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Merge branch 'devel-en' into devel-zhs

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dragonpilot
2019-09-25 10:59:53 +10:00
parent 1b13875c24 26b063f60f
commit 794331b9b3
7 changed files with 120 additions and 41 deletions
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apk/ai.comma.plus.offroad.apk
BIN
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common/params.py
+4
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@@ -126,6 +126,10 @@ keys = {
"DragonCharging": [TxType.PERSISTENT],
"DragonDisCharging": [TxType.PERSISTENT],
"DragonToyotaLaneDepartureWarning": [TxType.PERSISTENT],
"DragonUILane": [TxType.PERSISTENT],
"DragonUILead": [TxType.PERSISTENT],
"DragonUIPath": [TxType.PERSISTENT],
"DragonUIBlinker": [TxType.PERSISTENT],
}
selfdrive/car/honda/carcontroller.py
+1 -1
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@@ -95,7 +95,7 @@ class CarController(object):
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
# dragonpilot, don't check for param too often as it's a kernel call
if frame % 100 == 0:
if frame % 500 == 0:
self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
selfdrive/car/toyota/carcontroller.py
+1 -1
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@@ -128,7 +128,7 @@ class CarController(object):
pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
right_line, lead, left_lane_depart, right_lane_depart):
# dragonpilot, don't check for param too often as it's a kernel call
if frame % 100 == 0:
if frame % 500 == 0:
self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
selfdrive/dragonpilot/dragonconf/__init__.py
+4
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@@ -46,6 +46,10 @@ default_conf = {
'DragonCharging': 70,
'DragonDisCharging': 60,
'DragonToyotaLaneDepartureWarning': '1',
'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
+109 -38
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@@ -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;
@@ -304,6 +310,10 @@ typedef struct UIState {
int dragon_enable_dashcam_timeout;
int dragon_ui_volume_boost_timeout;
int dragon_driving_ui_timeout;
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;
@@ -314,6 +324,10 @@ typedef struct UIState {
bool dragon_enable_dashcam;
float dragon_ui_volume_boost;
bool dragon_driving_ui;
bool dragon_ui_lane;
bool dragon_ui_lead;
bool dragon_ui_path;
bool dragon_ui_blinker;
} UIState;
@@ -534,6 +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");
@@ -709,6 +724,10 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
read_param_bool(&s->dragon_enable_dashcam, "DragonEnableDashcam");
read_param_float(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost");
read_param_bool(&s->dragon_driving_ui, "DragonDrivingUI");
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
@@ -726,6 +745,10 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->dragon_enable_dashcam_timeout = 100;
s->dragon_ui_volume_boost_timeout = 100;
s->dragon_driving_ui_timeout = 100;
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
@@ -1045,27 +1068,30 @@ static void ui_draw_vision_lanes(UIState *s) {
update_all_lane_lines_data(s, scene->model.right_lane, pvd + MODEL_LANE_PATH_CNT);
s->model_changed = false;
}
// Draw left lane edge
ui_draw_lane(
if (s->dragon_ui_lane) {
// Draw left lane edge
ui_draw_lane(
s, &scene->model.left_lane,
pvd,
nvgRGBAf(1.0, 1.0, 1.0, scene->model.left_lane.prob));
// Draw right lane edge
ui_draw_lane(
// Draw right lane edge
ui_draw_lane(
s, &scene->model.right_lane,
pvd + MODEL_LANE_PATH_CNT,
nvgRGBAf(1.0, 1.0, 1.0, scene->model.right_lane.prob));
}
if(s->livempc_or_radarstate_changed) {
update_all_track_data(s);
s->livempc_or_radarstate_changed = false;
}
// Draw vision path
ui_draw_track(s, false, &s->track_vertices[0]);
if (scene->engaged) {
// Draw MPC path when engaged
ui_draw_track(s, true, &s->track_vertices[1]);
if (s->dragon_ui_path) {
// Draw vision path
ui_draw_track(s, false, &s->track_vertices[0]);
if (scene->engaged) {
// Draw MPC path when engaged
ui_draw_track(s, true, &s->track_vertices[1]);
}
}
}
@@ -1081,7 +1107,7 @@ static void ui_draw_world(UIState *s) {
ui_draw_vision_lanes(s);
}
if (scene->lead_status) {
if (s->dragon_ui_lead && scene->lead_status) {
// Draw lead car indicator
float fillAlpha = 0;
float speedBuff = 10.;
@@ -1284,28 +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);
}
}
}
@@ -1345,11 +1400,11 @@ static void ui_draw_vision_event(UIState *s) {
nvgBeginPath(s->vg);
nvgCircle(s->vg, bg_wheel_x, (bg_wheel_y + (bdr_s*1.5)), bg_wheel_size);
if (is_engaged) {
nvgFillColor(s->vg, nvgRGBA(23, 134, 68, 255));
nvgFillColor(s->vg, nvgRGBA(23, 134, 68, 180));
} else if (is_warning) {
nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 255));
nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180));
} else if (is_engageable) {
nvgFillColor(s->vg, nvgRGBA(23, 51, 73, 255));
nvgFillColor(s->vg, nvgRGBA(23, 51, 73, 180));
}
nvgFill(s->vg);
img_wheel_alpha = 1.0f;
@@ -1436,9 +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);
}
@@ -2129,6 +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);
@@ -2287,12 +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;
@@ -2308,6 +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);
@@ -2684,6 +2751,10 @@ int main(int argc, char* argv[]) {
read_param_bool_timeout(&s->dragon_enable_dashcam, "DragonEnableDashcam", &s->dragon_enable_dashcam_timeout);
read_param_float_timeout(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost", &s->dragon_ui_volume_boost_timeout);
read_param_bool_timeout(&s->dragon_driving_ui, "DragonDrivingUI", &s->dragon_driving_ui_timeout);
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);