mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-06-20 21:22:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

Draw leadTwo chevron in ui (#1133)

Browse Source 
* Add leadTwo

* Add leadTwo

* Draw leadTwo car indicator

* Reuse leaddatad

* refactor draw_lead

No idea if this is the correct syntax

* Python is too good to us

Add ;

* Only show if more than 3m apart

* Delete unused scene

old-commit-hash: 175243af40
This commit is contained in:
Arne Schwarck
2020-02-20 23:27:11 +01:00
committed by GitHub
parent b495a36507
commit 2b79e60cd7
3 changed files with 29 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/paint.cc
+21 -16
View File
@@ -108,9 +108,23 @@ static void draw_chevron(UIState *s, float x_in, float y_in, float sz,
nvgRestore(s->vg);
}
static void ui_draw_lane_line(UIState *s, const model_path_vertices_data *pvd, NVGcolor color) {
const UIScene *scene = &s->scene;
static void draw_lead(UIState *s, float d_rel, float v_rel, float y_rel){
// Draw lead car indicator
float fillAlpha = 0;
float speedBuff = 10.;
float leadBuff = 40.;
if (d_rel < leadBuff) {
fillAlpha = 255*(1.0-(d_rel/leadBuff));
if (v_rel < 0) {
fillAlpha += 255*(-1*(v_rel/speedBuff));
}
fillAlpha = (int)(fmin(fillAlpha, 255));
}
draw_chevron(s, d_rel+2.7, y_rel, 25,
nvgRGBA(201, 34, 49, fillAlpha), nvgRGBA(218, 202, 37, 255));
}
static void ui_draw_lane_line(UIState *s, const model_path_vertices_data *pvd, NVGcolor color) {
nvgSave(s->vg);
nvgTranslate(s->vg, 240.0f, 0.0); // rgb-box space
nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2); // zoom 2x
@@ -204,7 +218,7 @@ static void update_all_track_data(UIState *s) {
static void ui_draw_track(UIState *s, bool is_mpc, track_vertices_data *pvd) {
const UIScene *scene = &s->scene;
const UIScene *scene = &s->scene;
const PathData path = scene->model.path;
const float *mpc_x_coords = &scene->mpc_x[0];
const float *mpc_y_coords = &scene->mpc_y[0];
@@ -390,19 +404,10 @@ static void ui_draw_world(UIState *s) {
ui_draw_vision_lanes(s);
if (scene->lead_status) {
// Draw lead car indicator
float fillAlpha = 0;
float speedBuff = 10.;
float leadBuff = 40.;
if (scene->lead_d_rel < leadBuff) {
fillAlpha = 255*(1.0-(scene->lead_d_rel/leadBuff));
if (scene->lead_v_rel < 0) {
fillAlpha += 255*(-1*(scene->lead_v_rel/speedBuff));
}
fillAlpha = (int)(fmin(fillAlpha, 255));
}
draw_chevron(s, scene->lead_d_rel+2.7, scene->lead_y_rel, 25,
nvgRGBA(201, 34, 49, fillAlpha), nvgRGBA(218, 202, 37, 255));
draw_lead(s,scene->lead_d_rel,scene->lead_v_rel,scene->lead_y_rel);
}
if ((scene->lead_status2) && (fabs(scene->lead_d_rel - scene->lead_d_rel2) > 3.0)) {
draw_lead(s,scene->lead_d_rel2,scene->lead_v_rel2,scene->lead_y_rel2);
}
}
selfdrive/ui/ui.cc
+5
View File
@@ -362,6 +362,11 @@ void handle_message(UIState *s, Message * msg) {
s->scene.lead_d_rel = leaddatad.dRel;
s->scene.lead_y_rel = leaddatad.yRel;
s->scene.lead_v_rel = leaddatad.vRel;
cereal_read_RadarState_LeadData(&leaddatad, datad.leadTwo);
s->scene.lead_status2 = leaddatad.status;
s->scene.lead_d_rel2 = leaddatad.dRel;
s->scene.lead_y_rel2 = leaddatad.yRel;
s->scene.lead_v_rel2 = leaddatad.vRel;
s->livempc_or_radarstate_changed = true;
} else if (eventd.which == cereal_Event_liveCalibration) {
s->scene.world_objects_visible = true;
selfdrive/ui/ui.hpp
+3
View File
@@ -115,6 +115,9 @@ typedef struct UIScene {
int lead_status;
float lead_d_rel, lead_y_rel, lead_v_rel;
int lead_status2;
float lead_d_rel2, lead_y_rel2, lead_v_rel2;
int front_box_x, front_box_y, front_box_width, front_box_height;