use ParamWatcher

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -8,11 +8,6 @@
 #include "common/swaglog.h"
 #include "selfdrive/ui/qt/util.h"
 
-void AnnotatedCameraWidget::updateParams() {
-  visual_style_    = QString::fromStdString(Params().get("VisualStyle")).toInt();
-  visual_wide_cam_ = QString::fromStdString(Params().get("VisualWideCam")).toInt();
-}
-
 // Window that shows camera view and variety of info drawn on top
 AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent)
     : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, parent) {
@@ -31,7 +26,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   experimental_btn->updateState(s);
   dmon.updateState(s);
 
-  if (visual_style_ == 0) {
+  if (s.scene.visual_style == 0) {
     setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
   } else {
     setBackgroundColor(QColor(0, 0, 0));
@@ -46,7 +41,8 @@ void AnnotatedCameraWidget::initializeGL() {
   qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));
 
   prev_draw_t = millis_since_boot();
-  if (visual_style_ == 0) {
+  auto *s = uiState();
+  if (s->scene.visual_style == 0) {
     setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
   } else {
     setBackgroundColor(QColor(0, 0, 0));
@@ -103,14 +99,6 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
 }
 
 void AnnotatedCameraWidget::paintGL() {
-  // refresh VisualWideCam param ~once per second
-  static double last_params_t = 0.0;
-  double params_now = millis_since_boot();
-  if (params_now - last_params_t > 1000.0) {
-    updateParams();
-    last_params_t = params_now;
-  }
-
   UIState *s = uiState();
   SubMaster &sm = *(s->sm);
   const double start_draw_t = millis_since_boot();
@@ -142,7 +130,7 @@ void AnnotatedCameraWidget::paintGL() {
         wide_cam_requested = false;
       }
       wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-      wide_cam_requested = wide_cam_requested || (visual_wide_cam_ != 0);
+      wide_cam_requested = wide_cam_requested || (s->scene.visual_wide_cam != 0);
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
     CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -45,8 +45,4 @@ protected:
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;
-
-  void updateParams();
-  int visual_style_ = 0;
-  int visual_wide_cam_ = 0;
 };

selfdrive/ui/qt/onroad/model.cc

@@ -2,15 +2,6 @@
 #include <QPainterPath>
 #include <algorithm>
 
-void ModelRenderer::updateParams() {
-  visual_style_          = QString::fromStdString(Params().get("VisualStyle")).toInt();
-  visual_blend_          = QString::fromStdString(Params().get("VisualStyleBlend")).toInt();
-  visual_blend_threshold_ = QString::fromStdString(Params().get("VisualStyleBlendThreshold")).toFloat();
-  visual_radar_tracks_    = QString::fromStdString(Params().get("VisualRadarTracks")).toInt();
-  visual_radar_tracks_delay_ = QString::fromStdString(Params().get("VisualRadarTracksDelay")).toFloat();
-  visual_fps_             = QString::fromStdString(Params().get("VisualFPS")).toInt();
-}
-
 void ModelRenderer::drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius) {
   painter.setBrush(QColor(255, 255, 255, 200));
   painter.setPen(Qt::NoPen);
@@ -18,13 +9,6 @@ void ModelRenderer::drawRadarPoint(QPainter &painter, const QPointF &pos, float
 }
 
 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
-  static double last_params_t = 0.0;
-  double params_now = millis_since_boot();
-  if (params_now - last_params_t > 1000.0) {
-    updateParams();
-    last_params_t = params_now;
-  }
-
   static double last_draw_t = millis_since_boot();
   static float avg_frame_time = 50.0f;
   static float avg_fps = 20.0f;
@@ -74,12 +58,12 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
     }
   }
 
-  if (visual_radar_tracks_) {
+  if (s->scene.visual_radar_tracks) {
     if (sm.alive("liveTracks") && sm.rcv_frame("liveTracks") >= s->scene.started_frame) {
       const auto &tracks = sm["liveTracks"].getLiveTracks().getPoints();
       for (const auto &track : tracks) {
         if (!std::isfinite(track.getDRel()) || !std::isfinite(track.getYRel())) continue;
-        float t_lag = visual_radar_tracks_delay_;
+        float t_lag = s->scene.visual_radar_tracks_delay;
         float d_pred = track.getDRel();
         float y_pred = track.getYRel();
         if (t_lag > 0.0f) {
@@ -95,7 +79,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
 
-  if (visual_fps_) {
+  if (s->scene.visual_fps) {
     static double last_overlay_update_t = 0.0;
     static QString cached_fps_line;
     static QString cached_frame_line;
@@ -138,9 +122,10 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
 }
 
 void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  auto *s = uiState();
   const auto &model_position = model.getPosition();
   float max_distance;
-  if (visual_style_ == 0) {
+  if (s->scene.visual_style == 0) {
     max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
   } else {
     max_distance = std::clamp(*(model_position.getX().end() - 1), 0.0f, 300.0f);
@@ -152,7 +137,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
   int max_idx = get_path_length_idx(lane_lines[0], max_distance);
   for (int i = 0; i < std::size(lane_line_vertices); i++) {
     lane_line_probs[i] = line_probs[i];
-    if (visual_style_ == 2) {
+    if (s->scene.visual_style == 2) {
       mapLineToPolygon(lane_lines[i], 0.075 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
     } else {
       mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
@@ -164,7 +149,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
   const auto &edge_stds = model.getRoadEdgeStds();
   for (int i = 0; i < std::size(road_edge_vertices); i++) {
     road_edge_stds[i] = edge_stds[i];
-    if (visual_style_ == 2) {
+    if (s->scene.visual_style == 2) {
       mapLineToPolygon(road_edges[i], 0.1, 0, &road_edge_vertices[i], max_idx);
     } else {
       mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
@@ -181,7 +166,8 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
 }
 
 void ModelRenderer::drawLaneLines(QPainter &painter) {
-  if (visual_style_ == 2) {
+  auto *s = uiState();
+  if (s->scene.visual_style == 2) {
     QRectF r = clip_region;
 
     // --- Find horizon from road edges ---
@@ -553,6 +539,7 @@ void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
 
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
+  auto *s = uiState();
   const float speedBuff = 10.;
   const float leadBuff = 40.;
   const float d_rel = lead_data.getDRel();
@@ -575,7 +562,7 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
   float g_yo = sz / 10;
 
   QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  if (visual_style_ == 2) {
+  if (s->scene.visual_style == 2) {
     painter.setBrush(QColor(0xE6, 0xE6, 0xE6, 255));
   } else {
     painter.setBrush(QColor(218, 202, 37, 255));
@@ -584,7 +571,7 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
 
   // chevron
   QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  if (visual_style_ == 2) {
+  if (s->scene.visual_style == 2) {
     painter.setBrush(QColor(0, 0, 0, fillAlpha));
   } else {
     painter.setBrush(QColor(201, 34, 49, fillAlpha));
@@ -631,21 +618,21 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
   );
 
   // Force top-down if VisualStyle == 3
-  if (visual_style_ == 3) {
+  if (s->scene.visual_style == 3) {
     *out = topdown_view;
     return clip_region.contains(*out);
   }
 
   // Blending mode
-  if (visual_blend_ == 1 && visual_style_ != 0) {
+  if (s->scene.visual_blend == 1 && s->scene.visual_style != 0) {
     static float blend = 0.0f;        // 0 = 3D, 1 = 2D
     static float target_blend = 0.0f; // where we want to go
     static double last_t = millis_since_boot();
 
     // Hysteresis logic
-    if (target_blend < 0.5f && blend_speed_mph > visual_blend_threshold_) {
+    if (target_blend < 0.5f && blend_speed_mph > s->scene.visual_blend_threshold) {
       target_blend = 1.0f;  // switch to 2D
-    } else if (target_blend > 0.5f && blend_speed_mph < (visual_blend_threshold_ - 5)) {
+    } else if (target_blend > 0.5f && blend_speed_mph < (s->scene.visual_blend_threshold - 5)) {
       target_blend = 0.0f;  // switch back to 3D
     }
 

selfdrive/ui/qt/onroad/model.h

@@ -71,12 +71,4 @@ protected:
   QColor lead_status_color;
 
   void drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius = 5.0f);
-
-  void updateParams();
-  int visual_style_ = 0;
-  int visual_blend_ = 0;
-  float visual_blend_threshold_ = 20.0f;
-  int visual_radar_tracks_ = 0;
-  int visual_radar_tracks_delay_ = 0;
-  int visual_fps_ = 0;
 };

selfdrive/ui/qt/widgets/cameraview.cc

@@ -62,10 +62,6 @@ const char frame_fragment_shader[] =
 
 } // namespace
 
-void CameraWidget::updateParams() {
-  visual_style_ = QString::fromStdString(Params().get("VisualStyle")).toInt();
-}
-
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
                           stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
@@ -200,13 +196,7 @@ mat4 CameraWidget::calcFrameMatrix() {
 }
 
 void CameraWidget::paintGL() {
-  static double last_params_t = 0.0;
-  double now = millis_since_boot();
-  if (now - last_params_t > 1000.0) {
-    updateParams();
-    last_params_t = now;
-  }
-  
+  auto *s = uiState();
   glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
@@ -259,7 +249,7 @@ void CameraWidget::paintGL() {
 
   glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
   glEnableVertexAttribArray(0);
-  if (visual_style_ == 0) {
+  if (s->scene.visual_style == 0) {
     glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
   }
   glDisableVertexAttribArray(0);

selfdrive/ui/qt/widgets/cameraview.h

@@ -60,9 +60,6 @@ protected:
   void vipcThread();
   void clearFrames();
 
-  void updateParams();
-  int visual_style_ = 0;
-
   int glWidth();
   int glHeight();
 

selfdrive/ui/sunnypilot/ui.cc

@@ -35,6 +35,13 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
   });
   param_watcher->addParam("DevUIInfo");
   param_watcher->addParam("StandstillTimer");
+  param_watcher->addParam("VisualStyle");
+  param_watcher->addParam("VisualStyleBlend");
+  param_watcher->addParam("VisualStyleBlendThreshold");
+  param_watcher->addParam("VisualRadarTracks");
+  param_watcher->addParam("VisualRadarTracksDelay");
+  param_watcher->addParam("VisualWideCam");
+  param_watcher->addParam("VisualFPS");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -55,6 +62,13 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.standstill_timer = params.getBool("StandstillTimer");
   s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
   s->scene.road_name = params.getBool("RoadNameToggle");
+  s->scene.visual_style = QString::fromStdString(params.get("VisualStyle")).toInt();
+  s->scene.visual_blend = QString::fromStdString(params.get("VisualStyleBlend")).toInt();
+  s->scene.visual_blend_threshold = QString::fromStdString(params.get("VisualStyleBlendThreshold")).toInt();
+  s->scene.visual_radar_tracks = QString::fromStdString(params.get("VisualRadarTracks")).toInt();
+  s->scene.visual_radar_tracks_delay = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+  s->scene.visual_wide_cam = QString::fromStdString(params.get("VisualWideCam")).toInt();
+  s->scene.visual_fps = QString::fromStdString(params.get("VisualFPS")).toInt();
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {

selfdrive/ui/sunnypilot/ui_scene.h

@@ -12,4 +12,11 @@ typedef struct UISceneSP : UIScene {
   bool standstill_timer = false;
   int speed_limit_mode = 0;
   bool road_name = false;
+  int visual_style = 0;
+  int visual_blend = 0;
+  int visual_blend_threshold = 20.0;
+  int visual_radar_tracks = 0;
+  float visual_radar_tracks_delay = 0;
+  int visual_wide_cam = 0;
+  int visual_fps = 0;
 } UISceneSP;