mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-02 06:03:43 +08:00
FrogAi
0077a641fa
Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself.
1330 lines
55 KiB
C++
1330 lines
55 KiB
C++
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#include "selfdrive/ui/qt/onroad/annotated_camera.h"
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#include <QPainter>
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#include <algorithm>
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#include <cmath>
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#include "common/swaglog.h"
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#include "selfdrive/ui/qt/onroad/buttons.h"
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#include "selfdrive/ui/qt/util.h"
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// Window that shows camera view and variety of info drawn on top
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AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
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pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
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main_layout = new QVBoxLayout(this);
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main_layout->setMargin(UI_BORDER_SIZE);
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main_layout->setSpacing(0);
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QHBoxLayout *buttons_layout = new QHBoxLayout();
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buttons_layout->setSpacing(0);
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experimental_btn = new ExperimentalButton(this);
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buttons_layout->addWidget(experimental_btn);
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QVBoxLayout *top_right_layout = new QVBoxLayout();
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top_right_layout->setSpacing(0);
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top_right_layout->addLayout(buttons_layout);
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pedal_icons = new PedalIcons(this);
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top_right_layout->addWidget(pedal_icons, 0, Qt::AlignRight);
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main_layout->addLayout(top_right_layout, 0);
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main_layout->setAlignment(top_right_layout, Qt::AlignTop | Qt::AlignRight);
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map_settings_btn = new MapSettingsButton(this);
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main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
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dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
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// Initialize FrogPilot widgets
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initializeFrogPilotWidgets();
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}
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void AnnotatedCameraWidget::updateState(const UIState &s) {
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const int SET_SPEED_NA = 255;
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const SubMaster &sm = *(s.sm);
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const bool cs_alive = sm.alive("controlsState");
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const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
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const auto cs = sm["controlsState"].getControlsState();
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const auto car_state = sm["carState"].getCarState();
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const auto nav_instruction = sm["navInstruction"].getNavInstruction();
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// Handle older routes where vCruiseCluster is not set
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float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
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setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
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is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
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if (is_cruise_set && !s.scene.is_metric) {
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setSpeed *= KM_TO_MILE;
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}
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// Handle older routes where vEgoCluster is not set
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v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
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float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
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speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
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speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
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auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
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speedLimit = slcOverridden ? s.scene.speed_limit_overridden_speed : speedLimitController ? s.scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
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speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
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if (speedLimitController && !slcOverridden) {
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speedLimit = speedLimit - (showSLCOffset ? slcSpeedLimitOffset : 0);
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}
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has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || (speedLimitController && !useViennaSLCSign);
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has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) && !(speedLimitController && !useViennaSLCSign) || (speedLimitController && useViennaSLCSign);
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is_metric = s.scene.is_metric;
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speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph");
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hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals != 0 && (turnSignalLeft || turnSignalRight) || bigMapOpen);
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status = s.status;
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// update engageability/experimental mode button
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experimental_btn->updateState(s, leadInfo);
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// update DM icon
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auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState();
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dmActive = dm_state.getIsActiveMode();
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rightHandDM = dm_state.getIsRHD();
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// DM icon transition
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dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
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// hide map settings button for alerts and flip for right hand DM
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if (map_settings_btn->isEnabled()) {
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map_settings_btn->setVisible(!hideBottomIcons && compass);
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main_layout->setAlignment(map_settings_btn, (rightHandDM && !compass || !rightHandDM && compass ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
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}
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}
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void AnnotatedCameraWidget::drawHud(QPainter &p) {
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p.save();
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// Header gradient
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QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
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bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
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bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
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p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
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QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
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QString speedLimitOffsetStr = slcSpeedLimitOffset == 0 ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend(slcSpeedLimitOffset > 0 ? "+" : "");
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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 - cruiseAdjustment)) : "–";
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// Draw outer box + border to contain set speed and speed limit
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const int sign_margin = 12;
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const int us_sign_height = 186;
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const int eu_sign_size = 176;
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const QSize default_size = {172, 204};
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QSize set_speed_size = default_size;
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if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
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if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
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if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
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else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
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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(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
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if (is_cruise_set && cruiseAdjustment != 0) {
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float transition = qBound(0.0f, 5.0f * (cruiseAdjustment / setSpeed), 1.0f);
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QColor min = whiteColor(75);
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QColor max = vtscControllingCurve ? redColor() : greenColor();
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p.setPen(QPen(QColor::fromRgbF(
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min.redF() + transition * (max.redF() - min.redF()),
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min.greenF() + transition * (max.greenF() - min.greenF()),
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min.blueF() + transition * (max.blueF() - min.blueF())
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), 10));
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} else if (trafficModeActive) {
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p.setPen(QPen(redColor(), 10));
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} else if (reverseCruise) {
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p.setPen(QPen(blueColor(), 6));
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} else {
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p.setPen(QPen(whiteColor(75), 6));
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}
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p.setBrush(blackColor(166));
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drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
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// Draw MAX
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QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
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QColor set_speed_color = whiteColor();
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if (is_cruise_set) {
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if (status == STATUS_DISENGAGED) {
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max_color = whiteColor();
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} else if (status == STATUS_OVERRIDE) {
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max_color = QColor(0x91, 0x9b, 0x95, 0xff);
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} else if (speedLimit > 0) {
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auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
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return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
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};
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max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
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set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
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}
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} else {
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max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
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set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
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}
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p.setFont(InterFont(40, QFont::DemiBold));
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p.setPen(max_color);
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p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
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p.setFont(InterFont(90, QFont::Bold));
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p.setPen(set_speed_color);
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p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
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const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
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p.save();
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// US/Canada (MUTCD style) sign
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if (has_us_speed_limit) {
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p.setPen(Qt::NoPen);
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p.setBrush(whiteColor());
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p.drawRoundedRect(sign_rect, 24, 24);
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p.setPen(QPen(blackColor(), 6));
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p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
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p.setOpacity(slcOverridden ? 0.25 : 1.0);
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if (speedLimitController && showSLCOffset && !slcOverridden) {
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p.setFont(InterFont(28, QFont::DemiBold));
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p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
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p.setFont(InterFont(70, QFont::Bold));
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p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
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p.setFont(InterFont(50, QFont::DemiBold));
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p.drawText(sign_rect.adjusted(0, 120, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr);
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} else {
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p.setFont(InterFont(28, QFont::DemiBold));
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p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
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p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
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p.setFont(InterFont(70, QFont::Bold));
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p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
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}
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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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p.setPen(Qt::NoPen);
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p.setBrush(whiteColor());
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p.drawEllipse(sign_rect);
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p.setPen(QPen(Qt::red, 20));
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p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
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p.setOpacity(slcOverridden ? 0.25 : 1.0);
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p.setPen(blackColor());
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if (showSLCOffset) {
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p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
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p.drawText(sign_rect.adjusted(0, -25, 0, 0), Qt::AlignCenter, speedLimitStr);
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p.setFont(InterFont(40, QFont::DemiBold));
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p.drawText(sign_rect.adjusted(0, 100, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr);
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} else {
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p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
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p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
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}
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}
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p.restore();
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// current speed
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if (!(bigMapOpen || hideSpeed)) {
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p.setFont(InterFont(176, QFont::Bold));
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drawText(p, rect().center().x(), 210, speedStr);
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p.setFont(InterFont(66));
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drawText(p, rect().center().x(), 290, speedUnit, 200);
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}
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p.restore();
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}
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void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
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QRect real_rect = p.fontMetrics().boundingRect(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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p.drawText(real_rect.x(), real_rect.bottom(), text);
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}
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void AnnotatedCameraWidget::initializeGL() {
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CameraWidget::initializeGL();
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qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
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qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR));
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qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER));
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qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));
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prev_draw_t = millis_since_boot();
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setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
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}
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void AnnotatedCameraWidget::updateFrameMat() {
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CameraWidget::updateFrameMat();
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UIState *s = uiState();
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int w = width(), h = height();
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s->fb_w = w;
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s->fb_h = h;
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// Apply transformation such that video pixel coordinates match video
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// 1) Put (0, 0) in the middle of the video
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// 2) Apply same scaling as video
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// 3) Put (0, 0) in top left corner of video
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s->car_space_transform.reset();
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s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset)
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.scale(zoom, zoom)
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.translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
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}
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void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, const float v_ego) {
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painter.save();
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const UIScene &scene = s->scene;
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SubMaster &sm = *(s->sm);
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// lanelines
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for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
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if (currentHolidayTheme != 0) {
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painter.setBrush(std::get<2>(holidayThemeConfiguration[currentHolidayTheme]).begin()->second);
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} else if (customColors != 0) {
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painter.setBrush(std::get<2>(themeConfiguration[customColors]).begin()->second);
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} else {
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painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
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}
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painter.drawPolygon(scene.lane_line_vertices[i]);
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}
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// road edges
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for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
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if (currentHolidayTheme != 0) {
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painter.setBrush(std::get<2>(holidayThemeConfiguration[currentHolidayTheme]).begin()->second);
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} else if (customColors != 0) {
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painter.setBrush(std::get<2>(themeConfiguration[customColors]).begin()->second);
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} else {
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painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
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}
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painter.drawPolygon(scene.road_edge_vertices[i]);
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}
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// paint path
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QLinearGradient bg(0, height(), 0, 0);
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if (experimentalMode || scene.acceleration_path) {
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// The first half of track_vertices are the points for the right side of the path
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// and the indices match the positions of accel from uiPlan
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const auto &acceleration_const = sm["uiPlan"].getUiPlan().getAccel();
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const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration_const.size());
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// Copy of the acceleration vector
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std::vector<float> acceleration;
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acceleration.reserve(acceleration_const.size());
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for (size_t i = 0; i < acceleration_const.size(); i++) {
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acceleration.push_back(acceleration_const[i]);
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}
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for (int i = 0; i < max_len; ++i) {
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// Some points are out of frame
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int track_idx = (scene.track_vertices.length() / 2) - i; // flip idx to start from top
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if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
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// Flip so 0 is bottom of frame
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float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();
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// If acceleration is between -0.25 and 0.25, resort to the theme color
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if (std::abs(acceleration[i]) < 0.25 && (currentHolidayTheme != 0)) {
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const std::map<double, QBrush> &colorMap = std::get<2>(holidayThemeConfiguration[currentHolidayTheme]);
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for (const std::pair<double, QBrush> &entry : colorMap) {
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bg.setColorAt(entry.first, entry.second.color());
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}
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} else if (std::abs(acceleration[i]) < 0.25 && (customColors != 0)) {
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const std::map<double, QBrush> &colorMap = std::get<2>(themeConfiguration[customColors]);
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for (const std::pair<double, QBrush> &entry : colorMap) {
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bg.setColorAt(entry.first, entry.second.color());
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}
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} else {
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// speed up: 120, slow down: 0
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float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
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// FIXME: painter.drawPolygon can be slow if hue is not rounded
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path_hue = int(path_hue * 100 + 0.5) / 100;
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float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
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float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey
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float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade
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bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
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// Skip a point, unless next is last
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i += (i + 2) < max_len ? 1 : 0;
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}
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}
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} else if (currentHolidayTheme != 0) {
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const std::map<double, QBrush> &colorMap = std::get<2>(holidayThemeConfiguration[currentHolidayTheme]);
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for (const std::pair<double, QBrush> &entry : colorMap) {
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bg.setColorAt(entry.first, entry.second.color());
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}
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} else if (customColors != 0) {
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const std::map<double, QBrush> &colorMap = std::get<2>(themeConfiguration[customColors]);
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for (const std::pair<double, QBrush> &entry : colorMap) {
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bg.setColorAt(entry.first, entry.second.color());
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}
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} else {
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bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
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bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
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bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
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}
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painter.setBrush(bg);
|
||
painter.drawPolygon(scene.track_vertices);
|
||
|
||
if (scene.show_stopping_point && scene.red_light && v_ego > 1 && !(conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5)) {
|
||
QPointF last_point = scene.track_vertices.last();
|
||
|
||
QPointF adjusted_point = last_point - QPointF(stopSignImg.width() / 2, stopSignImg.height());
|
||
painter.drawPixmap(adjusted_point, stopSignImg);
|
||
|
||
if (scene.show_stopping_point_metrics) {
|
||
QString text = QString::number(scene.model_length * distanceConversion) + leadDistanceUnit;
|
||
QFont font = InterFont(35, QFont::DemiBold);
|
||
QFontMetrics fm(font);
|
||
int text_width = fm.horizontalAdvance(text);
|
||
QPointF text_position = last_point - QPointF(text_width / 2, stopSignImg.height() + 35);
|
||
|
||
painter.save();
|
||
painter.setFont(font);
|
||
painter.setPen(Qt::white);
|
||
painter.drawText(text_position, text);
|
||
painter.restore();
|
||
}
|
||
}
|
||
|
||
// Paint blindspot path
|
||
if (scene.blind_spot_path) {
|
||
QLinearGradient bs(0, height(), 0, 0);
|
||
|
||
bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
|
||
bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
|
||
bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
|
||
|
||
painter.setBrush(bs);
|
||
if (blindSpotLeft) {
|
||
painter.drawPolygon(scene.track_adjacent_vertices[4]);
|
||
}
|
||
if (blindSpotRight) {
|
||
painter.drawPolygon(scene.track_adjacent_vertices[5]);
|
||
}
|
||
}
|
||
|
||
// Paint adjacent lane paths
|
||
if (scene.adjacent_path && (laneWidthLeft != 0 || laneWidthRight != 0)) {
|
||
const float minLaneWidth = laneDetectionWidth * 0.5f;
|
||
const float maxLaneWidth = laneDetectionWidth * 1.5f;
|
||
|
||
auto paintLane = [&](const QPolygonF &lane, float laneWidth, bool blindspot) {
|
||
QLinearGradient gradient(0, height(), 0, 0);
|
||
|
||
bool redPath = laneWidth < minLaneWidth || laneWidth > maxLaneWidth || blindspot;
|
||
float hue = redPath ? 0.0f : 120.0f * (laneWidth - minLaneWidth) / (maxLaneWidth - minLaneWidth);
|
||
float hueF = hue / 360.0f;
|
||
|
||
gradient.setColorAt(0.0, QColor::fromHslF(hueF, 0.75f, 0.50f, 0.6f));
|
||
gradient.setColorAt(0.5, QColor::fromHslF(hueF, 0.75f, 0.50f, 0.4f));
|
||
gradient.setColorAt(1.0, QColor::fromHslF(hueF, 0.75f, 0.50f, 0.2f));
|
||
|
||
painter.setBrush(gradient);
|
||
painter.drawPolygon(lane);
|
||
|
||
if (scene.adjacent_path_metrics) {
|
||
painter.setFont(InterFont(30, QFont::DemiBold));
|
||
painter.setPen(Qt::white);
|
||
|
||
QRectF boundingRect = lane.boundingRect();
|
||
QString text = blindspot ? tr("Vehicle in blind spot") : QString::number(laneWidth * distanceConversion, 'f', 2) + leadDistanceUnit;
|
||
painter.drawText(boundingRect, Qt::AlignCenter, text);
|
||
|
||
painter.setPen(Qt::NoPen);
|
||
}
|
||
};
|
||
|
||
paintLane(scene.track_adjacent_vertices[4], laneWidthLeft, blindSpotLeft);
|
||
paintLane(scene.track_adjacent_vertices[5], laneWidthRight, blindSpotRight);
|
||
}
|
||
|
||
// Paint path edges
|
||
QLinearGradient pe(0, height(), 0, 0);
|
||
auto setGradientColors = [&](const QColor &baseColor) {
|
||
pe.setColorAt(0.0, baseColor);
|
||
QColor color = baseColor;
|
||
color.setAlphaF(0.5);
|
||
pe.setColorAt(0.5, color);
|
||
color.setAlphaF(0.1);
|
||
pe.setColorAt(1.0, color);
|
||
};
|
||
|
||
if (alwaysOnLateralActive) {
|
||
setGradientColors(bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE]);
|
||
} else if (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5) {
|
||
setGradientColors(bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]);
|
||
} else if (experimentalMode) {
|
||
setGradientColors(bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]);
|
||
} else if (trafficModeActive) {
|
||
setGradientColors(bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]);
|
||
} else if (scene.navigate_on_openpilot) {
|
||
setGradientColors(bg_colors[STATUS_NAVIGATION_ACTIVE]);
|
||
} else if (currentHolidayTheme != 0) {
|
||
const std::map<double, QBrush> &colorMap = std::get<2>(holidayThemeConfiguration[currentHolidayTheme]);
|
||
for (const std::pair<double, QBrush> &entry : colorMap) {
|
||
pe.setColorAt(entry.first, entry.second.color().darker(120));
|
||
}
|
||
} else if (customColors != 0) {
|
||
const std::map<double, QBrush> &colorMap = std::get<2>(themeConfiguration[customColors]);
|
||
for (const std::pair<double, QBrush> &entry : colorMap) {
|
||
pe.setColorAt(entry.first, entry.second.color().darker(120));
|
||
}
|
||
} else {
|
||
pe.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 1.0));
|
||
pe.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.5));
|
||
pe.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.1));
|
||
}
|
||
|
||
QPainterPath path;
|
||
path.addPolygon(scene.track_vertices);
|
||
path.addPolygon(scene.track_edge_vertices);
|
||
|
||
painter.setBrush(pe);
|
||
painter.drawPath(path);
|
||
|
||
painter.restore();
|
||
}
|
||
|
||
void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) {
|
||
const UIScene &scene = s->scene;
|
||
|
||
painter.save();
|
||
|
||
// base icon
|
||
int offset = UI_BORDER_SIZE + btn_size / 2;
|
||
int x = rightHandDM ? width() - offset : offset;
|
||
if (rightHandDM && map_settings_btn->isEnabled()) {
|
||
x -= 250;
|
||
} else if (onroadDistanceButton) {
|
||
x += 250;
|
||
}
|
||
offset += showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI ? 25 : 0;
|
||
int y = height() - offset;
|
||
float opacity = dmActive ? 0.65 : 0.2;
|
||
drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
|
||
|
||
// face
|
||
QPointF face_kpts_draw[std::size(default_face_kpts_3d)];
|
||
float kp;
|
||
for (int i = 0; i < std::size(default_face_kpts_3d); ++i) {
|
||
kp = (scene.face_kpts_draw[i].v[2] - 8) / 120 + 1.0;
|
||
face_kpts_draw[i] = QPointF(scene.face_kpts_draw[i].v[0] * kp + x, scene.face_kpts_draw[i].v[1] * kp + y);
|
||
}
|
||
|
||
painter.setPen(QPen(QColor::fromRgbF(1.0, 1.0, 1.0, opacity), 5.2, Qt::SolidLine, Qt::RoundCap));
|
||
painter.drawPolyline(face_kpts_draw, std::size(default_face_kpts_3d));
|
||
|
||
// tracking arcs
|
||
const int arc_l = 133;
|
||
const float arc_t_default = 6.7;
|
||
const float arc_t_extend = 12.0;
|
||
QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(),
|
||
0.545 + 0.4 * s->engaged(),
|
||
0.545 - 0.285 * s->engaged(),
|
||
0.4 * (1.0 - dm_fade_state));
|
||
float delta_x = -scene.driver_pose_sins[1] * arc_l / 2;
|
||
float delta_y = -scene.driver_pose_sins[0] * arc_l / 2;
|
||
painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap));
|
||
painter.drawArc(QRectF(std::fmin(x + delta_x, x), y - arc_l / 2, fabs(delta_x), arc_l), (scene.driver_pose_sins[1]>0 ? 90 : -90) * 16, 180 * 16);
|
||
painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[0] * 5.0), Qt::SolidLine, Qt::RoundCap));
|
||
painter.drawArc(QRectF(x - arc_l / 2, std::fmin(y + delta_y, y), arc_l, fabs(delta_y)), (scene.driver_pose_sins[0]>0 ? 0 : 180) * 16, 180 * 16);
|
||
|
||
painter.restore();
|
||
}
|
||
|
||
void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd, const float v_ego) {
|
||
painter.save();
|
||
|
||
const float speedBuff = currentHolidayTheme != 0 || customColors != 0 ? 25. : 10.; // Make the center of the chevron appear sooner if a theme is active
|
||
const float leadBuff = currentHolidayTheme != 0 || customColors != 0 ? 100. : 40.; // Make the center of the chevron appear sooner if a theme is active
|
||
const float d_rel = lead_data.getX()[0];
|
||
const float v_rel = lead_data.getV()[0] - v_ego;
|
||
|
||
float fillAlpha = 0;
|
||
if (d_rel < leadBuff) {
|
||
fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
|
||
if (v_rel < 0) {
|
||
fillAlpha += 255 * (-1 * (v_rel / speedBuff));
|
||
}
|
||
fillAlpha = (int)(fmin(fillAlpha, 255));
|
||
}
|
||
|
||
float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
|
||
float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2);
|
||
float y = std::fmin(height() - sz * .6, (float)vd.y());
|
||
|
||
float g_xo = sz / 5;
|
||
float g_yo = sz / 10;
|
||
|
||
QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
|
||
painter.setBrush(QColor(218, 202, 37, 255));
|
||
painter.drawPolygon(glow, std::size(glow));
|
||
|
||
// chevron
|
||
QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
|
||
if (currentHolidayTheme != 0) {
|
||
painter.setBrush(std::get<2>(holidayThemeConfiguration[currentHolidayTheme]).begin()->second);
|
||
} else if (customColors != 0) {
|
||
painter.setBrush(std::get<2>(themeConfiguration[customColors]).begin()->second);
|
||
} else {
|
||
painter.setBrush(redColor(fillAlpha));
|
||
}
|
||
painter.drawPolygon(chevron, std::size(chevron));
|
||
|
||
if (leadInfo) {
|
||
float lead_speed = std::max(v_rel + v_ego, 0.0f);
|
||
|
||
painter.setPen(Qt::white);
|
||
painter.setFont(InterFont(35, QFont::Bold));
|
||
|
||
QString text = QString("%1 %2 | %3 %4 | %5 %6")
|
||
.arg(qRound(d_rel * distanceConversion))
|
||
.arg(leadDistanceUnit)
|
||
.arg(qRound(lead_speed * speedConversion))
|
||
.arg(leadSpeedUnit)
|
||
.arg(QString::number(d_rel / std::max(v_ego, 1.0f), 'f', 1))
|
||
.arg("s");
|
||
|
||
QFontMetrics metrics(painter.font());
|
||
int middle_x = (chevron[2].x() + chevron[0].x()) / 2;
|
||
int textWidth = metrics.horizontalAdvance(text);
|
||
int text_x = middle_x - textWidth / 2;
|
||
int text_y = chevron[0].y() + metrics.height() + 5;
|
||
|
||
painter.drawText(text_x, text_y, text);
|
||
}
|
||
|
||
painter.restore();
|
||
}
|
||
|
||
void AnnotatedCameraWidget::paintGL() {
|
||
UIState *s = uiState();
|
||
SubMaster &sm = *(s->sm);
|
||
const double start_draw_t = millis_since_boot();
|
||
const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
|
||
const float v_ego = sm["carState"].getCarState().getVEgo();
|
||
|
||
// draw camera frame
|
||
{
|
||
std::lock_guard lk(frame_lock);
|
||
|
||
if (frames.empty()) {
|
||
if (skip_frame_count > 0) {
|
||
skip_frame_count--;
|
||
qDebug() << "skipping frame, not ready";
|
||
return;
|
||
}
|
||
} else {
|
||
// skip drawing up to this many frames if we're
|
||
// missing camera frames. this smooths out the
|
||
// transitions from the narrow and wide cameras
|
||
skip_frame_count = 5;
|
||
}
|
||
|
||
// Wide or narrow cam dependent on speed
|
||
bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
|
||
if (has_wide_cam && cameraView == 0) {
|
||
if ((v_ego < 10) || available_streams.size() == 1) {
|
||
wide_cam_requested = true;
|
||
} else if (v_ego > 15) {
|
||
wide_cam_requested = false;
|
||
}
|
||
wide_cam_requested = wide_cam_requested && experimentalMode;
|
||
// for replay of old routes, never go to widecam
|
||
wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
|
||
}
|
||
CameraWidget::setStreamType(cameraView == 1 ? VISION_STREAM_DRIVER :
|
||
cameraView == 3 || wide_cam_requested ? VISION_STREAM_WIDE_ROAD :
|
||
VISION_STREAM_ROAD);
|
||
|
||
s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
|
||
if (s->scene.calibration_valid) {
|
||
auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
|
||
CameraWidget::updateCalibration(calib);
|
||
} else {
|
||
CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
|
||
}
|
||
CameraWidget::setFrameId(model.getFrameId());
|
||
CameraWidget::paintGL();
|
||
}
|
||
|
||
QPainter painter(this);
|
||
painter.setRenderHint(QPainter::Antialiasing);
|
||
painter.setPen(Qt::NoPen);
|
||
|
||
if (s->scene.world_objects_visible) {
|
||
update_model(s, model, sm["uiPlan"].getUiPlan());
|
||
drawLaneLines(painter, s, v_ego);
|
||
|
||
if (s->scene.longitudinal_control && sm.rcv_frame("modelV2") > s->scene.started_frame && !s->scene.hide_lead_marker) {
|
||
update_leads(s, model);
|
||
float prev_drel = -1;
|
||
for (int i = 0; i < model.getLeadsV3().size() && i < 2; i++) {
|
||
const auto &lead = model.getLeadsV3()[i];
|
||
auto lead_drel = lead.getX()[0];
|
||
if (s->scene.has_lead && (prev_drel < 0 || std::abs(lead_drel - prev_drel) > 3.0)) {
|
||
drawLead(painter, lead, s->scene.lead_vertices[i], (speed / (is_metric ? MS_TO_KPH : MS_TO_MPH)));
|
||
}
|
||
prev_drel = lead_drel;
|
||
}
|
||
}
|
||
}
|
||
|
||
// DMoji
|
||
if (!hideBottomIcons && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) {
|
||
update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM);
|
||
drawDriverState(painter, s);
|
||
}
|
||
|
||
drawHud(painter);
|
||
|
||
double cur_draw_t = millis_since_boot();
|
||
double dt = cur_draw_t - prev_draw_t;
|
||
double fps = fps_filter.update(1. / dt * 1000);
|
||
s->scene.fps = fps;
|
||
if (fps < 15) {
|
||
LOGW("slow frame rate: %.2f fps", fps);
|
||
}
|
||
prev_draw_t = cur_draw_t;
|
||
|
||
// publish debug msg
|
||
MessageBuilder msg;
|
||
auto m = msg.initEvent().initUiDebug();
|
||
m.setDrawTimeMillis(cur_draw_t - start_draw_t);
|
||
pm->send("uiDebug", msg);
|
||
|
||
// Paint FrogPilot widgets
|
||
paintFrogPilotWidgets(painter, s->scene);
|
||
}
|
||
|
||
void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
|
||
CameraWidget::showEvent(event);
|
||
|
||
ui_update_params(uiState());
|
||
prev_draw_t = millis_since_boot();
|
||
}
|
||
|
||
// FrogPilot widgets
|
||
void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
|
||
bottom_layout = new QHBoxLayout();
|
||
|
||
distance_btn = new DistanceButton(this);
|
||
bottom_layout->addWidget(distance_btn, 0, Qt::AlignBottom | Qt::AlignLeft);
|
||
|
||
QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
|
||
bottom_layout->addItem(spacer);
|
||
|
||
compass_img = new Compass(this);
|
||
bottom_layout->addWidget(compass_img, 0, Qt::AlignBottom | Qt::AlignRight);
|
||
|
||
map_settings_btn_bottom = new MapSettingsButton(this);
|
||
bottom_layout->addWidget(map_settings_btn_bottom, 0, Qt::AlignBottom | Qt::AlignRight);
|
||
|
||
main_layout->addLayout(bottom_layout);
|
||
|
||
stopSignImg = loadPixmap("../frogpilot/assets/other_images/stop_sign.png", QSize(img_size, img_size));
|
||
|
||
themeConfiguration = {
|
||
{1, {"frog_theme", QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.1))}}}},
|
||
{2, {"tesla_theme", QColor(0, 72, 255, 255), {{0.0, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.1))}}}},
|
||
{3, {"stalin_theme", QColor(255, 0, 0, 255), {{0.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.1))}}}},
|
||
};
|
||
|
||
holidayThemeConfiguration = {
|
||
{1, {"april_fools", QColor(255, 165, 0, 255), {{0.0, QBrush(QColor::fromHslF(39 / 360., 1.0, 0.5, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(39 / 360., 1.0, 0.5, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(39 / 360., 1.0, 0.5, 0.1))}}}},
|
||
{2, {"christmas", QColor(0, 72, 255, 255), {{0.0, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.1))}}}},
|
||
{3, {"cinco_de_mayo", QColor(0, 104, 71, 255), {{0.0, QBrush(QColor::fromHslF(161 / 360., 1.0, 0.2, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(161 / 360., 1.0, 0.2, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(161 / 360., 1.0, 0.2, 0.1))}}}},
|
||
{4, {"easter", QColor(200, 150, 200, 255), {{0.0, QBrush(QColor::fromHslF(300 / 360., 0.31, 0.69, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(300 / 360., 0.31, 0.69, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(300 / 360., 0.31, 0.69, 0.1))}}}},
|
||
{5, {"fourth_of_july", QColor(10, 49, 97, 255), {{0.0, QBrush(QColor::fromHslF(213 / 360., 0.81, 0.21, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(213 / 360., 0.81, 0.21, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(213 / 360., 0.81, 0.21, 0.1))}}}},
|
||
{6, {"halloween", QColor(255, 0, 0, 255), {{0.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.1))}}}},
|
||
{7, {"new_years_day", QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.1))}}}},
|
||
{8, {"st_patricks_day", QColor(0, 128, 0, 255), {{0.0, QBrush(QColor::fromHslF(120 / 360., 1.0, 0.25, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(120 / 360., 1.0, 0.25, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(120 / 360., 1.0, 0.25, 0.1))}}}},
|
||
{9, {"thanksgiving", QColor(255, 0, 0, 255), {{0.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.1))}}}},
|
||
{10, {"valentines_day", QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.1))}}}},
|
||
{11, {"world_frog_day", QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},
|
||
{0.5, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.5))},
|
||
{1.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.1))}}}},
|
||
};
|
||
|
||
animationTimer = new QTimer(this);
|
||
connect(animationTimer, &QTimer::timeout, this, [this] {
|
||
animationFrameIndex = (animationFrameIndex + 1) % totalFrames;
|
||
});
|
||
}
|
||
|
||
void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UIScene &scene) {
|
||
if (is_metric || useSI) {
|
||
accelerationUnit = tr("m/s²");
|
||
leadDistanceUnit = tr(mapOpen ? "m" : "meters");
|
||
leadSpeedUnit = useSI ? tr("m/s") : tr("kph");
|
||
|
||
accelerationConversion = 1.0f;
|
||
distanceConversion = 1.0f;
|
||
speedConversion = useSI ? 1.0f : MS_TO_KPH;
|
||
} else {
|
||
accelerationUnit = tr(" ft/s²");
|
||
leadDistanceUnit = tr(mapOpen ? "ft" : "feet");
|
||
leadSpeedUnit = tr("mph");
|
||
|
||
accelerationConversion = METER_TO_FOOT;
|
||
distanceConversion = METER_TO_FOOT;
|
||
speedConversion = MS_TO_MPH;
|
||
}
|
||
|
||
alertSize = scene.alert_size;
|
||
|
||
alwaysOnLateralActive = scene.always_on_lateral_active;
|
||
showAlwaysOnLateralStatusBar = scene.show_aol_status_bar;
|
||
if ((showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI) && !bigMapOpen) {
|
||
drawStatusBar(painter);
|
||
}
|
||
|
||
blindSpotLeft = scene.blind_spot_left;
|
||
blindSpotRight = scene.blind_spot_right;
|
||
|
||
cameraView = scene.camera_view;
|
||
|
||
compass = scene.compass;
|
||
bool enableCompass = compass && !hideBottomIcons;
|
||
compass_img->setVisible(enableCompass);
|
||
if (enableCompass) {
|
||
compass_img->updateState(scene);
|
||
bottom_layout->setAlignment(compass_img, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight));
|
||
}
|
||
|
||
conditionalSpeed = scene.conditional_speed;
|
||
conditionalSpeedLead = scene.conditional_speed_lead;
|
||
conditionalStatus = scene.conditional_status;
|
||
showConditionalExperimentalStatusBar = scene.show_cem_status_bar;
|
||
|
||
bool disableSmoothing = vtscControllingCurve ? scene.disable_smoothing_vtsc : scene.disable_smoothing_mtsc;
|
||
cruiseAdjustment = disableSmoothing || !is_cruise_set ? fmax(setSpeed - scene.adjusted_cruise, 0) : fmax(0.25 * (setSpeed - scene.adjusted_cruise) + 0.75 * cruiseAdjustment - 1, 0);
|
||
vtscControllingCurve = scene.vtsc_controlling_curve;
|
||
|
||
currentAcceleration = scene.acceleration;
|
||
|
||
currentRandomEvent = scene.current_random_event;
|
||
|
||
customColors = scene.custom_colors;
|
||
|
||
desiredFollow = scene.desired_follow;
|
||
stoppedEquivalence = scene.stopped_equivalence;
|
||
|
||
experimentalMode = scene.experimental_mode;
|
||
|
||
hideSpeed = scene.hide_speed;
|
||
|
||
laneDetectionWidth = scene.lane_detection_width;
|
||
laneWidthLeft = scene.lane_width_left;
|
||
laneWidthRight = scene.lane_width_right;
|
||
|
||
leadInfo = scene.lead_info;
|
||
obstacleDistance = scene.obstacle_distance;
|
||
obstacleDistanceStock = scene.obstacle_distance_stock;
|
||
if (leadInfo && !bigMapOpen) {
|
||
drawLeadInfo(painter);
|
||
}
|
||
|
||
mapOpen = scene.map_open;
|
||
bigMapOpen = mapOpen && scene.big_map;
|
||
map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
|
||
if (map_settings_btn_bottom->isEnabled()) {
|
||
map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass);
|
||
bottom_layout->setAlignment(map_settings_btn_bottom, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
|
||
}
|
||
|
||
onroadDistanceButton = scene.onroad_distance_button;
|
||
bool enableDistanceButton = onroadDistanceButton && !hideBottomIcons;
|
||
distance_btn->setVisible(enableDistanceButton);
|
||
if (enableDistanceButton) {
|
||
distance_btn->updateState(scene);
|
||
bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft) | Qt::AlignBottom);
|
||
}
|
||
|
||
bool enablePedalIcons = scene.pedals_on_ui && !bigMapOpen;
|
||
pedal_icons->setVisible(enablePedalIcons);
|
||
if (enablePedalIcons) {
|
||
pedal_icons->updateState(scene);
|
||
}
|
||
|
||
reverseCruise = scene.reverse_cruise;
|
||
|
||
roadNameUI = scene.road_name_ui;
|
||
|
||
speedLimitController = scene.speed_limit_controller;
|
||
showSLCOffset = speedLimitController && scene.show_slc_offset;
|
||
slcOverridden = speedLimitController && scene.speed_limit_overridden;
|
||
slcSpeedLimitOffset = scene.speed_limit_offset * (is_metric ? MS_TO_KPH : MS_TO_MPH);
|
||
speedLimitChanged = speedLimitController && scene.speed_limit_changed;
|
||
unconfirmedSpeedLimit = speedLimitController ? scene.unconfirmed_speed_limit : 0;
|
||
useViennaSLCSign = scene.use_vienna_slc_sign;
|
||
if (speedLimitChanged) {
|
||
drawSLCConfirmation(painter);
|
||
}
|
||
|
||
trafficModeActive = scene.traffic_mode_active;
|
||
|
||
turnSignalLeft = scene.turn_signal_left;
|
||
turnSignalRight = scene.turn_signal_right;
|
||
if (customSignals != 0 && (turnSignalLeft || turnSignalRight) && !bigMapOpen) {
|
||
if (!animationTimer->isActive()) {
|
||
animationTimer->start(totalFrames * 11); // 440 milliseconds per loop; syncs up perfectly with my 2019 Lexus ES 350 turn signal clicks
|
||
}
|
||
drawTurnSignals(painter);
|
||
} else if (animationTimer->isActive()) {
|
||
animationTimer->stop();
|
||
}
|
||
|
||
useSI = scene.use_si;
|
||
|
||
if (currentHolidayTheme != scene.current_holiday_theme || customSignals != scene.custom_signals) {
|
||
currentHolidayTheme = scene.current_holiday_theme;
|
||
customSignals = scene.custom_signals;
|
||
|
||
QString themePath;
|
||
|
||
if (currentHolidayTheme != 0) {
|
||
themePath = QString("../frogpilot/assets/holiday_themes/%1/images").arg(
|
||
holidayThemeConfiguration.find(currentHolidayTheme) != holidayThemeConfiguration.end() ?
|
||
std::get<0>(holidayThemeConfiguration[currentHolidayTheme]) : "");
|
||
} else {
|
||
themePath = QString("../frogpilot/assets/custom_themes/%1/images").arg(
|
||
themeConfiguration.find(customSignals) != themeConfiguration.end() ?
|
||
std::get<0>(themeConfiguration[customSignals]) : "");
|
||
}
|
||
|
||
const QStringList imagePaths = {
|
||
themePath + "/turn_signal_1.png",
|
||
themePath + "/turn_signal_2.png",
|
||
themePath + "/turn_signal_3.png",
|
||
themePath + "/turn_signal_4.png"
|
||
};
|
||
|
||
signalImgVector.clear();
|
||
signalImgVector.reserve(2 * imagePaths.size() + 2);
|
||
|
||
for (const QString &imagePath : imagePaths) {
|
||
QPixmap pixmap(imagePath);
|
||
signalImgVector.push_back(pixmap);
|
||
signalImgVector.push_back(pixmap.transformed(QTransform().scale(-1, 1)));
|
||
}
|
||
|
||
const QPixmap blindSpotPixmap(themePath + "/turn_signal_1_red.png");
|
||
signalImgVector.push_back(blindSpotPixmap);
|
||
signalImgVector.push_back(blindSpotPixmap.transformed(QTransform().scale(-1, 1)));
|
||
|
||
totalFrames = 8;
|
||
}
|
||
}
|
||
|
||
Compass::Compass(QWidget *parent) : QWidget(parent) {
|
||
setFixedSize(btn_size * 1.5, btn_size * 1.5);
|
||
|
||
compassSize = btn_size;
|
||
circleOffset = compassSize / 2;
|
||
degreeLabelOffset = circleOffset + 25;
|
||
innerCompass = compassSize / 2;
|
||
|
||
x = (btn_size * 1.5) / 2 + 20;
|
||
y = (btn_size * 1.5) / 2;
|
||
|
||
compassInnerImg = loadPixmap("../frogpilot/assets/other_images/compass_inner.png", QSize(compassSize / 1.75, compassSize / 1.75));
|
||
initializeStaticElements();
|
||
}
|
||
|
||
void Compass::initializeStaticElements() {
|
||
staticElements = QPixmap(size());
|
||
staticElements.fill(Qt::transparent);
|
||
QPainter p(&staticElements);
|
||
|
||
p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
|
||
p.setPen(QPen(Qt::white, 2));
|
||
p.setBrush(QColor(0, 0, 0, 100));
|
||
|
||
const int xOffset = x - circleOffset;
|
||
const int yOffset = y - circleOffset;
|
||
|
||
p.drawEllipse(xOffset, yOffset, compassSize, compassSize);
|
||
p.setBrush(Qt::NoBrush);
|
||
const int innerOffset = innerCompass + 5;
|
||
p.drawEllipse(x - innerOffset, y - innerOffset, innerOffset * 2, innerOffset * 2);
|
||
p.drawEllipse(x - degreeLabelOffset, y - degreeLabelOffset, degreeLabelOffset * 2, degreeLabelOffset * 2);
|
||
|
||
QPainterPath outerCircle, innerCircle;
|
||
outerCircle.addEllipse(x - degreeLabelOffset, y - degreeLabelOffset, degreeLabelOffset * 2, degreeLabelOffset * 2);
|
||
innerCircle.addEllipse(xOffset, yOffset, compassSize, compassSize);
|
||
p.fillPath(outerCircle.subtracted(innerCircle), Qt::black);
|
||
}
|
||
|
||
void Compass::updateState(const UIScene &scene) {
|
||
if (bearingDeg != scene.bearing_deg) {
|
||
bearingDeg = (scene.bearing_deg + 360) % 360;
|
||
update();
|
||
}
|
||
}
|
||
|
||
void Compass::paintEvent(QPaintEvent *event) {
|
||
QPainter p(this);
|
||
p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
|
||
p.drawPixmap(0, 0, staticElements);
|
||
p.translate(x, y);
|
||
p.rotate(bearingDeg);
|
||
p.drawPixmap(-compassInnerImg.width() / 2, -compassInnerImg.height() / 2, compassInnerImg);
|
||
p.resetTransform();
|
||
|
||
QFont font = InterFont(10, QFont::Normal);
|
||
const int halfCompassSize = compassSize / 2;
|
||
for (int i = 0; i < 360; i += 15) {
|
||
bool isBold = abs(i - bearingDeg) <= 7;
|
||
font.setWeight(isBold ? QFont::Bold : QFont::Normal);
|
||
p.setFont(font);
|
||
p.setPen(QPen(Qt::white, i % 90 == 0 ? 2 : 1));
|
||
|
||
p.save();
|
||
p.translate(x, y);
|
||
p.rotate(i);
|
||
int lineLength = i % 90 == 0 ? 12 : 8;
|
||
p.drawLine(0, -(halfCompassSize - lineLength), 0, -halfCompassSize);
|
||
p.translate(0, -(halfCompassSize + 12));
|
||
p.rotate(-i);
|
||
p.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter, QString::number(i));
|
||
p.restore();
|
||
}
|
||
|
||
p.setFont(InterFont(20, QFont::Bold));
|
||
const std::map<QString, std::tuple<QPair<float, float>, int, QColor>> directionInfo = {
|
||
{"N", {{292.5, 67.5}, Qt::AlignTop | Qt::AlignHCenter, Qt::white}},
|
||
{"E", {{22.5, 157.5}, Qt::AlignRight | Qt::AlignVCenter, Qt::white}},
|
||
{"S", {{112.5, 247.5}, Qt::AlignBottom | Qt::AlignHCenter, Qt::white}},
|
||
{"W", {{202.5, 337.5}, Qt::AlignLeft | Qt::AlignVCenter, Qt::white}}
|
||
};
|
||
const int directionOffset = 20;
|
||
|
||
for (const auto &[direction, params] : directionInfo) {
|
||
const auto &[range, alignmentFlag, color] = params;
|
||
const auto &[minRange, maxRange] = range;
|
||
|
||
bool isInRange = (minRange > maxRange) ? (bearingDeg >= minRange || bearingDeg <= maxRange) : (bearingDeg >= minRange && bearingDeg <= maxRange);
|
||
|
||
QRect textRect(x - innerCompass + directionOffset, y - innerCompass + directionOffset, innerCompass * 2 - 2 * directionOffset, innerCompass * 2 - 2 * directionOffset);
|
||
|
||
p.setOpacity(isInRange ? 1.0 : 0.2);
|
||
p.setPen(QPen(color));
|
||
p.drawText(textRect, alignmentFlag, direction);
|
||
}
|
||
}
|
||
|
||
void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
|
||
static QElapsedTimer timer;
|
||
|
||
static bool isFiveSecondsPassed = false;
|
||
|
||
static double maxAcceleration = 0.0;
|
||
constexpr int maxAccelDuration = 5000;
|
||
|
||
double acceleration = std::round(currentAcceleration * 100) / 100;
|
||
|
||
auto resetTimer = [&]() {
|
||
timer.start();
|
||
isFiveSecondsPassed = false;
|
||
};
|
||
|
||
if ((acceleration > maxAcceleration && (status == STATUS_ENGAGED || status == STATUS_TRAFFIC_MODE_ACTIVE)) ||
|
||
(currentRandomEvent == 2 && maxAcceleration < 3.0) ||
|
||
(currentRandomEvent == 3 && maxAcceleration < 3.5) ||
|
||
(currentRandomEvent == 4 && maxAcceleration < 4.0)) {
|
||
maxAcceleration = std::max({acceleration, currentRandomEvent == 2 ? 3.0 : maxAcceleration, currentRandomEvent == 3 ? 3.5 : maxAcceleration, currentRandomEvent == 4 ? 4.0 : maxAcceleration});
|
||
resetTimer();
|
||
} else {
|
||
isFiveSecondsPassed = timer.hasExpired(maxAccelDuration);
|
||
}
|
||
|
||
auto createText = [&](const QString &title, double data) {
|
||
return title + QString::number(std::round(data * distanceConversion)) + " " + leadDistanceUnit;
|
||
};
|
||
|
||
QString accelText = QString(tr("Accel: %1%2"))
|
||
.arg(acceleration * accelerationConversion, 0, 'f', 2)
|
||
.arg(accelerationUnit);
|
||
|
||
QString maxAccSuffix;
|
||
if (!mapOpen) {
|
||
maxAccSuffix = QString(tr(" - Max: %1%2"))
|
||
.arg(maxAcceleration * accelerationConversion, 0, 'f', 2)
|
||
.arg(accelerationUnit);
|
||
}
|
||
|
||
QString obstacleText = createText(mapOpen ? tr(" | Obstacle: ") : tr(" | Obstacle Factor: "), obstacleDistance);
|
||
QString stopText = createText(mapOpen ? tr(" - Stop: ") : tr(" - Stop Factor: "), stoppedEquivalence);
|
||
QString followText = " = " + createText(mapOpen ? tr("Follow: ") : tr("Follow Distance: "), desiredFollow);
|
||
|
||
auto createDiffText = [&](double data, double stockData) {
|
||
double difference = std::round((data - stockData) * distanceConversion);
|
||
return difference != 0 ? QString(" (%1%2)").arg(difference > 0 ? "+" : "").arg(difference) : QString();
|
||
};
|
||
|
||
p.save();
|
||
|
||
QRect insightsRect(rect().left() - 1, rect().top() - 60, rect().width() + 2, 100);
|
||
p.setBrush(QColor(0, 0, 0, 150));
|
||
p.drawRoundedRect(insightsRect, 30, 30);
|
||
p.setFont(InterFont(28, QFont::Bold));
|
||
p.setRenderHint(QPainter::TextAntialiasing);
|
||
|
||
QRect adjustedRect = insightsRect.adjusted(0, 27, 0, 27);
|
||
int textBaseLine = adjustedRect.y() + (adjustedRect.height() + p.fontMetrics().height()) / 2 - p.fontMetrics().descent();
|
||
|
||
QStringList texts = {accelText, maxAccSuffix, obstacleText, createDiffText(obstacleDistance, obstacleDistanceStock), stopText, followText};
|
||
QList<QColor> colors = {Qt::white, isFiveSecondsPassed ? Qt::white : redColor(), Qt::white, (obstacleDistance - obstacleDistanceStock) > 0 ? Qt::green : Qt::red, Qt::white, Qt::white};
|
||
|
||
int totalTextWidth = 0;
|
||
for (const auto &text : texts) {
|
||
totalTextWidth += p.fontMetrics().horizontalAdvance(text);
|
||
}
|
||
|
||
int textStartPos = adjustedRect.x() + (adjustedRect.width() - totalTextWidth) / 2;
|
||
|
||
for (int i = 0; i < texts.size(); ++i) {
|
||
p.setPen(colors[i]);
|
||
p.drawText(textStartPos, textBaseLine, texts[i]);
|
||
textStartPos += p.fontMetrics().horizontalAdvance(texts[i]);
|
||
}
|
||
|
||
p.restore();
|
||
}
|
||
|
||
PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent) {
|
||
setFixedSize(btn_size, btn_size);
|
||
|
||
brake_pedal_img = loadPixmap("../frogpilot/assets/other_images/brake_pedal.png", QSize(img_size, img_size));
|
||
gas_pedal_img = loadPixmap("../frogpilot/assets/other_images/gas_pedal.png", QSize(img_size, img_size));
|
||
}
|
||
|
||
void PedalIcons::updateState(const UIScene &scene) {
|
||
acceleration = scene.acceleration;
|
||
brakeLightOn = scene.brake_lights_on;
|
||
dynamicPedals = scene.dynamic_pedals_on_ui;
|
||
standstill = scene.standstill;
|
||
staticPedals = scene.static_pedals_on_ui;
|
||
|
||
accelerating = acceleration > 0.25f;
|
||
decelerating = acceleration < -0.25f;
|
||
|
||
if (accelerating || decelerating) {
|
||
update();
|
||
}
|
||
}
|
||
|
||
void PedalIcons::paintEvent(QPaintEvent *event) {
|
||
QPainter p(this);
|
||
p.setRenderHint(QPainter::Antialiasing);
|
||
|
||
int totalWidth = 2 * img_size;
|
||
int startX = (width() - totalWidth) / 2;
|
||
|
||
int brakeX = startX + img_size / 2;
|
||
int gasX = startX + img_size;
|
||
|
||
float brakeOpacity = 1.0f;
|
||
float gasOpacity = 1.0f;
|
||
|
||
if (dynamicPedals) {
|
||
brakeOpacity = standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f;
|
||
gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f;
|
||
} else if (staticPedals) {
|
||
brakeOpacity = standstill || brakeLightOn || acceleration < -0.5f ? 1.0f : 0.25f;
|
||
gasOpacity = !standstill && acceleration > 0 ? 1.0f : 0.25f;
|
||
}
|
||
|
||
p.setOpacity(brakeOpacity);
|
||
p.drawPixmap(brakeX, (height() - img_size) / 2, brake_pedal_img);
|
||
|
||
p.setOpacity(gasOpacity);
|
||
p.drawPixmap(gasX, (height() - img_size) / 2, gas_pedal_img);
|
||
}
|
||
|
||
void AnnotatedCameraWidget::drawSLCConfirmation(QPainter &p) {
|
||
p.save();
|
||
|
||
QSize size = this->size();
|
||
int halfWidth = size.width() / 2;
|
||
|
||
QRect leftRect(0, 0, halfWidth, size.height());
|
||
QRect rightRect(halfWidth, 0, halfWidth, size.height());
|
||
|
||
p.setOpacity(0.5);
|
||
p.fillRect(leftRect, rightHandDM ? redColor() : greenColor());
|
||
p.fillRect(rightRect, rightHandDM ? greenColor() : redColor());
|
||
p.setOpacity(1.0);
|
||
|
||
p.setFont(InterFont(75, QFont::Bold));
|
||
p.setPen(Qt::white);
|
||
|
||
QString unitText = is_metric ? tr("kph") : tr("mph");
|
||
QString speedText = QString::number(std::nearbyint(unconfirmedSpeedLimit * (is_metric ? MS_TO_KPH : MS_TO_MPH))) + " " + unitText;
|
||
QString confirmText = tr("Confirm speed limit\n") + speedText;
|
||
QString ignoreText = tr("Ignore speed limit\n") + speedText;
|
||
|
||
QRect textRect(0, leftRect.height() / 2 - 225, halfWidth, leftRect.height() / 2);
|
||
|
||
p.drawText(textRect.translated(0, 0), Qt::AlignCenter, rightHandDM ? ignoreText : confirmText);
|
||
p.drawText(textRect.translated(halfWidth, 0), Qt::AlignCenter, rightHandDM ? confirmText : ignoreText);
|
||
|
||
p.restore();
|
||
}
|
||
|
||
void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
|
||
p.save();
|
||
|
||
static QElapsedTimer timer;
|
||
static QString lastShownStatus;
|
||
|
||
static bool displayStatusText = false;
|
||
|
||
constexpr qreal fadeDuration = 1500.0;
|
||
constexpr qreal textDuration = 5000.0;
|
||
|
||
static qreal roadNameOpacity = 0.0;
|
||
static qreal statusTextOpacity = 0.0;
|
||
|
||
QString newStatus;
|
||
|
||
QRect statusBarRect(rect().left() - 1, rect().bottom() - 50, rect().width() + 2, 100);
|
||
p.setBrush(QColor(0, 0, 0, 150));
|
||
p.setOpacity(1.0);
|
||
p.drawRoundedRect(statusBarRect, 30, 30);
|
||
|
||
std::map<int, QString> conditionalStatusMap = {
|
||
{0, tr("Conditional Experimental Mode ready")},
|
||
{1, tr("Conditional Experimental overridden")},
|
||
{2, tr("Experimental Mode manually activated")},
|
||
{3, tr("Conditional Experimental overridden")},
|
||
{4, tr("Experimental Mode manually activated")},
|
||
{5, tr("Conditional Experimental overridden")},
|
||
{6, tr("Experimental Mode manually activated")},
|
||
{7, tr("Experimental Mode activated for") + (mapOpen ? tr(" low speed") : tr(" speed being less than ") + QString::number(conditionalSpeedLead) + (is_metric ? tr("kph") : tr("mph")))},
|
||
{8, tr("Experimental Mode activated for") + (mapOpen ? tr(" low speed") : tr(" speed being less than ") + QString::number(conditionalSpeed) + (is_metric ? tr("kph") : tr("mph")))},
|
||
{9, tr("Experimental Mode activated for turn") + (mapOpen ? "" : tr(" / lane change"))},
|
||
{10, tr("Experimental Mode activated for intersection")},
|
||
{11, tr("Experimental Mode activated for upcoming turn")},
|
||
{12, tr("Experimental Mode activated for curve")},
|
||
{13, tr("Experimental Mode activated for stopped lead")},
|
||
{14, tr("Experimental Mode activated for slower lead")},
|
||
{15, tr("Experimental Mode activated for stop light") + (mapOpen ? tr("") : tr(" or stop sign"))},
|
||
{16, tr("Experimental Mode forced on for stop light") + (mapOpen ? tr("") : tr(" or stop sign"))},
|
||
{17, tr("Experimental Mode activated due to no speed limit")},
|
||
};
|
||
|
||
if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
|
||
newStatus = tr("Always On Lateral active") + (mapOpen ? "" : tr(". Press the \"Cruise Control\" button to disable"));
|
||
} else if (showConditionalExperimentalStatusBar) {
|
||
newStatus = conditionalStatusMap.at(conditionalStatus);
|
||
}
|
||
|
||
static const std::map<int, QString> suffixMap = {
|
||
{1, tr(". Long press the \"distance\" button to revert")},
|
||
{2, tr(". Long press the \"distance\" button to revert")},
|
||
{3, tr(". Click the \"LKAS\" button to revert")},
|
||
{4, tr(". Click the \"LKAS\" button to revert")},
|
||
{5, tr(". Double tap the screen to revert")},
|
||
{6, tr(". Double tap the screen to revert")},
|
||
};
|
||
|
||
if (!alwaysOnLateralActive && !mapOpen && !newStatus.isEmpty()) {
|
||
if (suffixMap.find(conditionalStatus) != suffixMap.end()) {
|
||
newStatus += suffixMap.at(conditionalStatus);
|
||
}
|
||
}
|
||
|
||
QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
|
||
|
||
if (newStatus != lastShownStatus || roadName.isEmpty()) {
|
||
lastShownStatus = newStatus;
|
||
displayStatusText = true;
|
||
timer.restart();
|
||
} else if (displayStatusText && timer.hasExpired(textDuration + fadeDuration)) {
|
||
displayStatusText = false;
|
||
}
|
||
|
||
if (displayStatusText) {
|
||
statusTextOpacity = qBound(0.0, 1.0 - (timer.elapsed() - textDuration) / fadeDuration, 1.0);
|
||
roadNameOpacity = 1.0 - statusTextOpacity;
|
||
} else {
|
||
roadNameOpacity = qBound(0.0, timer.elapsed() / fadeDuration, 1.0);
|
||
statusTextOpacity = 0.0;
|
||
}
|
||
|
||
p.setFont(InterFont(40, QFont::Bold));
|
||
p.setOpacity(statusTextOpacity);
|
||
p.setPen(Qt::white);
|
||
p.setRenderHint(QPainter::TextAntialiasing);
|
||
|
||
QRect textRect = p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
|
||
textRect.moveBottom(statusBarRect.bottom() - 50);
|
||
p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
|
||
|
||
if (!roadName.isEmpty()) {
|
||
p.setOpacity(roadNameOpacity);
|
||
textRect = p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, roadName);
|
||
textRect.moveBottom(statusBarRect.bottom() - 50);
|
||
p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, roadName);
|
||
}
|
||
|
||
p.restore();
|
||
}
|
||
|
||
void AnnotatedCameraWidget::drawTurnSignals(QPainter &p) {
|
||
constexpr int signalHeight = 480;
|
||
constexpr int signalWidth = 360;
|
||
|
||
p.setRenderHint(QPainter::Antialiasing);
|
||
|
||
int baseYPosition = (height() - signalHeight) / 2 + (showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI ? 225 : 300) - alertSize;
|
||
int leftSignalXPosition = 75 + width() - signalWidth - 300 * (blindSpotLeft ? 0 : animationFrameIndex);
|
||
int rightSignalXPosition = -75 + 300 * (blindSpotRight ? 0 : animationFrameIndex);
|
||
|
||
if (animationFrameIndex < signalImgVector.size()) {
|
||
auto drawSignal = [&](bool signalActivated, int xPosition, bool flip, bool blindspot) {
|
||
if (signalActivated) {
|
||
int index = (blindspot ? totalFrames : 2 * animationFrameIndex % totalFrames) + (flip ? 1 : 0);
|
||
QPixmap &signal = signalImgVector[index];
|
||
p.drawPixmap(xPosition, baseYPosition, signalWidth, signalHeight, signal);
|
||
}
|
||
};
|
||
|
||
drawSignal(turnSignalLeft, leftSignalXPosition, false, blindSpotLeft);
|
||
drawSignal(turnSignalRight, rightSignalXPosition, true, blindSpotRight);
|
||
}
|
||
}
|