = 204;
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if (has_us_speed_limit) rect_height = 402;
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else if (has_eu_speed_limit) rect_height = 392;
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int top_radius = 32;
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int bottom_radius = has_eu_speed_limit ? 100 : 32;
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QRect set_speed_rect(60 + default_rect_width / 2 - rect_width / 2, 45, rect_width, rect_height);
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p.setPen(QPen(QColor(255, 255, 255, 75), 6));
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p.setBrush(QColor(0, 0, 0, 166));
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drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
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// Draw set speed
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if (is_cruise_set) {
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configFont(p, "Open Sans", 88, "Bold");
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drawText(p, rc.center().x(), 212, maxSpeed, 255);
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if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) {
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p.setPen(interpColor(
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setSpeed,
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{speedLimit + 5, speedLimit + 15, speedLimit + 25},
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{QColor(0xff, 0xff, 0xff, 0xff), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)}
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));
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} else {
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p.setPen(QColor(0xff, 0xff, 0xff, 0xff));
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}
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} else {
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configFont(p, "Open Sans", 80, "SemiBold");
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drawText(p, rc.center().x(), 212, maxSpeed, 100);
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p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
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}
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configFont(p, "Open Sans", 90, "Bold");
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QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
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speed_rect.moveCenter({set_speed_rect.center().x(), 0});
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speed_rect.moveTop(set_speed_rect.top() + 8);
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p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
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// Draw MAX
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if (is_cruise_set) {
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if (status == STATUS_DISENGAGED) {
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p.setPen(QColor(0xff, 0xff, 0xff, 0xff));
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} else if (status == STATUS_OVERRIDE) {
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p.setPen(QColor(0x91, 0x9b, 0x95, 0xff));
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} else if (speedLimit > 0) {
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p.setPen(interpColor(
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setSpeed,
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{speedLimit + 5, speedLimit + 15, speedLimit + 25},
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{QColor(0x80, 0xd8, 0xa6, 0xff), QColor(0xff, 0xe4, 0xbf, 0xff), QColor(0xff, 0xbf, 0xbf, 0xff)}
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));
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} else {
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p.setPen(QColor(0x80, 0xd8, 0xa6, 0xff));
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}
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} else {
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p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
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}
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configFont(p, "Open Sans", 40, "SemiBold");
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QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX");
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max_rect.moveCenter({set_speed_rect.center().x(), 0});
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max_rect.moveTop(set_speed_rect.top() + 123);
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p.drawText(max_rect, Qt::AlignCenter, "MAX");
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// US/Canada (MUTCD style) sign
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if (has_us_speed_limit) {
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const int border_width = 6;
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const int sign_width = (speedLimitStr.size() >= 3) ? 199 : 148;
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const int sign_height = 186;
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// White outer square
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QRect sign_rect_outer(set_speed_rect.left() + 12, set_speed_rect.bottom() - 11 - sign_height, sign_width, sign_height);
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p.setPen(Qt::NoPen);
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p.setBrush(QColor(255, 255, 255, 255));
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p.drawRoundedRect(sign_rect_outer, 24, 24);
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// Smaller white square with black border
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QRect sign_rect(sign_rect_outer.left() + 1.5 * border_width, sign_rect_outer.top() + 1.5 * border_width, sign_width - 3 * border_width, sign_height - 3 * border_width);
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p.setPen(QPen(QColor(0, 0, 0, 255), border_width));
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p.setBrush(QColor(255, 255, 255, 255));
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p.drawRoundedRect(sign_rect, 16, 16);
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// "SPEED"
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configFont(p, "Open Sans", 28, "SemiBold");
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QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED");
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text_speed_rect.moveCenter({sign_rect.center().x(), 0});
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text_speed_rect.moveTop(sign_rect_outer.top() + 20);
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p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED");
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// "LIMIT"
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QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT");
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text_limit_rect.moveCenter({sign_rect.center().x(), 0});
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text_limit_rect.moveTop(sign_rect_outer.top() + 48);
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p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT");
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// Speed limit value
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configFont(p, "Open Sans", 70, "Bold");
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QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
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speed_limit_rect.moveCenter({sign_rect.center().x(), 0});
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speed_limit_rect.moveTop(sign_rect.top() + 70);
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p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
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}
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// EU (Vienna style) sign
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if (has_eu_speed_limit) {
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int outer_radius = 176 / 2;
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int inner_radius_1 = outer_radius - 6; // White outer border
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int inner_radius_2 = inner_radius_1 - 20; // Red circle
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// Draw white circle with red border
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QPoint center(set_speed_rect.center().x() + 1, set_speed_rect.top() + 204 + outer_radius);
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p.setPen(Qt::NoPen);
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p.setBrush(QColor(255, 255, 255, 255));
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p.drawEllipse(center, outer_radius, outer_radius);
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p.setBrush(QColor(255, 0, 0, 255));
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p.drawEllipse(center, inner_radius_1, inner_radius_1);
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p.setBrush(QColor(255, 255, 255, 255));
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p.drawEllipse(center, inner_radius_2, inner_radius_2);
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// Speed limit value
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int font_size = (speedLimitStr.size() >= 3) ? 62 : 70;
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configFont(p, "Open Sans", font_size, "Bold");
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QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
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speed_limit_rect.moveCenter(center);
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p.setPen(QColor(0, 0, 0, 255));
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p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
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}
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// current speed
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configFont(p, "Open Sans", 176, "Bold");
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drawText(p, rect().center().x(), 210, speed);
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drawText(p, rect().center().x(), 210, speedStr);
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configFont(p, "Open Sans", 66, "Regular");
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drawText(p, rect().center().x(), 290, speedUnit, 200);
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@@ -243,9 +363,7 @@ void NvgWindow::drawHud(QPainter &p) {
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}
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void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
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QFontMetrics fm(p.font());
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QRect init_rect = fm.boundingRect(text);
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QRect real_rect = fm.boundingRect(init_rect, 0, text);
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QRect real_rect = getTextRect(p, 0, text);
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real_rect.moveCenter({x, y - real_rect.height() / 2});
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p.setPen(QColor(0xff, 0xff, 0xff, alpha));
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@@ -27,10 +27,14 @@ private:
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// container window for the NVG UI
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class NvgWindow : public CameraViewWidget {
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Q_OBJECT
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Q_PROPERTY(QString speed MEMBER speed);
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Q_PROPERTY(float speed MEMBER speed);
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Q_PROPERTY(QString speedUnit MEMBER speedUnit);
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Q_PROPERTY(QString maxSpeed MEMBER maxSpeed);
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Q_PROPERTY(float setSpeed MEMBER setSpeed);
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Q_PROPERTY(float speedLimit MEMBER speedLimit);
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Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set);
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Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit);
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Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit);
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Q_PROPERTY(bool engageable MEMBER engageable);
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Q_PROPERTY(bool dmActive MEMBER dmActive);
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Q_PROPERTY(bool hideDM MEMBER hideDM);
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@@ -48,13 +52,16 @@ private:
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QPixmap dm_img;
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const int radius = 192;
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const int img_size = (radius / 2) * 1.5;
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QString speed;
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float speed;
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QString speedUnit;
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QString maxSpeed;
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float setSpeed;
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float speedLimit;
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bool is_cruise_set = false;
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bool engageable = false;
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bool dmActive = false;
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bool hideDM = false;
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bool has_us_speed_limit = false;
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bool has_eu_speed_limit = false;
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int status = STATUS_DISENGAGED;
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protected:
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@@ -135,3 +135,64 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo
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return QPixmap(fileName).scaled(size, aspectRatioMode, Qt::SmoothTransformation);
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}
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}
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QRect getTextRect(QPainter &p, int flags, QString text) {
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QFontMetrics fm(p.font());
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QRect init_rect = fm.boundingRect(text);
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return fm.boundingRect(init_rect, flags, text);
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}
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void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){
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qreal w_2 = rect.width() / 2;
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qreal h_2 = rect.height() / 2;
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xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2;
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yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2;
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xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2;
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yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2;
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qreal x = rect.x();
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qreal y = rect.y();
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qreal w = rect.width();
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qreal h = rect.height();
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qreal rxx2Top = w*xRadiusTop/100;
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qreal ryy2Top = h*yRadiusTop/100;
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qreal rxx2Bottom = w*xRadiusBottom/100;
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qreal ryy2Bottom = h*yRadiusBottom/100;
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QPainterPath path;
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path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180);
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path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90);
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path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90);
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path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90);
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path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90);
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path.closeSubpath();
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painter.drawPath(path);
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}
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QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
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assert(xp.size() == fp.size());
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int N = xp.size();
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int hi = 0;
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while (hi < N and xv > xp[hi]) hi++;
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int low = hi - 1;
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if (hi == N && xv > xp[low]) {
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return fp[fp.size() - 1];
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} else if (hi == 0){
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return fp[0];
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} else {
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return QColor(
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(xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(),
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(xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(),
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(xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(),
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(xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha()
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);
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}
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}
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@@ -22,3 +22,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co
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void initApp(int argc, char *argv[]);
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QWidget* topWidget (QWidget* widget);
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QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
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QRect getTextRect(QPainter &p, int flags, QString text);
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void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
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QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
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