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FrogPilot 0.9.7

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This commit is contained in:
FrogAi
2024-06-27 10:22:08 -07:00
parent da00915ac8
commit b705b02e70
682 changed files with 181798 additions and 1348 deletions
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selfdrive/ui/qt/maps/map.cc
+96 -1
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@@ -75,7 +75,7 @@ void MapWindow::initLayers() {
QVariantMap transition;
transition["duration"] = 400; // ms
m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(uiState()->scene.navigate_on_openpilot));
m_map->setPaintProperty("navLayer", "line-color-transition", transition);
m_map->setPaintProperty("navLayer", "line-width", 7.5);
m_map->setLayoutProperty("navLayer", "line-cap", "round");
@@ -110,6 +110,50 @@ void MapWindow::initLayers() {
// TODO: remove, symbol-sort-key does not seem to matter outside of each layer
m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
}
// Credit goes to jakethesnake420!
if (!m_map->layerExists("buildingsLayer")) {
qDebug() << "Initializing buildingsLayer";
QVariantMap buildings;
buildings["id"] = "buildingsLayer";
buildings["source"] = "composite";
buildings["source-layer"] = "building";
buildings["type"] = "fill-extrusion";
buildings["minzoom"] = 15;
m_map->addLayer("buildingsLayer", buildings);
m_map->setFilter("buildingsLayer", QVariantList({"==", "extrude", "true"}));
QVariantList fillExtrusionHight = {
"interpolate",
QVariantList{"linear"},
QVariantList{"zoom"},
15, 0,
15.05, QVariantList{"get", "height"}
};
QVariantList fillExtrusionBase = {
"interpolate",
QVariantList{"linear"},
QVariantList{"zoom"},
15, 0,
15.05, QVariantList{"get", "min_height"}
};
QVariantList fillExtrusionOpacity = {
"interpolate",
QVariantList{"linear"},
QVariantList{"zoom"},
15, 0,
15.5, .6,
17, .6,
20, 0
};
m_map->setPaintProperty("buildingsLayer", "fill-extrusion-color", QColor("grey"));
m_map->setPaintProperty("buildingsLayer", "fill-extrusion-opacity", fillExtrusionOpacity);
m_map->setPaintProperty("buildingsLayer", "fill-extrusion-height", fillExtrusionHight);
m_map->setPaintProperty("buildingsLayer", "fill-extrusion-base", fillExtrusionBase);
m_map->setLayoutProperty("buildingsLayer", "visibility", "visible");
}
}
void MapWindow::updateState(const UIState &s) {
@@ -127,6 +171,21 @@ void MapWindow::updateState(const UIState &s) {
}
prev_time_valid = sm.valid("clocks");
if (sm.updated("modelV2")) {
// set path color on change, and show map on rising edge of navigate on openpilot
bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
(sm["controlsState"].getControlsState().getEnabled() || uiState()->scene.always_on_lateral_active);
if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
if (loaded_once) {
m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));
}
if (nav_enabled) {
emit requestVisible(true);
}
}
uiState()->scene.navigate_on_openpilot = nav_enabled;
}
if (sm.updated("liveLocationKalman")) {
auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
auto locationd_pos = locationd_location.getPositionGeodetic();
@@ -234,6 +293,41 @@ void MapWindow::updateState(const UIState &s) {
route_rcv_frame = sm.rcv_frame("navRoute");
updateDestinationMarker();
}
// Credit to jakethesnake420
if (loaded_once && (sm.rcv_frame("uiPlan") != model_rcv_frame)) {
auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
auto model_path = model_to_collection(locationd_location.getCalibratedOrientationECEF(), locationd_location.getPositionECEF(), sm["uiPlan"].getUiPlan().getPosition());
QMapLibre::Feature model_path_feature(QMapLibre::Feature::LineStringType, model_path, {}, {});
QVariantMap modelV2Path;
modelV2Path["type"] = "geojson";
modelV2Path["data"] = QVariant::fromValue<QMapLibre::Feature>(model_path_feature);
m_map->updateSource("modelPathSource", modelV2Path);
model_rcv_frame = sm.rcv_frame("uiPlan");
}
// Map Styling - Credit goes to OPKR!
int map_style = uiState()->scene.map_style;
if (map_style != previous_map_style) {
std::array<std::string, 11> styleUrls = {
"mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj", // Stock openpilot
"mapbox://styles/mapbox/streets-v11", // Mapbox Streets
"mapbox://styles/mapbox/outdoors-v11", // Mapbox Outdoors
"mapbox://styles/mapbox/light-v10", // Mapbox Light
"mapbox://styles/mapbox/dark-v10", // Mapbox Dark
"mapbox://styles/mapbox/satellite-v9", // Mapbox Satellite
"mapbox://styles/mapbox/satellite-streets-v11", // Mapbox Satellite Streets
"mapbox://styles/mapbox/navigation-day-v1", // Mapbox Navigation Day
"mapbox://styles/mapbox/navigation-night-v1", // Mapbox Navigation Night
"mapbox://styles/mapbox/traffic-night-v2", // Mapbox Traffic Night
"mapbox://styles/mike854/clt0hm8mw01ok01p4blkr27jp" // mike854's (Satellite hybrid)
};
m_map->setStyleUrl(QString::fromStdString(styleUrls[map_style]));
}
previous_map_style = map_style;
}
void MapWindow::setError(const QString &err_str) {
@@ -366,6 +460,7 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) {
void MapWindow::offroadTransition(bool offroad) {
if (offroad) {
clearRoute();
uiState()->scene.navigate_on_openpilot = false;
routing_problem = false;
} else {
auto dest = coordinate_from_param("NavDestination");
selfdrive/ui/qt/maps/map.h
+10
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@@ -70,10 +70,20 @@ private:
MapInstructions* map_instructions;
MapETA* map_eta;
// Blue with normal nav, green when nav is input into the model
QColor getNavPathColor(bool nav_enabled) {
return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee");
}
void clearRoute();
void updateDestinationMarker();
uint64_t route_rcv_frame = 0;
// FrogPilot variables
int previous_map_style;
uint64_t model_rcv_frame = 0;
private slots:
void updateState(const UIState &s);
selfdrive/ui/qt/maps/map_helpers.h
+4 -1
View File
@@ -8,12 +8,15 @@
#include <eigen3/Eigen/Dense>
#include <QGeoCoordinate>
#include "common/params.h"
#include "common/util.h"
#include "common/transformations/coordinates.hpp"
#include "common/transformations/orientation.hpp"
#include "cereal/messaging/messaging.h"
const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
const QString MAPBOX_TOKEN = !util::getenv("MAPBOX_TOKEN").empty() ? util::getenv("MAPBOX_TOKEN").c_str() :
!Params().get("MapboxSecretKey").empty() ? QString::fromStdString(Params().get("MapboxSecretKey")) :
QString();
const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();
const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db";
selfdrive/ui/qt/maps/map_panel.cc
+8
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@@ -41,3 +41,11 @@ void MapPanel::toggleMapSettings() {
emit mapPanelRequested();
show();
}
void MapPanel::showEvent(QShowEvent *event) {
uiState()->scene.map_open = true;
}
void MapPanel::hideEvent(QHideEvent *event) {
uiState()->scene.map_open = false;
}
selfdrive/ui/qt/maps/map_panel.h
+4
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@@ -18,4 +18,8 @@ public slots:
private:
QStackedLayout *content_stack;
// FrogPilot widgets
void hideEvent(QHideEvent *event);
void showEvent(QShowEvent *event);
};
selfdrive/ui/qt/maps/map_settings.cc
+9 -1
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@@ -62,7 +62,7 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;");
heading->addWidget(title);
auto *subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
heading->addWidget(subtitle);
}
@@ -93,6 +93,8 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
setStyleSheet("MapSettings { background-color: #333333; }");
QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh);
wifi = new WifiManager(this);
}
void MapSettings::showEvent(QShowEvent *event) {
@@ -138,6 +140,12 @@ void MapSettings::refresh() {
for (; n < widgets.size(); ++n) widgets[n]->setVisible(false);
setUpdatesEnabled(true);
// Use IP for NOO without Prime
if (!uiState()->hasPrime()) {
QString ipAddress = QString("%1:8082").arg(wifi->getIp4Address());
subtitle->setText(tr("Manage at %1").arg(ipAddress));
}
}
void MapSettings::navigateTo(const QJsonObject &place) {
selfdrive/ui/qt/maps/map_settings.h
+6
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@@ -12,6 +12,7 @@
#include <QVBoxLayout>
#include "common/params.h"
#include "selfdrive/ui/qt/network/wifi_manager.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/widgets/controls.h"
@@ -64,6 +65,11 @@ private:
DestinationWidget *work_widget;
std::vector<DestinationWidget *> widgets;
// FrogPilot variables
QLabel *subtitle;
WifiManager *wifi;
signals:
void closeSettings();
};