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ui: more speed limit improvements (#1278)

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* ui: more speed limit improvements

- show speed limit offset with last valid speed limit
- show last valid speed limit if current speed limit is not valid

* rename

* round it

* update logic

* in its own var and 5 frames now

* new offset vals

* slightly more

* apply suggestions
This commit is contained in:
Jason Wen
2025-09-22 19:50:59 -04:00
committed by GitHub
parent b64d5a0fa4
commit 01a0ad496d
2 changed files with 30 additions and 13 deletions
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selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+25 -13
View File
@@ -31,6 +31,8 @@ void HudRendererSP::updateState(const UIState &s) {
float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
speedLimitValid = speedLimit > 0;
speedLimitLastValid = speedLimitLast > 0;
speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
roadName = s.scene.road_name;
if (sm.updated("liveMapDataSP")) {
@@ -38,7 +40,7 @@ void HudRendererSP::updateState(const UIState &s) {
speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
speedLimitAhead = lmd.getSpeedLimitAhead() * speedConv;
speedLimitAheadDistance = lmd.getSpeedLimitAheadDistance();
if (speedLimitAheadDistance < speedLimitAheadDistancePrev && speedLimitAheadValidFrame < 2) {
if (speedLimitAheadDistance < speedLimitAheadDistancePrev && speedLimitAheadValidFrame < SPEED_LIMIT_AHEAD_VALID_FRAME_THRESHOLD) {
speedLimitAheadValidFrame++;
} else if (speedLimitAheadDistance > speedLimitAheadDistancePrev && speedLimitAheadValidFrame > 0) {
speedLimitAheadValidFrame--;
@@ -46,6 +48,10 @@ void HudRendererSP::updateState(const UIState &s) {
}
speedLimitAheadDistancePrev = speedLimitAheadDistance;
if (speedLimitValid) {
speedLimitLast = speedLimit;
}
static int reverse_delay = 0;
bool reverse_allowed = false;
if (int(car_state.getGearShifter()) != 4) {
@@ -333,17 +339,22 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
}
void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
bool speedLimitValid = speedLimit > 0;
int speedLimitRounded = std::nearbyint(speedLimit);
int speedLimitFinalRounded = std::nearbyint(speedLimit + speedLimitOffset);
bool overspeed = speedLimitFinalRounded < std::nearbyint(speed) && speedLimitRounded > 0;
bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
QString speedLimitStr = speedLimitValid ? QString::number(speedLimitRounded) : "---";
bool hasSpeedLimit = speedLimitValid || speedLimitLastValid;
int speedLimitFinal = std::nearbyint(speedLimitValid ? speedLimit : speedLimitLast);
int speedLimitOffsetFinal = speedLimitFinal + std::nearbyint(speedLimitOffset);
bool overspeed = hasSpeedLimit && speedLimitOffsetFinal < std::nearbyint(speed);
bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING; // TODO-SP: update to include SpeedLimitMode::ASSIST
QString speedLimitStr = hasSpeedLimit ? QString::number(speedLimitFinal) : "---";
// Offset display text
QString speedLimitSubText = "";
if (speedLimitOffset != 0) {
speedLimitSubText = (speedLimitOffset > 0 ? "+" : "-") + QString::number(std::nearbyint(speedLimitOffset));
speedLimitSubText = (speedLimitOffset > 0 ? "" : "-") + QString::number(std::nearbyint(speedLimitOffset));
}
float speedLimitSubTextFactor = is_metric ? 0.5 : 0.6;
if (speedLimitSubText.size() >= 3) {
speedLimitSubTextFactor = 0.475;
}
// Position next to MAX speed box
@@ -355,7 +366,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
int alpha = 255;
QColor red_color = QColor(255, 0, 0, alpha);
QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color : QColor(0, 0, 0, alpha);
QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color :
(!speedLimitValid && speedLimitLastValid ? QColor(0x91, 0x9b, 0x95, 0xf1) : QColor(0, 0, 0, alpha));
if (is_metric) {
// EU Vienna Convention style circular sign
@@ -394,7 +406,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
// Offset value in small circular box
if (!speedLimitSubText.isEmpty() && speedLimitValid) {
if (!speedLimitSubText.isEmpty() && hasSpeedLimit) {
int offset_circle_size = circle_size * 0.4;
int overlap = offset_circle_size * 0.25;
QRect offset_circle_rect(
@@ -408,7 +420,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
p.setBrush(QColor(0, 0, 0, alpha));
p.drawEllipse(offset_circle_rect);
p.setFont(InterFont(offset_circle_size * 0.45, QFont::Bold));
p.setFont(InterFont(offset_circle_size * speedLimitSubTextFactor, QFont::Bold));
p.setPen(QColor(255, 255, 255, alpha));
p.drawText(offset_circle_rect, Qt::AlignCenter, speedLimitSubText);
}
@@ -439,7 +451,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
// Offset value in small box
if (!speedLimitSubText.isEmpty() && speedLimitValid) {
if (!speedLimitSubText.isEmpty() && hasSpeedLimit) {
int offset_box_size = sign_rect.width() * 0.4;
int overlap = offset_box_size * 0.25;
QRect offset_box_rect(
@@ -454,7 +466,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
p.setBrush(QColor(0, 0, 0, alpha));
p.drawRoundedRect(offset_box_rect, corner_radius, corner_radius);
p.setFont(InterFont(offset_box_size * 0.45, QFont::Bold));
p.setFont(InterFont(offset_box_size * speedLimitSubTextFactor, QFont::Bold));
p.setPen(QColor(255, 255, 255, alpha));
p.drawText(offset_box_rect, Qt::AlignCenter, speedLimitSubText);
}
selfdrive/ui/sunnypilot/qt/onroad/hud.h
+5
View File
@@ -11,6 +11,8 @@
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
constexpr int SPEED_LIMIT_AHEAD_VALID_FRAME_THRESHOLD = 5;
class HudRendererSP : public HudRenderer {
Q_OBJECT
@@ -68,7 +70,10 @@ private:
bool smartCruiseControlVisionActive;
int smartCruiseControlVisionFrame;
float speedLimit;
float speedLimitLast;
float speedLimitOffset;
bool speedLimitValid;
bool speedLimitLastValid;
bool speedLimitAheadValid;
float speedLimitAhead;
float speedLimitAheadDistance;