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display last known speed limit and its state with SLA

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This commit is contained in:
Jason Wen
2025-09-20 20:01:02 -04:00
parent 37b391a643
commit 8dcc4a4d8c
2 changed files with 29 additions and 3 deletions
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selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+26 -3
View File
@@ -32,6 +32,7 @@ void HudRendererSP::updateState(const UIState &s) {
speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
roadName = s.scene.road_name;
if (sm.updated("liveMapDataSP")) {
roadNameStr = QString::fromStdString(lmd.getRoadName());
@@ -46,6 +47,10 @@ void HudRendererSP::updateState(const UIState &s) {
}
speedLimitAheadDistancePrev = speedLimitAheadDistance;
if (speedLimit > 0) {
speedLimitLastValid = speedLimit;
}
static int reverse_delay = 0;
bool reverse_allowed = false;
if (int(car_state.getGearShifter()) != 4) {
@@ -136,8 +141,23 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
}
// Speed Limit
if (speedLimitMode != SpeedLimitMode::OFF) {
bool showSpeedLimit;
bool speedLimitAssistPreActivePulse = pulseElement(speedLimitAssistFrame);
if (speedLimitAssistState == cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
speedLimitAssistFrame++;
showSpeedLimit = speedLimitAssistPreActivePulse;
} else {
speedLimitAssistFrame = 0;
showSpeedLimit = speedLimitMode != SpeedLimitMode::OFF;
}
if (showSpeedLimit) {
drawSpeedLimitSigns(p);
}
// do not show during SLA's preActive state
if (showSpeedLimit && speedLimitAssistState != cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
drawUpcomingSpeedLimit(p);
}
@@ -334,10 +354,12 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
bool speedLimitValid = speedLimit > 0;
bool useLastValidSpeedLimit = !speedLimitValid && speedLimitLastValid > 0 && speedLimitAssistState >= cereal::LongitudinalPlanSP::SpeedLimit::AssistState::DISABLED;
int speedLimitRounded = std::nearbyint(speedLimit);
bool overspeed = speedLimitRounded < std::nearbyint(speed) && speedLimitRounded > 0;
bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
QString speedLimitStr = speedLimitValid ? QString::number(speedLimitRounded) : "---";
QString speedLimitStr = speedLimitValid ? QString::number(speedLimitRounded) :
(useLastValidSpeedLimit ? QString::number(speedLimitLastValid) : "---");
// Offset display text
QString speedLimitSubText = "";
@@ -354,7 +376,8 @@ 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 :
(useLastValidSpeedLimit ? QColor(0x91, 0x9b, 0x95, 0xf1) : QColor(0, 0, 0, alpha));
if (is_metric) {
// EU Vienna Convention style circular sign
selfdrive/ui/sunnypilot/qt/onroad/hud.h
+3
View File
@@ -74,7 +74,10 @@ private:
float speedLimitAheadDistance;
float speedLimitAheadDistancePrev;
int speedLimitAheadValidFrame;
float speedLimitLastValid;
SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF;
bool roadName;
QString roadNameStr;
cereal::LongitudinalPlanSP::SpeedLimit::AssistState speedLimitAssistState;
int speedLimitAssistFrame;
};