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bbui mod

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This commit is contained in:
Rick Lan
2019-07-25 17:27:58 +10:00
parent e8af5d6364
commit fbc243aa94
3 changed files with 179 additions and 1 deletions
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common/params.py
+1
View File
@@ -88,6 +88,7 @@ keys = {
"DragonCachedModel": [TxType.PERSISTENT],
"DragonCachedFP": [TxType.PERSISTENT],
"DragonCachedVIN": [TxType.PERSISTENT],
"DragonBBUI": [TxType.PERSISTENT],
}
selfdrive/dragonpilot/dragonconf/__init__.py
+1
View File
@@ -16,6 +16,7 @@ default_conf = {
'DragonCachedModel': '', # for cache car
'DragonCachedFP': '', # for cache car
'DragonCachedVIN': '', # for cache car
'DragonBBUI': '0',
}
def dragonpilot_set_params(params):
selfdrive/ui/ui.c
+177 -1
View File
@@ -266,11 +266,13 @@ 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];
@@ -662,11 +664,14 @@ 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");
// 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;
}
static void ui_draw_transformed_box(UIState *s, uint32_t color) {
@@ -1490,6 +1495,173 @@ static void ui_draw_infobar(UIState *s) {
nvgText(s->vg, rect_x + 720 + sidebar_offset, rect_y + 35, infobar, NULL);
}
static void bb_ui_draw_measures_left(UIState *s, int bb_x, int bb_y, int bb_w ) {
const UIScene *scene = &s->scene;
int bb_rx = bb_x + (int)(bb_w/2);
int bb_ry = bb_y;
int bb_h = 5;
NVGcolor lab_color = nvgRGBA(255, 255, 255, 200);
NVGcolor uom_color = nvgRGBA(255, 255, 255, 200);
int value_fontSize=30;
int label_fontSize=15;
int uom_fontSize = 15;
int bb_uom_dx = (int)(bb_w /2 - uom_fontSize*2.5) ;
//add visual radar relative distance
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
if (scene->lead_status) {
//show RED if less than 5 meters
//show orange if less than 15 meters
if((int)(scene->lead_d_rel) < 15) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if((int)(scene->lead_d_rel) < 5) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// lead car relative distance is always in meters
snprintf(val_str, sizeof(val_str), "%d", (int)scene->lead_d_rel);
} else {
snprintf(val_str, sizeof(val_str), "-");
}
snprintf(uom_str, sizeof(uom_str), "m ");
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "REL DIST",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}
//add visual radar relative speed
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
if (scene->lead_status) {
//show Orange if negative speed (approaching)
//show Orange if negative speed faster than 5mph (approaching fast)
if((int)(scene->lead_v_rel) < 0) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if((int)(scene->lead_v_rel) < -5) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// lead car relative speed is always in meters
if (s->is_metric) {
snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 3.6 + 0.5));
} else {
snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 2.2374144 + 0.5));
}
} else {
snprintf(val_str, sizeof(val_str), "-");
}
if (s->is_metric) {
snprintf(uom_str, sizeof(uom_str), "km/h");;
} else {
snprintf(uom_str, sizeof(uom_str), "mph");
}
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "REL SPEED",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}
//finally draw the frame
bb_h += 20;
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
nvgStrokeWidth(s->vg, 6);
nvgStroke(s->vg);
}
static void bb_ui_draw_measures_right(UIState *s, int bb_x, int bb_y, int bb_w ) {
const UIScene *scene = &s->scene;
int bb_rx = bb_x + (int)(bb_w/2);
int bb_ry = bb_y;
int bb_h = 5;
NVGcolor lab_color = nvgRGBA(255, 255, 255, 200);
NVGcolor uom_color = nvgRGBA(255, 255, 255, 200);
int value_fontSize=30;
int label_fontSize=15;
int uom_fontSize = 15;
int bb_uom_dx = (int)(bb_w /2 - uom_fontSize*2.5) ;
//add steering angle
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
//show Orange if more than 6 degrees
//show red if more than 12 degrees
if(((int)(scene->angleSteers) < -6) || ((int)(scene->angleSteers) > 6)) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if(((int)(scene->angleSteers) < -12) || ((int)(scene->angleSteers) > 12)) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// steering is in degrees
snprintf(val_str, sizeof(val_str), "%.0f°",(scene->angleSteers));
snprintf(uom_str, sizeof(uom_str), "");
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "REAL STEER",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}
//add desired steering angle
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
//show Orange if more than 6 degrees
//show red if more than 12 degrees
if(((int)(scene->angleSteersDes) < -6) || ((int)(scene->angleSteersDes) > 6)) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if(((int)(scene->angleSteersDes) < -12) || ((int)(scene->angleSteersDes) > 12)) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// steering is in degrees
snprintf(val_str, sizeof(val_str), "%.0f°",(scene->angleSteersDes));
snprintf(uom_str, sizeof(uom_str), "");
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "DESIR STEER",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}
//finally draw the frame
bb_h += 20;
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
nvgStrokeWidth(s->vg, 6);
nvgStroke(s->vg);
}
static void ui_draw_bbui(UIState *s) {
const UIScene *scene = &s->scene;
const int bb_dml_w = 180;
const int bb_dml_x = (scene->ui_viz_rx + (bdr_is * 2));
const int bb_dml_y = (box_y + (bdr_is * 1.5)) + 220;
const int bb_dmr_w = 180;
const int bb_dmr_x = scene->ui_viz_rx + scene->ui_viz_rw - bb_dmr_w - (bdr_is * 2);
const int bb_dmr_y = (box_y + (bdr_is * 1.5)) + 220;
bb_ui_draw_measures_right(s, bb_dml_x, bb_dml_y, bb_dml_w);
bb_ui_draw_measures_left(s, bb_dmr_x, bb_dmr_y, bb_dmr_w);
}
static void ui_draw_vision_footer(UIState *s) {
const UIScene *scene = &s->scene;
int ui_viz_rx = scene->ui_viz_rx;
@@ -1503,7 +1675,11 @@ static void ui_draw_vision_footer(UIState *s) {
#ifdef SHOW_SPEEDLIMIT
ui_draw_vision_map(s);
#endif
ui_draw_infobar(s);
if (&s->dragon_bbui) {
ui_draw_bbui(s);
} else {
ui_draw_infobar(s);
}
}
static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,