diff --git a/README.md b/README.md index 23c81e430..7db3d306c 100644 --- a/README.md +++ b/README.md @@ -79,6 +79,7 @@ Supported Cars | Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph1| 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 | 25mph1| 12mph | Inverted Nidec | | Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph1| 0mph | Inverted Nidec | | Honda | Passport 2019 | All | Yes | Yes | 25mph1| 12mph | Inverted Nidec | | Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Nidec | diff --git a/selfdrive/common/spinner.c b/selfdrive/common/spinner.c new file mode 100644 index 000000000..c8bfde8c7 --- /dev/null +++ b/selfdrive/common/spinner.c @@ -0,0 +1,113 @@ +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#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; +} diff --git a/selfdrive/common/spinner.h b/selfdrive/common/spinner.h new file mode 100644 index 000000000..fd35dcc7d --- /dev/null +++ b/selfdrive/common/spinner.h @@ -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 diff --git a/selfdrive/dragonpilot/appd/appd.py b/selfdrive/dragonpilot/appd/appd.py index c19690903..03cc3bf81 100644 --- a/selfdrive/dragonpilot/appd/appd.py +++ b/selfdrive/dragonpilot/appd/appd.py @@ -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) diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c index e38007f6b..ad064faa6 100644 --- a/selfdrive/ui/ui.c +++ b/selfdrive/ui/ui.c @@ -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);