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加入 UI 設定

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Dragonpilot
2019-08-01 11:28:59 +10:00
parent af3234f1d7
commit 8bcb9331fd
3 changed files with 109 additions and 47 deletions
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common/params.py
+6 -1
View File
@@ -99,9 +99,14 @@ keys = {
"DragonCachedFP": [TxType.PERSISTENT],
"DragonCachedVIN": [TxType.PERSISTENT],
"DragonAllowGas": [TxType.PERSISTENT],
"DragonBBUI": [TxType.PERSISTENT],
"DragonBBUI": [TxType.PERSISTENT], # deprecated
"DragonToyotaStockDSU": [TxType.PERSISTENT],
"DragonLatCtrl": [TxType.PERSISTENT],
"DragonUIEvent": [TxType.PERSISTENT],
"DragonUIMaxSpeed": [TxType.PERSISTENT],
"DragonUIFace": [TxType.PERSISTENT],
"DragonUIDev": [TxType.PERSISTENT],
"DragonUIDevMini": [TxType.PERSISTENT],
}
selfdrive/dragonpilot/dragonconf/__init__.py
+8 -6
View File
@@ -1,10 +1,5 @@
#!/usr/bin/env python2.7
import os
from common.params import Params
# import json
# file = '/data/dragonpilot.json'
default_conf = {
'DragonEnableDashcam': '1',
@@ -23,9 +18,14 @@ default_conf = {
'DragonCachedFP': '', # for cache car
'DragonCachedVIN': '', # for cache car
'DragonAllowGas': '0',
'DragonBBUI': '0',
'DragonBBUI': '0', # deprecated
'DragonToyotaStockDSU': '0',
'DragonLatCtrl': '1',
'DragonUIEvent': '0',
'DragonUIMaxSpeed': '0',
'DragonUIFace': '0',
'DragonUIDev': '0',
'DragonUIDevMini': '1',
}
deprecated_conf = {
@@ -33,6 +33,7 @@ deprecated_conf = {
'DragonTempDisableSteerOnSignal': 'DragonEnableSteeringOnSignal',
'DragonDisableLogger': 'DragonEnableLogger',
'DragonDisableUploader': 'DragonEnableUploader',
'DragonBBUI': 'DragonUIDev',
}
deprecated_conf_invert = {
@@ -40,6 +41,7 @@ deprecated_conf_invert = {
'DragonTempDisableSteerOnSignal': False,
'DragonDisableLogger': True,
'DragonDisableUploader': True,
'DragonBBUI': False
}
def dragonpilot_set_params(params):
selfdrive/ui/ui.c
+95 -40
View File
@@ -266,13 +266,11 @@ typedef struct UIState {
int is_metric_timeout;
int longitudinal_control_timeout;
int limit_set_speed_timeout;
int dragon_bbui_timeout;
int status;
bool is_metric;
bool longitudinal_control;
bool limit_set_speed;
bool dragon_bbui;
float speed_lim_off;
bool is_ego_over_limit;
char alert_type[64];
@@ -295,6 +293,22 @@ typedef struct UIState {
model_path_vertices_data model_path_vertices[MODEL_LANE_PATH_CNT * 2];
track_vertices_data track_vertices[2];
// dragonpilot
int dragon_ui_event_timeout;
int dragon_ui_maxspeed_timeout;
int dragon_ui_face_timeout;
int dragon_ui_dev_timeout;
int dragon_ui_dev_mini_timeout;
int dragon_enable_dashcam_timeout;
bool dragon_ui_event;
bool dragon_ui_maxspeed;
bool dragon_ui_face;
bool dragon_ui_dev;
bool dragon_ui_dev_mini;
bool dragon_enable_dashcam;
} UIState;
static int last_brightness = -1;
@@ -664,14 +678,27 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
read_param_bool(&s->is_metric, "IsMetric");
read_param_bool(&s->longitudinal_control, "LongitudinalControl");
read_param_bool(&s->limit_set_speed, "LimitSetSpeed");
read_param_bool(&s->dragon_bbui, "DragonBBUI");
// dragonpilot
read_param_bool(&s->dragon_ui_event, "DragonUIEvent");
read_param_bool(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed");
read_param_bool(&s->dragon_ui_face, "DragonUIFace");
read_param_bool(&s->dragon_ui_dev, "DragonUIDev");
read_param_bool(&s->dragon_ui_dev_mini, "DragonUIDevMini");
read_param_bool(&s->dragon_enable_dashcam, "DragonEnableDashcam");
// Set offsets so params don't get read at the same time
s->longitudinal_control_timeout = UI_FREQ / 3;
s->is_metric_timeout = UI_FREQ / 2;
s->limit_set_speed_timeout = UI_FREQ;
s->dragon_bbui_timeout = UI_FREQ / 4;
// dragonpilot, 1 sec
s->dragon_ui_event_timeout = 100;
s->dragon_ui_maxspeed_timeout = 100;
s->dragon_ui_face_timeout = 100;
s->dragon_ui_dev_timeout = 100;
s->dragon_ui_dev_mini_timeout = 100;
s->dragon_enable_dashcam_timeout = 100;
}
static void ui_draw_transformed_box(UIState *s, uint32_t color) {
@@ -1412,13 +1439,17 @@ static void ui_draw_vision_header(UIState *s) {
nvgRect(s->vg, ui_viz_rx, box_y, ui_viz_rw, header_h);
nvgFill(s->vg);
//ui_draw_vision_maxspeed(s);
if (s->dragon_ui_maxspeed) {
ui_draw_vision_maxspeed(s);
}
#ifdef SHOW_SPEEDLIMIT
ui_draw_vision_speedlimit(s);
#endif
ui_draw_vision_speed(s);
//ui_draw_vision_event(s);
if (s->dragon_ui_event) {
ui_draw_vision_event(s);
}
}
static void ui_draw_infobar(UIState *s) {
@@ -1439,40 +1470,54 @@ static void ui_draw_infobar(UIState *s) {
time_t t = time(NULL);
struct tm tm = *localtime(&t);
char rel_steer[9];
snprintf(rel_steer, sizeof(rel_steer), "%s%05.1f°", s->scene.angleSteers < 0? "-" : "+", fabs(s->scene.angleSteers));
if (s->dragon_ui_dev_mini) {
char rel_steer[9];
snprintf(rel_steer, sizeof(rel_steer), "%s%05.1f°", s->scene.angleSteers < 0? "-" : "+", fabs(s->scene.angleSteers));
char des_steer[9];
if (s->scene.engaged) {
snprintf(des_steer, sizeof(des_steer), "%s%05.1f°", s->scene.angleSteersDes < 0? "-" : "+", fabs(s->scene.angleSteersDes));
char des_steer[9];
if (s->scene.engaged) {
snprintf(des_steer, sizeof(des_steer), "%s%05.1f°", s->scene.angleSteersDes < 0? "-" : "+", fabs(s->scene.angleSteersDes));
} else {
snprintf(des_steer, sizeof(des_steer), "%7s", "N/A");
}
char lead_dist[8];
if (s->scene.lead_status) {
snprintf(lead_dist, sizeof(lead_dist), "%06.2fm", s->scene.lead_d_rel);
} else {
snprintf(lead_dist, sizeof(lead_dist), "%7s", "N/A");
}
snprintf(
infobar,
sizeof(infobar),
"%04d/%02d/%02d %02d:%02d:%02d | REL: %s | DES: %s | DIST: %s",
tm.tm_year + 1900,
tm.tm_mon + 1,
tm.tm_mday,
tm.tm_hour,
tm.tm_min,
tm.tm_sec,
rel_steer,
des_steer,
lead_dist
);
} else {
snprintf(des_steer, sizeof(des_steer), "%7s", "N/A");
snprintf(
infobar,
sizeof(infobar),
"%04d/%02d/%02d %02d:%02d:%02d",
tm.tm_year + 1900,
tm.tm_mon + 1,
tm.tm_mday,
tm.tm_hour,
tm.tm_min,
tm.tm_sec
);
}
char lead_dist[8];
if (s->scene.lead_status) {
snprintf(lead_dist, sizeof(lead_dist), "%06.2fm", s->scene.lead_d_rel);
} else {
snprintf(lead_dist, sizeof(lead_dist), "%7s", "N/A");
}
snprintf(
infobar,
sizeof(infobar),
"%04d/%02d/%02d %02d:%02d:%02d | REL: %s | DES: %s | DIST: %s",
tm.tm_year + 1900,
tm.tm_mon + 1,
tm.tm_mday,
tm.tm_hour,
tm.tm_min,
tm.tm_sec,
rel_steer,
des_steer,
lead_dist
);
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, rect_x + sidebar_offset, rect_y, rect_w, rect_h, 15);
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 100));
@@ -1695,15 +1740,19 @@ static void ui_draw_vision_footer(UIState *s) {
nvgBeginPath(s->vg);
nvgRect(s->vg, ui_viz_rx, footer_y, ui_viz_rw, footer_h);
//ui_draw_vision_face(s);
if (s->dragon_ui_face) {
ui_draw_vision_face(s);
}
#ifdef SHOW_SPEEDLIMIT
ui_draw_vision_map(s);
#endif
if (s->dragon_bbui) {
if (s->dragon_ui_dev) {
ui_draw_bbui(s);
}
ui_draw_infobar(s);
if (s->dragon_ui_dev_mini || s->dragon_enable_dashcam) {
ui_draw_infobar(s);
}
}
static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
@@ -2603,7 +2652,13 @@ int main(int argc, char* argv[]) {
read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
read_param_float_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
read_param_bool_timeout(&s->dragon_bbui, "DragonBBUI", &s->dragon_bbui_timeout);
// dragonpilot
read_param_bool_timeout(&s->dragon_ui_event, "DragonUIEvent", &s->dragon_ui_event_timeout);
read_param_bool_timeout(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed", &s->dragon_ui_maxspeed_timeout);
read_param_bool_timeout(&s->dragon_ui_face, "DragonUIFace", &s->dragon_ui_face_timeout);
read_param_bool_timeout(&s->dragon_ui_dev, "DragonUIDev", &s->dragon_ui_dev_timeout);
read_param_bool_timeout(&s->dragon_ui_dev_mini, "DragonUIDevMini", &s->dragon_ui_dev_mini_timeout);
read_param_bool_timeout(&s->dragon_enable_dashcam, "DragonEnableDashcam", &s->dragon_enable_dashcam_timeout);
pthread_mutex_unlock(&s->lock);