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Merge branch 'devel-en' into devel-zht

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dragonpilot
2019-09-19 16:40:23 +10:00
parent 382b1ab9a9 d5aba9035b
commit c52b6aba74
5 changed files with 137 additions and 15 deletions
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README.md
+1
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@@ -79,6 +79,7 @@ Supported Cars
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Fit 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Passport 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
selfdrive/common/spinner.c
+113
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@@ -0,0 +1,113 @@
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <unistd.h>
#include <assert.h>
#include <GLES3/gl3.h>
#include <EGL/egl.h>
#include <EGL/eglext.h>
#include "nanovg.h"
#define NANOVG_GLES3_IMPLEMENTATION
#include "nanovg_gl.h"
#include "nanovg_gl_utils.h"
#include "framebuffer.h"
#include "spinner.h"
// external resources linked in
extern const unsigned char _binary_opensans_semibold_ttf_start[];
extern const unsigned char _binary_opensans_semibold_ttf_end[];
extern const unsigned char _binary_img_spinner_track_png_start[];
extern const unsigned char _binary_img_spinner_track_png_end[];
extern const unsigned char _binary_img_spinner_comma_png_start[];
extern const unsigned char _binary_img_spinner_comma_png_end[];
int spin(int argc, char** argv) {
int err;
const char* spintext = NULL;
if (argc == 1) {
spintext = argv[0];
} else if (argc >= 2) {
spintext = argv[1];
}
// spinner
int fb_w, fb_h;
EGLDisplay display;
EGLSurface surface;
FramebufferState *fb = framebuffer_init("spinner", 0x00001000, false,
&display, &surface, &fb_w, &fb_h);
assert(fb);
NVGcontext *vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES);
assert(vg);
int font = nvgCreateFontMem(vg, "Bold", (unsigned char*)_binary_opensans_semibold_ttf_start, _binary_opensans_semibold_ttf_end-_binary_opensans_semibold_ttf_start, 0);
assert(font >= 0);
int spinner_img = nvgCreateImageMem(vg, 0, (unsigned char*)_binary_img_spinner_track_png_start, _binary_img_spinner_track_png_end - _binary_img_spinner_track_png_start);
assert(spinner_img >= 0);
int spinner_img_s = 360;
int spinner_img_x = ((fb_w/2)-(spinner_img_s/2));
int spinner_img_y = 260;
int spinner_img_xc = (fb_w/2);
int spinner_img_yc = (fb_h/2)-100;
int spinner_comma_img = nvgCreateImageMem(vg, 0, (unsigned char*)_binary_img_spinner_comma_png_start, _binary_img_spinner_comma_png_end - _binary_img_spinner_comma_png_start);
assert(spinner_comma_img >= 0);
for (int cnt = 0; ; cnt++) {
glClearColor(0.1, 0.1, 0.1, 1.0);
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
// background
nvgBeginPath(vg);
NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
nvgRGBA(0, 0, 0, 175), nvgRGBA(0, 0, 0, 255));
nvgFillPaint(vg, bg);
nvgRect(vg, 0, 0, fb_w, fb_h);
nvgFill(vg);
// spin track
nvgSave(vg);
nvgTranslate(vg, spinner_img_xc, spinner_img_yc);
nvgRotate(vg, (3.75*M_PI * cnt/120.0));
nvgTranslate(vg, -spinner_img_xc, -spinner_img_yc);
NVGpaint spinner_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
spinner_img_s, spinner_img_s, 0, spinner_img, 0.6f);
nvgBeginPath(vg);
nvgFillPaint(vg, spinner_imgPaint);
nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
nvgFill(vg);
nvgRestore(vg);
// comma
NVGpaint comma_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
spinner_img_s, spinner_img_s, 0, spinner_comma_img, 1.0f);
nvgBeginPath(vg);
nvgFillPaint(vg, comma_imgPaint);
nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
nvgFill(vg);
// message
if (spintext) {
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
nvgFontSize(vg, 96.0f);
nvgText(vg, fb_w/2, (fb_h*2/3)+24, spintext, NULL);
}
nvgEndFrame(vg);
eglSwapBuffers(display, surface);
assert(glGetError() == GL_NO_ERROR);
}
return 0;
}
selfdrive/common/spinner.h
+14
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@@ -0,0 +1,14 @@
#ifndef COMMON_SPINNER_H
#define COMMON_SPINNER_H
#ifdef __cplusplus
extern "C" {
#endif
int spin(int argc, char** argv);
#ifdef __cplusplus
}
#endif
#endif
selfdrive/dragonpilot/appd/appd.py
+8 -14
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@@ -29,7 +29,6 @@ def main(gctx=None):
dragon_enable_mixplorer = True if params.get('DragonEnableMixplorer') == "1" else False
dragon_boot_tomtom = True if params.get("DragonBootTomTom") == "1" else False
dragon_boot_autonavi = True if params.get("DragonBootAutonavi") == "1" else False
dragon_greypanda_mode = True if params.get('DragonGreyPandaMode') == "1" else False
tomtom_is_running = False
autonavi_is_running = False
mixplorer_is_running = False
@@ -40,46 +39,40 @@ def main(gctx=None):
frame = 0
start_delay = None
stop_delay = None
high_accuracy_mode_enabled = False
put_nonblocking('DragonRunTomTom', '0')
put_nonblocking('DragonRunAutonavi', '0')
put_nonblocking('DragonRunMixplorer', '0')
# we want to disable all app when boot
system("pm disable %s ; pm disable %s ; pm disable %s" % (tomtom, autonavi, mixplorer))
system("pm disable %s" % tomtom)
system("pm disable %s" % autonavi)
system("pm disable %s" % mixplorer)
thermal_sock = messaging.sub_sock(service_list['thermal'].port)
while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_mixplorer:
if (dragon_enable_tomtom or dragon_enable_autonavi) and not high_accuracy_mode_enabled:
if dragon_greypanda_mode:
system("settings put secure location_providers_allowed -gps,network,wifi")
system("settings put secure location_providers_allowed +gps")
else:
system("settings put secure location_providers_allowed +gps,network,wifi")
high_accuracy_mode_enabled = True
# allow user to manually start/stop app
if dragon_enable_tomtom:
status = params.get('DragonRunTomTom')
if not status == "0":
tomtom_is_running = exec_app(status, tomtom, tomtom_main)
put_nonblocking('DragonRunTomTom', '0')
params.put('DragonRunTomTom', '0')
manual_tomtom = status != "0"
if dragon_enable_autonavi:
status = params.get('DragonRunAutonavi')
if not status == "0":
autonavi_is_running = exec_app(status, autonavi, autonavi_main)
put_nonblocking('DragonRunAutonavi', '0')
params.put('DragonRunAutonavi', '0')
manual_autonavi = status != "0"
if dragon_enable_mixplorer:
status = params.get('DragonRunMixplorer')
if not status == "0":
mixplorer_is_running = exec_app(status, mixplorer, mixplorer_main)
put_nonblocking('DragonRunMixplorer', '0')
params.put('DragonRunMixplorer', '0')
# if manual control is set, we do not allow any of the auto actions
auto_tomtom = not manual_tomtom and dragon_enable_tomtom and dragon_boot_tomtom
@@ -142,7 +135,8 @@ def main(gctx=None):
def exec_app(status, app, app_main):
if status == "1":
system("pm enable %s && am start -n %s/%s" % (app, app, app_main))
system("pm enable %s" % app)
system("am start -n %s/%s" % (app, app_main))
return True
if status == "-1":
system("pm disable %s" % app)
selfdrive/ui/ui.c
+1 -1
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@@ -1525,7 +1525,7 @@ static void ui_draw_infobar(UIState *s) {
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, rect_x, rect_y, rect_w, rect_h, 15);
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 100));
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 150));
nvgFill(s->vg);
nvgFontSize(s->vg, hasSidebar? 40:50);