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Add blinker ui/param

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This commit is contained in:
dragonpilot
2019-09-24 15:07:40 +10:00
parent 6573a67742
commit 0ebdd0731f
4 changed files with 80 additions and 25 deletions
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common/params.py
+1
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@@ -129,6 +129,7 @@ keys = {
"DragonUILane": [TxType.PERSISTENT],
"DragonUILead": [TxType.PERSISTENT],
"DragonUIPath": [TxType.PERSISTENT],
"DragonUIBlinker": [TxType.PERSISTENT],
}
selfdrive/dragonpilot/dragonconf/__init__.py
+1
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@@ -49,6 +49,7 @@ default_conf = {
'DragonUILane': '1',
'DragonUILead': '1',
'DragonUIPath': '1',
'DragonUIBlinker': '0',
}
deprecated_conf = {
selfdrive/ui/Makefile
+1 -1
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@@ -16,7 +16,7 @@ CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
ZMQ_LIBS = -l:libczmq.a -l:libzmq.a -lgnustl_shared
CEREAL_LIBS = -l:libcapn.a
CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
JSON_FLAGS = -I$(PHONELIBS)/json/src
selfdrive/ui/ui.c
+77 -24
View File
@@ -168,6 +168,11 @@ typedef struct UIScene {
float angleSteersDes;
float angleSteers;
// for blinker, from kegman
bool leftBlinker;
bool rightBlinker;
int blinker_blinkingrate;
} UIScene;
typedef struct {
@@ -215,6 +220,7 @@ typedef struct UIState {
void *livempc_sock_raw;
void *plus_sock_raw;
void *map_data_sock_raw;
void *carstate_sock_raw;
void *uilayout_sock_raw;
@@ -307,6 +313,7 @@ typedef struct UIState {
int dragon_ui_lane_timeout;
int dragon_ui_lead_timeout;
int dragon_ui_path_timeout;
int dragon_ui_blinker_timeout;
bool dragon_ui_speed;
bool dragon_ui_event;
@@ -320,6 +327,7 @@ typedef struct UIState {
bool dragon_ui_lane;
bool dragon_ui_lead;
bool dragon_ui_path;
bool dragon_ui_blinker;
} UIState;
@@ -540,6 +548,7 @@ static void ui_init(UIState *s) {
s->radarstate_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8012");
s->livempc_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8035");
s->plus_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8037");
s->carstate_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8021");
#ifdef SHOW_SPEEDLIMIT
s->map_data_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8065");
@@ -718,6 +727,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
read_param_bool(&s->dragon_ui_lane, "DragonUILane");
read_param_bool(&s->dragon_ui_lead, "DragonUILead");
read_param_bool(&s->dragon_ui_path, "DragonUIPath");
read_param_bool(&s->dragon_ui_blinker, "DragonUIBlinker");
// Set offsets so params don't get read at the same time
@@ -738,6 +748,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->dragon_ui_lane_timeout = 100;
s->dragon_ui_lead_timeout = 100;
s->dragon_ui_path_timeout = 100;
s->dragon_ui_blinker_timeout = 100;
}
// Projects a point in car to space to the corresponding point in full frame
@@ -1299,28 +1310,57 @@ static void ui_draw_vision_speed(UIState *s) {
const int viz_speed_x = ui_viz_rx+((ui_viz_rw/2)-(viz_speed_w/2));
char speed_str[32];
nvgBeginPath(s->vg);
nvgRect(s->vg, viz_speed_x, box_y, viz_speed_w, header_h);
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
// blinker, from kegman
if (s->dragon_ui_blinker) {
if(s->scene.leftBlinker) {
nvgBeginPath(s->vg);
nvgMoveTo(s->vg, viz_speed_x, box_y + header_h/4);
nvgLineTo(s->vg, viz_speed_x - viz_speed_w/2, box_y + header_h/4 + header_h/4);
nvgLineTo(s->vg, viz_speed_x, box_y + header_h/2 + header_h/4);
nvgClosePath(s->vg);
nvgFillColor(s->vg, nvgRGBA(23,134,68,s->scene.blinker_blinkingrate>=50?210:60));
nvgFill(s->vg);
}
if (s->is_metric) {
snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 3.6 + 0.5));
} else {
snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 2.2369363 + 0.5));
if(s->scene.rightBlinker) {
nvgBeginPath(s->vg);
nvgMoveTo(s->vg, viz_speed_x+viz_speed_w, box_y + header_h/4);
nvgLineTo(s->vg, viz_speed_x+viz_speed_w + viz_speed_w/2, box_y + header_h/4 + header_h/4);
nvgLineTo(s->vg, viz_speed_x+viz_speed_w, box_y + header_h/2 + header_h/4);
nvgClosePath(s->vg);
nvgFillColor(s->vg, nvgRGBA(23,134,68,s->scene.blinker_blinkingrate>=50?210:60));
nvgFill(s->vg);
}
if(s->scene.leftBlinker || s->scene.rightBlinker) {
s->scene.blinker_blinkingrate -= 3;
if(s->scene.blinker_blinkingrate<0) s->scene.blinker_blinkingrate = 120;
}
}
nvgFontFace(s->vg, "sans-bold");
nvgFontSize(s->vg, 96*2.5);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
nvgText(s->vg, viz_speed_x+viz_speed_w/2, 240, speed_str, NULL);
if (s->dragon_ui_speed) {
nvgBeginPath(s->vg);
nvgRect(s->vg, viz_speed_x, box_y, viz_speed_w, header_h);
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
nvgFontFace(s->vg, "sans-regular");
nvgFontSize(s->vg, 36*2.5);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
if (s->is_metric) {
snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 3.6 + 0.5));
} else {
snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 2.2369363 + 0.5));
}
nvgFontFace(s->vg, "sans-bold");
nvgFontSize(s->vg, 96*2.5);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
nvgText(s->vg, viz_speed_x+viz_speed_w/2, 240, speed_str, NULL);
if (s->is_metric) {
nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "kph", NULL);
} else {
nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "mph", NULL);
nvgFontFace(s->vg, "sans-regular");
nvgFontSize(s->vg, 36*2.5);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
if (s->is_metric) {
nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "kph", NULL);
} else {
nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "mph", NULL);
}
}
}
@@ -1451,9 +1491,7 @@ static void ui_draw_vision_header(UIState *s) {
#ifdef SHOW_SPEEDLIMIT
ui_draw_vision_speedlimit(s);
#endif
if (s->dragon_ui_speed) {
ui_draw_vision_speed(s);
}
ui_draw_vision_speed(s);
if (s->dragon_ui_event) {
ui_draw_vision_event(s);
}
@@ -2144,6 +2182,15 @@ void handle_message(UIState *s, void *which) {
struct cereal_LiveMapData datad;
cereal_read_LiveMapData(&datad, eventd.liveMapData);
s->scene.map_valid = datad.mapValid;
} else if (eventd.which == cereal_Event_carState) {
struct cereal_CarState datad;
cereal_read_CarState(&datad, eventd.carState);
if(s->scene.leftBlinker!=datad.leftBlinker || s->scene.rightBlinker!=datad.rightBlinker) {
s->scene.blinker_blinkingrate = 100;
}
s->scene.leftBlinker = datad.leftBlinker;
s->scene.rightBlinker = datad.rightBlinker;
}
capn_free(&ctx);
zmq_msg_close(&msg);
@@ -2302,12 +2349,16 @@ static void ui_update(UIState *s) {
polls[6].socket = s->uilayout_sock_raw;
polls[6].events = ZMQ_POLLIN;
#ifdef SHOW_SPEEDLIMIT
//#ifdef SHOW_SPEEDLIMIT
// plus_sock_num++;
// num_polls++;
// polls[7].socket = s->map_data_sock_raw;
// polls[7].events = ZMQ_POLLIN;
//#endif
plus_sock_num++;
num_polls++;
polls[7].socket = s->map_data_sock_raw;
polls[7].socket = s->carstate_sock_raw;
polls[7].events = ZMQ_POLLIN;
#endif
polls[plus_sock_num].socket = s->plus_sock_raw; // plus_sock should be last
polls[plus_sock_num].events = ZMQ_POLLIN;
@@ -2323,6 +2374,7 @@ static void ui_update(UIState *s) {
if (polls[0].revents || polls[1].revents || polls[2].revents ||
polls[3].revents || polls[4].revents || polls[6].revents ||
polls[7].revents ||
polls[plus_sock_num].revents) {
// awake on any (old) activity
set_awake(s, true);
@@ -2702,6 +2754,7 @@ int main(int argc, char* argv[]) {
read_param_bool_timeout(&s->dragon_ui_lane, "DragonUILane", &s->dragon_ui_lane_timeout);
read_param_bool_timeout(&s->dragon_ui_lead, "DragonUILead", &s->dragon_ui_lead_timeout);
read_param_bool_timeout(&s->dragon_ui_path, "DragonUIPath", &s->dragon_ui_path_timeout);
read_param_bool_timeout(&s->dragon_ui_blinker, "DragonUIBlinker", &s->dragon_ui_blinker_timeout);
pthread_mutex_unlock(&s->lock);