加入 minimal UI

selfdrive/ui/ui.c

@@ -35,6 +35,7 @@
 
 #include "cereal/gen/c/log.capnp.h"
 #include "slplay.h"
+#include <time.h>
 
 #define STATUS_STOPPED 0
 #define STATUS_DISENGAGED 1
@@ -164,6 +165,11 @@ typedef struct UIScene {
   bool gps_planner_active;
 
   bool is_playing_alert;
+
+  // for minimal UI
+  float angleSteersDes;
+  float angleSteers;
+
 } UIScene;
 
 typedef struct {
@@ -1411,13 +1417,76 @@ 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);
+  //ui_draw_vision_maxspeed(s);
 
 #ifdef SHOW_SPEEDLIMIT
   ui_draw_vision_speedlimit(s);
 #endif
   ui_draw_vision_speed(s);
-  ui_draw_vision_event(s);
+  //ui_draw_vision_event(s);
+}
+
+static void ui_draw_infobar(UIState *s) {
+  // timestamp from pjlao307 dashcam (https://github.com/pjlao307)
+  int rect_w = 1440; // 1920 * 0.75
+  int rect_h = 50;
+  int rect_x = (1920-rect_w)/2;
+  int rect_y = (1080-rect_h-50);
+  int sidebar_offset = 0;
+  bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
+  if (hasSidebar) {
+    sidebar_offset = 100;
+  }
+
+
+  // Get local time to display
+  char infobar[68];
+  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));
+
+  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), "%6s", "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), "%6s", "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));
+  nvgFill(s->vg);
+
+  nvgFontSize(s->vg, 40);
+  nvgFontFace(s->vg, "courbd");
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 175));
+  nvgText(s->vg, rect_x + 720 + sidebar_offset, rect_y + 35, infobar, NULL);
 }
 
 static void ui_draw_vision_footer(UIState *s) {
@@ -1428,11 +1497,12 @@ 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);
+  //ui_draw_vision_face(s);
 
 #ifdef SHOW_SPEEDLIMIT
   ui_draw_vision_map(s);
 #endif
+  ui_draw_infobar(s);
 }
 
 static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
@@ -1849,6 +1919,9 @@ static void ui_update(UIState *s) {
         s->scene.v_curvature = datad.vCurvature;
         s->scene.decel_for_turn = datad.decelForTurn;
 
+        s->scene.angleSteers = datad.angleSteers;
+        s->scene.angleSteersDes = datad.angleSteersDes;
+
         if (datad.alertSound.str && datad.alertSound.str[0] != '\0' && strcmp(s->alert_type, datad.alertType.str) != 0) {
           char* error = NULL;
           if (s->alert_sound[0] != '\0') {
@@ -2348,4 +2421,4 @@ int main(int argc, char* argv[]) {
   assert(err == 0);
 
   return 0;
-}
+}