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fix lead2 not updated (#21895)

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This commit is contained in:
Dean Lee
2021-08-11 01:58:28 +08:00
committed by GitHub
parent 3022f68fa7
commit 339aa5e3f9
1 changed files with 13 additions and 14 deletions
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selfdrive/ui/ui.cc
+13 -14
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@@ -63,11 +63,15 @@ static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line
return max_idx;
}
static void update_leads(UIState *s, const cereal::ModelDataV2::LeadDataV2::Reader &lead_data, std::optional<cereal::ModelDataV2::XYZTData::Reader> line) {
if (lead_data.getProb() > 0.5) {
float z = line ? (*line).getZ()[get_path_length_idx(*line, lead_data.getXyva()[0])] : 0.0;
calib_frame_to_full_frame(s, lead_data.getXyva()[0], lead_data.getXyva()[1], z + 1.22, &s->scene.lead_vertices[0]);
static void update_leads(UIState *s, const cereal::ModelDataV2::Reader &model) {
auto leaders = model.getLeads();
auto model_position = model.getPosition();
for (int i = 0; i < 2; ++i) {
if (leaders[i].getProb() > 0.5) {
auto xyva = leaders[i].getXyva();
float z = model_position.getZ()[get_path_length_idx(model_position, xyva[0])];
calib_frame_to_full_frame(s, xyva[0], xyva[1], z + 1.22, &s->scene.lead_vertices[i]);
}
}
}
@@ -109,7 +113,7 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
}
// update path
auto lead_one = (*s->sm)["modelV2"].getModelV2().getLeads()[0];
auto lead_one = model.getLeads()[0];
if (lead_one.getProb() > 0.5) {
const float lead_d = lead_one.getXyva()[0] * 2.;
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
@@ -132,11 +136,9 @@ static void update_state(UIState *s) {
scene.dm_active = sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
}
if (sm.updated("modelV2") && s->vg) {
std::optional<cereal::ModelDataV2::XYZTData::Reader> line;
if (sm.rcv_frame("modelV2") > 0) {
line = sm["modelV2"].getModelV2().getPosition();
}
update_leads(s, sm["modelV2"].getModelV2().getLeads()[0], line);
auto model = sm["modelV2"].getModelV2();
update_model(s, model);
update_leads(s, model);
}
if (sm.updated("liveCalibration")) {
scene.world_objects_visible = true;
@@ -155,9 +157,6 @@ static void update_state(UIState *s) {
}
}
}
if (sm.updated("modelV2") && s->vg) {
update_model(s, sm["modelV2"].getModelV2());
}
if (sm.updated("pandaState")) {
auto pandaState = sm["pandaState"].getPandaState();
scene.pandaType = pandaState.getPandaType();