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openpilot v0.3.9 tweaks

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old-commit-hash: 1ad9cc8c67
This commit is contained in:
Vehicle Researcher
2017-12-06 12:48:00 -08:00
parent 490307fe50
commit d914111e16
30 changed files with 470 additions and 279 deletions
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selfdrive/ui/ui.c
+10 -10
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@@ -313,7 +313,7 @@ static bool try_load_intrinsics(mat3 *intrinsic_matrix) {
}
int i = 0;
JsonNode* json_num;
JsonNode* json_num;
json_foreach(json_num, intrinsic_json) {
intrinsic_matrix->v[i++] = json_num->number_;
}
@@ -676,7 +676,7 @@ static void draw_frame(UIState *s) {
* Draw a rect at specific position with specific dimensions
*/
static void ui_draw_rounded_rect(
NVGcontext* c,
NVGcontext* c,
int x,
int y,
int width,
@@ -725,7 +725,7 @@ static void ui_draw_world(UIState *s) {
if (!s->passive) {
draw_path(s, scene->model.path.points, 0.0f, nvgRGBA(128, 0, 255, 255));
draw_x_y(s, scene->mpc_x, scene->mpc_y, 50, nvgRGBA(255, 0, 0, 255));
draw_x_y(s, &scene->mpc_x[1], &scene->mpc_y[1], 49, nvgRGBA(255, 0, 0, 255));
}
}
@@ -811,7 +811,7 @@ static void ui_draw_vision(UIState *s) {
snprintf(speed_str, sizeof(speed_str), "%3d KPH",
(int)(scene->v_cruise + 0.5));
} else {
/* Convert KPH to MPH. Using an approximated mph to kph
/* Convert KPH to MPH. Using an approximated mph to kph
conversion factor of 1.609 because this is what the Honda
hud seems to be using */
snprintf(speed_str, sizeof(speed_str), "%3d MPH",
@@ -896,7 +896,7 @@ static void ui_draw_alerts(UIState *s) {
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glClear(GL_STENCIL_BUFFER_BIT);
nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
// draw alert text
@@ -1032,7 +1032,7 @@ static void ui_update(UIState *s) {
polls[3].events = ZMQ_POLLIN;
polls[4].socket = s->livempc_sock_raw;
polls[4].events = ZMQ_POLLIN;
int num_polls = 5;
if (s->vision_connected) {
assert(s->ipc_fd >= 0);
@@ -1192,17 +1192,17 @@ static void ui_update(UIState *s) {
} else if (eventd.which == cereal_Event_liveMpc) {
struct cereal_LiveMpcData datad;
cereal_read_LiveMpcData(&datad, eventd.liveMpc);
capn_list32 x_list = datad.x;
capn_resolve(&x_list.p);
for (int i = 0; i < 50; i++){
s->scene.mpc_x[i] = capn_to_f32(capn_get32(x_list, i));
}
capn_list32 y_list = datad.y;
capn_resolve(&y_list.p);
for (int i = 0; i < 50; i++){
s->scene.mpc_y[i] = capn_to_f32(capn_get32(y_list, i));
}
@@ -1310,7 +1310,7 @@ int main() {
while (!do_exit) {
pthread_mutex_lock(&s->lock);
ui_update(s);
if (s->awake) {
ui_draw(s);