mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-06-29 02:22:09 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor ui_draw_driver_view (#19597)

Browse Source 
* refactor ui_draw_driver_view

* continue simplify

* fix gap
old-commit-hash: 4231b5b329ee778facc3139ab0f2137d5efca576
This commit is contained in:
Dean Lee
2021-01-09 03:30:37 +08:00
committed by GitHub
parent 3b1d87e506
commit e8936467f5
2 changed files with 29 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/paint.cc
+28 -40
View File
@@ -286,56 +286,44 @@ static void ui_draw_vision_face(UIState *s) {
}
static void ui_draw_driver_view(UIState *s) {
const UIScene *scene = &s->scene;
s->scene.sidebar_collapsed = true;
const Rect &viz_rect = s->scene.viz_rect;
const int ff_xoffset = 32;
const int frame_x = viz_rect.x;
const int frame_w = viz_rect.w;
const int valid_frame_w = 4 * viz_rect.h / 3;
const int box_y = viz_rect.y;
const int box_h = viz_rect.h;
const int valid_frame_x = frame_x + (frame_w - valid_frame_w) / 2 + ff_xoffset;
const bool is_rhd = s->scene.is_rhd;
const Rect &viz_rect = s->scene.viz_rect;
const int width = 3 * viz_rect.w / 4;
const Rect rect = {viz_rect.centerX() - width / 2, viz_rect.y, width, viz_rect.h}; // x, y, w, h
const Rect valid_rect = {is_rhd ? rect.right() - rect.h / 2 : rect.x, rect.y, rect.h / 2, rect.h};
// blackout
NVGpaint gradient = nvgLinearGradient(s->vg, scene->is_rhd ? valid_frame_x : (valid_frame_x + valid_frame_w),
box_y,
scene->is_rhd ? (valid_frame_w - box_h / 2) : (valid_frame_x + box_h / 2), box_y,
COLOR_BLACK, COLOR_BLACK_ALPHA(0));
ui_draw_rect(s->vg, scene->is_rhd ? valid_frame_x : (valid_frame_x + box_h / 2), box_y, valid_frame_w - box_h / 2, box_h, gradient);
ui_draw_rect(s->vg, scene->is_rhd ? valid_frame_x : valid_frame_x + box_h / 2, box_y, valid_frame_w - box_h / 2, box_h, COLOR_BLACK_ALPHA(144));
const int blackout_x = is_rhd ? rect.x : valid_rect.right();
const int blackout_w = rect.w - valid_rect.w;
NVGpaint gradient = nvgLinearGradient(s->vg, blackout_x, rect.y, blackout_x + blackout_w, rect.y,
COLOR_BLACK_ALPHA(is_rhd ? 255 : 0), COLOR_BLACK_ALPHA(is_rhd ? 0 : 255));
ui_draw_rect(s->vg, blackout_x, rect.y, blackout_w, rect.h, gradient);
ui_draw_rect(s->vg, blackout_x, rect.y, blackout_w, rect.h, COLOR_BLACK_ALPHA(144));
// border
ui_draw_rect(s->vg, rect.x, rect.y, rect.w, rect.h, bg_colors[STATUS_OFFROAD], 0, 1);
// borders
ui_draw_rect(s->vg, frame_x, box_y, valid_frame_x - frame_x, box_h, nvgRGBA(23, 51, 73, 255));
ui_draw_rect(s->vg, valid_frame_x + valid_frame_w, box_y, frame_w - valid_frame_w - (valid_frame_x - frame_x), box_h, nvgRGBA(23, 51, 73, 255));
const bool face_detected = s->scene.dmonitoring_state.getFaceDetected();
if (face_detected) {
auto fxy_list = s->scene.driver_state.getFacePosition();
float face_x = fxy_list[0];
float face_y = fxy_list[1];
float fbox_x = valid_rect.centerX() + (is_rhd ? face_x : -face_x) * valid_rect.w;
float fbox_y = valid_rect.centerY() + face_y * valid_rect.h;
// draw face box
if (scene->dmonitoring_state.getFaceDetected()) {
auto fxy_list = scene->driver_state.getFacePosition();
const float face_x = fxy_list[0];
const float face_y = fxy_list[1];
float fbox_x;
float fbox_y = box_y + (face_y + 0.5) * box_h - 0.5 * 0.6 * box_h / 2;
if (!scene->is_rhd) {
fbox_x = valid_frame_x + (1 - (face_x + 0.5)) * (box_h / 2) - 0.5 * 0.6 * box_h / 2;
} else {
fbox_x = valid_frame_x + valid_frame_w - box_h / 2 + (face_x + 0.5) * (box_h / 2) - 0.5 * 0.6 * box_h / 2;
}
float alpha = 0.2;
if (face_x = std::abs(face_x), face_y = std::abs(face_y); face_x <= 0.35 && face_y <= 0.4)
alpha = 0.8 - (face_x > face_y ? face_x : face_y) * 0.6 / 0.375;
if (std::abs(face_x) <= 0.35 && std::abs(face_y) <= 0.4) {
ui_draw_rect(s->vg, fbox_x, fbox_y, 0.6 * box_h / 2, 0.6 * box_h / 2,
nvgRGBAf(1.0, 1.0, 1.0, 0.8 - ((std::abs(face_x) > std::abs(face_y) ? std::abs(face_x) : std::abs(face_y))) * 0.6 / 0.375),
35, 10);
} else {
ui_draw_rect(s->vg, fbox_x, fbox_y, 0.6 * box_h / 2, 0.6 * box_h / 2, nvgRGBAf(1.0, 1.0, 1.0, 0.2), 35, 10);
}
const float box_size = 0.6 * rect.h / 2;
ui_draw_rect(s->vg, fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, nvgRGBAf(1.0, 1.0, 1.0, alpha), 35, 10);
}
// draw face icon
const int face_size = 85;
const int x = (valid_frame_x + face_size + (bdr_s * 2)) + (scene->is_rhd ? valid_frame_w - box_h / 2:0);
const int y = (box_y + box_h - face_size - bdr_s - (bdr_s * 1.5));
ui_draw_circle_image(s->vg, x, y, face_size, s->img_face, scene->dmonitoring_state.getFaceDetected());
const int icon_x = is_rhd ? rect.right() - face_size - bdr_s * 2 : rect.x + face_size + bdr_s * 2;
const int icon_y = rect.bottom() - face_size - bdr_s * 2.5;
ui_draw_circle_image(s->vg, icon_x, icon_y, face_size, s->img_face, face_detected);
}
static void ui_draw_vision_header(UIState *s) {
selfdrive/ui/ui.hpp
+1
View File
@@ -39,6 +39,7 @@
typedef struct Rect {
int x, y, w, h;
int centerX() const { return x + w / 2; }
int centerY() const { return y + h / 2; }
int right() const { return x + w; }
int bottom() const { return y + h; }
bool ptInRect(int px, int py) const {