mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-09-14 19:43:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

ui: V-TSC: Update at 20 Hz

Browse Source
This commit is contained in:
Jason Wen
2024-05-31 22:58:01 +00:00
parent 37223889e2
commit 0166f21568
1 changed files with 52 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/qt/onroad/annotated_camera.cc
+52 -54
View File
@@ -262,67 +262,65 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
speedLimitControlToggle = s.scene.speed_limit_control_enabled;
if (sm.frame % (UI_FREQ / 2) == 0) {
const auto vtcState = lp_sp.getVisionTurnControllerState();
const float vtc_speed = lp_sp.getVisionTurnSpeed() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const auto lpSoruce = lp_sp.getLongitudinalPlanSource();
QColor vtc_color = tcs_colors[int(vtcState)];
vtc_color.setAlpha(lpSoruce == cereal::LongitudinalPlanSP::LongitudinalPlanSource::TURN ? 255 : 100);
const auto vtcState = lp_sp.getVisionTurnControllerState();
const float vtc_speed = lp_sp.getVisionTurnSpeed() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const auto lpSoruce = lp_sp.getLongitudinalPlanSource();
QColor vtc_color = tcs_colors[int(vtcState)];
vtc_color.setAlpha(lpSoruce == cereal::LongitudinalPlanSP::LongitudinalPlanSource::TURN ? 255 : 100);
showVTC = vtcState > cereal::LongitudinalPlanSP::VisionTurnControllerState::DISABLED;
vtcSpeed = QString::number(std::nearbyint(vtc_speed));
vtcColor = vtc_color;
showDebugUI = s.scene.show_debug_ui;
showVTC = vtcState > cereal::LongitudinalPlanSP::VisionTurnControllerState::DISABLED;
vtcSpeed = QString::number(std::nearbyint(vtc_speed));
vtcColor = vtc_color;
showDebugUI = s.scene.show_debug_ui;
const auto lmd_sp = sm["liveMapDataSP"].getLiveMapDataSP();
const auto lmd_sp = sm["liveMapDataSP"].getLiveMapDataSP();
const auto data_type = int(lmd_sp.getDataType());
const QString data_type_draw(data_type == 2 ? "🌐 " : "");
roadName = QString::fromStdString(lmd_sp.getCurrentRoadName());
roadName = !roadName.isEmpty() ? data_type_draw + roadName : "";
const auto data_type = int(lmd_sp.getDataType());
const QString data_type_draw(data_type == 2 ? "🌐 " : "");
roadName = QString::fromStdString(lmd_sp.getCurrentRoadName());
roadName = !roadName.isEmpty() ? data_type_draw + roadName : "";
float speed_limit_slc = lp_sp.getSpeedLimit() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const float speed_limit_offset = lp_sp.getSpeedLimitOffset() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const bool sl_force_active = speedLimitControlToggle &&
seconds_since_boot() < s.scene.last_speed_limit_sign_tap + 2.0;
const bool sl_inactive = !sl_force_active && (!speedLimitControlToggle ||
slcState == cereal::LongitudinalPlanSP::SpeedLimitControlState::INACTIVE);
const bool sl_temp_inactive = !sl_force_active && (speedLimitControlToggle &&
slcState == cereal::LongitudinalPlanSP::SpeedLimitControlState::TEMP_INACTIVE);
const bool sl_pre_active = !sl_force_active && (speedLimitControlToggle &&
slcState == cereal::LongitudinalPlanSP::SpeedLimitControlState::PRE_ACTIVE);
const int sl_distance = int(lp_sp.getDistToSpeedLimit() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH) / 10.0) * 10;
const QString sl_distance_str(QString::number(sl_distance) + (s.scene.is_metric ? "m" : "f"));
const QString sl_offset_str(speed_limit_offset > 0.0 ? speed_limit_offset < 0.0 ?
"-" + QString::number(std::nearbyint(std::abs(speed_limit_offset))) :
"+" + QString::number(std::nearbyint(speed_limit_offset)) : "");
const QString sl_inactive_str(sl_temp_inactive && s.scene.speed_limit_control_engage_type == 0 ? "TEMP" : "");
const QString sl_substring(sl_inactive || sl_temp_inactive || sl_pre_active ? sl_inactive_str :
sl_distance > 0 ? sl_distance_str : sl_offset_str);
float speed_limit_slc = lp_sp.getSpeedLimit() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const float speed_limit_offset = lp_sp.getSpeedLimitOffset() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const bool sl_force_active = speedLimitControlToggle &&
seconds_since_boot() < s.scene.last_speed_limit_sign_tap + 2.0;
const bool sl_inactive = !sl_force_active && (!speedLimitControlToggle ||
slcState == cereal::LongitudinalPlanSP::SpeedLimitControlState::INACTIVE);
const bool sl_temp_inactive = !sl_force_active && (speedLimitControlToggle &&
slcState == cereal::LongitudinalPlanSP::SpeedLimitControlState::TEMP_INACTIVE);
const bool sl_pre_active = !sl_force_active && (speedLimitControlToggle &&
slcState == cereal::LongitudinalPlanSP::SpeedLimitControlState::PRE_ACTIVE);
const int sl_distance = int(lp_sp.getDistToSpeedLimit() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH) / 10.0) * 10;
const QString sl_distance_str(QString::number(sl_distance) + (s.scene.is_metric ? "m" : "f"));
const QString sl_offset_str(speed_limit_offset > 0.0 ? speed_limit_offset < 0.0 ?
"-" + QString::number(std::nearbyint(std::abs(speed_limit_offset))) :
"+" + QString::number(std::nearbyint(speed_limit_offset)) : "");
const QString sl_inactive_str(sl_temp_inactive && s.scene.speed_limit_control_engage_type == 0 ? "TEMP" : "");
const QString sl_substring(sl_inactive || sl_temp_inactive || sl_pre_active ? sl_inactive_str :
sl_distance > 0 ? sl_distance_str : sl_offset_str);
showSpeedLimit = speed_limit_slc > 0.0;
speedLimitSLC = speed_limit_slc;
speedLimitSLCOffset = speed_limit_offset;
slcSubText = sl_substring;
slcSubTextSize = sl_inactive || sl_temp_inactive || sl_distance > 0 ? 25.0 : 27.0;
mapSourcedSpeedLimit = lp_sp.getIsMapSpeedLimit();
slcActive = !sl_inactive && !sl_temp_inactive;
overSpeedLimit = showSpeedLimit && s.scene.speed_limit_warning_type != 0 &&
(std::nearbyint(speed_limit_slc + s.scene.speed_limit_warning_value_offset) < std::nearbyint(speed));
plus_arrow_up_img = loadPixmap("../assets/img_plus_arrow_up", {105, 105});
minus_arrow_down_img = loadPixmap("../assets/img_minus_arrow_down", {105, 105});
showSpeedLimit = speed_limit_slc > 0.0;
speedLimitSLC = speed_limit_slc;
speedLimitSLCOffset = speed_limit_offset;
slcSubText = sl_substring;
slcSubTextSize = sl_inactive || sl_temp_inactive || sl_distance > 0 ? 25.0 : 27.0;
mapSourcedSpeedLimit = lp_sp.getIsMapSpeedLimit();
slcActive = !sl_inactive && !sl_temp_inactive;
overSpeedLimit = showSpeedLimit && s.scene.speed_limit_warning_type != 0 &&
(std::nearbyint(speed_limit_slc + s.scene.speed_limit_warning_value_offset) < std::nearbyint(speed));
plus_arrow_up_img = loadPixmap("../assets/img_plus_arrow_up", {105, 105});
minus_arrow_down_img = loadPixmap("../assets/img_minus_arrow_down", {105, 105});
const float tsc_speed = lp_sp.getTurnSpeed() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const auto tscState = lp_sp.getTurnSpeedControlState();
const int t_distance = int(lp_sp.getDistToTurn() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH) / 10.0) * 10;
const QString t_distance_str(QString::number(t_distance) + (s.scene.is_metric ? "m" : "f"));
const float tsc_speed = lp_sp.getTurnSpeed() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const auto tscState = lp_sp.getTurnSpeedControlState();
const int t_distance = int(lp_sp.getDistToTurn() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH) / 10.0) * 10;
const QString t_distance_str(QString::number(t_distance) + (s.scene.is_metric ? "m" : "f"));
showTurnSpeedLimit = tsc_speed > 0.0 && std::round(tsc_speed) < 224 && (tsc_speed < speed || s.scene.show_debug_ui);
turnSpeedLimit = QString::number(std::nearbyint(tsc_speed));
tscSubText = t_distance > 0 ? t_distance_str : QString("");
tscActive = tscState > cereal::LongitudinalPlanSP::SpeedLimitControlState::TEMP_INACTIVE;
curveSign = lp_sp.getTurnSign();
}
showTurnSpeedLimit = tsc_speed > 0.0 && std::round(tsc_speed) < 224 && (tsc_speed < speed || s.scene.show_debug_ui);
turnSpeedLimit = QString::number(std::nearbyint(tsc_speed));
tscSubText = t_distance > 0 ? t_distance_str : QString("");
tscActive = tscState > cereal::LongitudinalPlanSP::SpeedLimitControlState::TEMP_INACTIVE;
curveSign = lp_sp.getTurnSign();
// TODO: Add toggle variables to cereal, and parse from cereal
longitudinalPersonality = s.scene.longitudinal_personality;