ui: refactor hud updating and rendering into HudRenderer class (#33458)

refactor hud updating and rendering into DriverMonitorRenderer class

selfdrive/ui/SConscript

@@ -31,7 +31,7 @@ qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
-          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc"]
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -6,7 +6,6 @@
 #include <cmath>
 
 #include "common/swaglog.h"
-#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/util.h"
 
 // Window that shows camera view and variety of info drawn on top
@@ -23,98 +22,11 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *par
 }
 
 void AnnotatedCameraWidget::updateState(const UIState &s) {
-  const int SET_SPEED_NA = 255;
-  const SubMaster &sm = *(s.sm);
-
-  const bool cs_alive = sm.alive("carState");
-  const auto cs = sm["controlsState"].getControlsState();
-  const auto car_state = sm["carState"].getCarState();
-
-  is_metric = s.scene.is_metric;
-
-  // Handle older routes where vCruise was in controlsState
-  float v_cruise = car_state.getVCruiseCluster() == 0.0 ? cs.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
-  setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
-  is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
-  if (is_cruise_set && !is_metric) {
-    setSpeed *= KM_TO_MILE;
-  }
-
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
-
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
-  status = s.status;
-
   // update engageability/experimental mode button
   experimental_btn->updateState(s);
-
-  // update DM icon
   dmon.updateState(s);
 }
 
-void AnnotatedCameraWidget::drawHud(QPainter &p) {
-  p.save();
-
-  // Header gradient
-  QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
-  bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
-  bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
-  p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
-
-  QString speedStr = QString::number(std::nearbyint(speed));
-  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
-
-  // Draw outer box + border to contain set speed
-  const QSize default_size = {172, 204};
-  QSize set_speed_size = default_size;
-  if (is_metric) set_speed_size.rwidth() = 200;
-
-  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-  p.setPen(QPen(whiteColor(75), 6));
-  p.setBrush(blackColor(166));
-  p.drawRoundedRect(set_speed_rect, 32, 32);
-
-  // Draw MAX
-  QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
-  QColor set_speed_color = whiteColor();
-  if (is_cruise_set) {
-    if (status == STATUS_DISENGAGED) {
-      max_color = whiteColor();
-    } else if (status == STATUS_OVERRIDE) {
-      max_color = QColor(0x91, 0x9b, 0x95, 0xff);
-    }
-  } else {
-    max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
-    set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
-  }
-  p.setFont(InterFont(40, QFont::DemiBold));
-  p.setPen(max_color);
-  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
-  p.setFont(InterFont(90, QFont::Bold));
-  p.setPen(set_speed_color);
-  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
-
-  // current speed
-  p.setFont(InterFont(176, QFont::Bold));
-  drawText(p, rect().center().x(), 210, speedStr);
-  p.setFont(InterFont(66));
-  drawText(p, rect().center().x(), 290, speedUnit, 200);
-
-  p.restore();
-}
-
-void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-
-  p.setPen(QColor(0xff, 0xff, 0xff, alpha));
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
-
 void AnnotatedCameraWidget::initializeGL() {
   CameraWidget::initializeGL();
   qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
@@ -333,8 +245,8 @@ void AnnotatedCameraWidget::paintGL() {
   }
 
   dmon.draw(painter, rect());
-
-  drawHud(painter);
+  hud.updateState(*s);
+  hud.draw(painter, rect());
 
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -2,7 +2,7 @@
 
 #include <QVBoxLayout>
 #include <memory>
-
+#include "selfdrive/ui/qt/onroad/hud.h"
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
@@ -15,18 +15,10 @@ public:
   void updateState(const UIState &s);
 
 private:
-  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
-
   QVBoxLayout *main_layout;
   ExperimentalButton *experimental_btn;
   DriverMonitorRenderer dmon;
-  float speed;
-  QString speedUnit;
-  float setSpeed;
-  bool is_cruise_set = false;
-  bool is_metric = false;
-  bool v_ego_cluster_seen = false;
-  int status = STATUS_DISENGAGED;
+  HudRenderer hud;
   std::unique_ptr<PubMaster> pm;
 
   int skip_frame_count = 0;
@@ -39,10 +31,7 @@ protected:
   mat4 calcFrameMatrix() override;
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
-  void drawHud(QPainter &p);
   inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
-  inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
-  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;

selfdrive/ui/qt/onroad/hud.cc

@@ -0,0 +1,109 @@
+#include "selfdrive/ui/qt/onroad/hud.h"
+
+#include <cmath>
+
+#include "selfdrive/ui/qt/util.h"
+
+constexpr int SET_SPEED_NA = 255;
+
+HudRenderer::HudRenderer() {}
+
+void HudRenderer::updateState(const UIState &s) {
+  is_metric = s.scene.is_metric;
+  status = s.status;
+
+  const SubMaster &sm = *(s.sm);
+  if (!sm.alive("carState")) {
+    is_cruise_set = false;
+    set_speed = SET_SPEED_NA;
+    speed = 0.0;
+    return;
+  }
+
+  const auto &controls_state = sm["controlsState"].getControlsState();
+  const auto &car_state = sm["carState"].getCarState();
+
+  // Handle older routes where vCruiseCluster is not set
+  set_speed = car_state.getVCruiseCluster() == 0.0 ? controls_state.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
+  is_cruise_set = set_speed > 0 && set_speed != SET_SPEED_NA;
+
+  if (is_cruise_set && !is_metric) {
+    set_speed *= KM_TO_MILE;
+  }
+
+  // Handle older routes where vEgoCluster is not set
+  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
+  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
+}
+
+void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
+  p.save();
+
+  // Draw header gradient
+  QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
+  bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
+  bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
+  p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
+
+
+  drawSetSpeed(p, surface_rect);
+  drawCurrentSpeed(p, surface_rect);
+
+  p.restore();
+}
+
+void HudRenderer::drawSetSpeed(QPainter &p, const QRect &surface_rect) {
+  // Draw outer box + border to contain set speed
+  const QSize default_size = {172, 204};
+  QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
+  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
+
+  // Draw set speed box
+  p.setPen(QPen(QColor(255, 255, 255, 75), 6));
+  p.setBrush(QColor(0, 0, 0, 166));
+  p.drawRoundedRect(set_speed_rect, 32, 32);
+
+  // Colors based on status
+  QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
+  QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
+  if (is_cruise_set) {
+    if (status == STATUS_DISENGAGED) {
+      max_color = QColor(255, 255, 255);
+    } else if (status == STATUS_OVERRIDE) {
+      max_color = QColor(0x91, 0x9b, 0x95, 0xff);
+    } else {
+      max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
+      set_speed_color = QColor(255, 255, 255);
+    }
+  }
+
+  // Draw "MAX" text
+  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setPen(max_color);
+  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
+
+  // Draw set speed
+  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
+  p.setFont(InterFont(90, QFont::Bold));
+  p.setPen(set_speed_color);
+  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+}
+
+void HudRenderer::drawCurrentSpeed(QPainter &p, const QRect &surface_rect) {
+  QString speedStr = QString::number(std::nearbyint(speed));
+
+  p.setFont(InterFont(176, QFont::Bold));
+  drawText(p, surface_rect.center().x(), 210, speedStr);
+
+  p.setFont(InterFont(66));
+  drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
+}
+
+void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+
+  p.setPen(QColor(0xff, 0xff, 0xff, alpha));
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}

selfdrive/ui/qt/onroad/hud.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <QPainter>
+#include "selfdrive/ui/ui.h"
+
+class HudRenderer : public QObject {
+public:
+  HudRenderer();
+  void updateState(const UIState &s);
+  void draw(QPainter &p, const QRect &surface_rect);
+
+private:
+  void drawSetSpeed(QPainter &p, const QRect &surface_rect);
+  void drawCurrentSpeed(QPainter &p, const QRect &surface_rect);
+  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
+
+  float speed = 0;
+  float set_speed = 0;
+  bool is_cruise_set = false;
+  bool is_metric = false;
+  bool v_ego_cluster_seen = false;
+  int status = STATUS_DISENGAGED;
+};

selfdrive/ui/translations/main_ar.ts

@@ -87,21 +87,6 @@
         <translation>من أجل &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>كم/س</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>ميل/س</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>تشغيل وضع الراحة</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>كم/س</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>ميل/س</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_de.ts

@@ -87,21 +87,6 @@
         <translation type="unfinished">für &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>ENTSPANNTER MODUS AN</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_es.ts

@@ -87,21 +87,6 @@
         <translation>para &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>MODO CHILL</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_fr.ts

@@ -87,21 +87,6 @@
         <translation>pour &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mi/h</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>MODE DÉTENTE ACTIVÉ</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mi/h</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_ja.ts

@@ -87,21 +87,6 @@
         <translation type="unfinished">ﾈｯﾄﾜｰｸ名：%1</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高速度</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>チルモード</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高速度</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_ko.ts

@@ -87,21 +87,6 @@
         <translation>&quot;%1&quot;에 접속하려면 비밀번호가 필요합니다</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>안정 모드 사용</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_pt-BR.ts

@@ -87,21 +87,6 @@
         <translation>para &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>LIMITE</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>MODO CHILL ON</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>LIMITE</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_th.ts

@@ -87,21 +87,6 @@
         <translation>สำหรับ &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>กม./ชม.</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>ไมล์/ชม.</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>สูงสุด</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>คุณกำลังใช้โหมดชิล</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>กม./ชม.</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>ไมล์/ชม.</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>สูงสุด</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_tr.ts

@@ -87,21 +87,6 @@
         <translation type="unfinished">için &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation type="unfinished">km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation type="unfinished">mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation type="unfinished">MAX</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -87,21 +87,6 @@
         <translation>网络名称：&quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高定速</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>轻松模式运行</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高定速</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -87,21 +87,6 @@
         <translation>給 &quot;%1&quot;</translation>
     </message>
 </context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高</translation>
-    </message>
-</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -289,6 +274,21 @@
         <translation>輕鬆模式 ON</translation>
     </message>
 </context>
+<context>
+    <name>HudRenderer</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>