ui: display blinker when blinker is on (#165)

* init * looks good * left done * next to speedometer * adjusted * pass in x and y * color & x * spaced out properly next to speedometer! * blindspots and pulsing rate * fixes * int instead * Update CHANGELOGS.md * add road edge block * lower * center a bit more * that's it! * only show green when hazard is on
2026-09-29 12:53:42 +08:00 · 2023-06-17 12:36:07 -04:00
parent 32ac0b0a2d
commit b148b58601
3 changed files with 157 additions and 0 deletions
@@ -10,6 +10,9 @@ sunnypilot - 0.9.2.3 (2023-06-xx)
 * NEW❗: Fleet Manager PIN Requirement toggle
  * User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager
 * NEW❗: Reset all sunnypilot settings toggle
+* NEW❗: Turn signals display on screen when blinker is used
+  * Green: Blinker is on
+  * Red: Blinker is on, car detected in the adjacent blind spot or road edge detected
 * IMPROVED: mapd: better exceptions handling when loading dependencies
 * UPDATED: Green Traffic Light Chime no longer displays an orange border when executed
 * FIXED: Ram HD (2500/3500): Ignore paramsd sanity check
@@ -478,6 +478,10 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {

  setProperty("btnPerc", s.scene.sleep_btn_opacity * 0.05);

+  setProperty("left_blinker", sm["carState"].getCarState().getLeftBlinker());
+  setProperty("right_blinker", sm["carState"].getCarState().getRightBlinker());
+  setProperty("lane_change_edge_block", sm["lateralPlan"].getLateralPlan().getLaneChangeEdgeBlock());
+
  // update engageability/experimental mode button
  experimental_btn->updateState(s);

@@ -1414,6 +1418,131 @@ void AnnotatedCameraWidget::drawE2eStatus(QPainter &p, int x, int y, int w, int
  p.drawEllipse(e2eStatusIcon);
 }

+void AnnotatedCameraWidget::drawLeftTurnSignal(QPainter &painter, int x, int y, int state) {
+  painter.setRenderHint(QPainter::Antialiasing, true);
+
+  QColor circle_color, circle_color_0, circle_color_1;
+  QColor arrow_color, arrow_color_0, arrow_color_1;
+  if ((left_blindspot || lane_change_edge_block) && !(left_blinker && right_blinker)) {
+    circle_color_0 = QColor(164, 0, 1);
+    circle_color_1 = QColor(204, 0, 1);
+    arrow_color_0 = QColor(72, 1, 1);
+    arrow_color_1 = QColor(255, 255, 255);
+  } else {
+    circle_color_0 = QColor(22, 156, 69);
+    circle_color_1 = QColor(30, 215, 96);
+    arrow_color_0 = QColor(9, 56, 27);
+    arrow_color_1 = QColor(255, 255, 255);
+  }
+
+  if (state == 1) {
+    circle_color = circle_color_1;
+    arrow_color = arrow_color_1;
+  } else if (state == 0) {
+    circle_color = circle_color_0;
+    arrow_color = arrow_color_0;
+  }
+
+  // Draw the circle
+  int circleSize = 120;
+  int circleX = x;
+  int circleY = y;
+  painter.setPen(Qt::NoPen);
+  painter.setBrush(circle_color);
+  painter.drawEllipse(circleX, circleY, circleSize, circleSize);
+
+  // Draw the arrow
+  int arrowSize = 50;
+  int arrowX = circleX + (circleSize - arrowSize) / 4;
+  int arrowY = circleY + (circleSize - arrowSize) / 2;
+  painter.setPen(Qt::NoPen);
+  painter.setBrush(arrow_color);
+
+  // Draw the arrow shape
+  QPolygon arrowPolygon;
+  arrowPolygon << QPoint(arrowX + 10, arrowY + arrowSize / 2)
+               << QPoint(arrowX + arrowSize - 3, arrowY)
+               << QPoint(arrowX + arrowSize, arrowY)
+               << QPoint(arrowX + arrowSize, arrowY + arrowSize)
+               << QPoint(arrowX + arrowSize - 3, arrowY + arrowSize)
+               << QPoint(arrowX + 10, arrowY + arrowSize / 2);
+  painter.drawPolygon(arrowPolygon);
+
+  // Draw the tail rectangle
+  int tailWidth = arrowSize / 2.25;
+  int tailHeight = arrowSize / 2;
+  QRect tailRect(arrowX + arrowSize - 3, arrowY + arrowSize / 4, tailWidth, tailHeight);
+  painter.fillRect(tailRect, arrow_color);
+}
+
+void AnnotatedCameraWidget::drawRightTurnSignal(QPainter &painter, int x, int y, int state) {
+  painter.setRenderHint(QPainter::Antialiasing, true);
+
+  QColor circle_color, circle_color_0, circle_color_1;
+  QColor arrow_color, arrow_color_0, arrow_color_1;
+  if ((right_blindspot || lane_change_edge_block) && !(left_blinker && right_blinker)) {
+    circle_color_0 = QColor(164, 0, 1);
+    circle_color_1 = QColor(204, 0, 1);
+    arrow_color_0 = QColor(72, 1, 1);
+    arrow_color_1 = QColor(255, 255, 255);
+  } else {
+    circle_color_0 = QColor(22, 156, 69);
+    circle_color_1 = QColor(30, 215, 96);
+    arrow_color_0 = QColor(9, 56, 27);
+    arrow_color_1 = QColor(255, 255, 255);
+  }
+
+  if (state == 1) {
+    circle_color = circle_color_1;
+    arrow_color = arrow_color_1;
+  } else if (state == 0) {
+    circle_color = circle_color_0;
+    arrow_color = arrow_color_0;
+  }
+
+
+  // Draw the circle
+  int circleSize = 120;
+  int circleX = x;
+  int circleY = y;
+  painter.setPen(Qt::NoPen);
+  painter.setBrush(circle_color);
+  painter.drawEllipse(circleX, circleY, circleSize, circleSize);
+
+  // Draw the arrow
+  int arrowSize = 50;
+  int arrowX = circleX + (circleSize - arrowSize) / 2 + (arrowSize / 2.5) - 3;
+  int arrowY = circleY + (circleSize - arrowSize) / 2;
+  painter.setPen(Qt::NoPen);
+  painter.setBrush(arrow_color);
+
+  // Draw the arrow shape
+  QPolygon arrowPolygon;
+  arrowPolygon << QPoint(arrowX + arrowSize - 10, arrowY + arrowSize / 2)
+               << QPoint(arrowX + 3, arrowY)
+               << QPoint(arrowX, arrowY)
+               << QPoint(arrowX, arrowY + arrowSize)
+               << QPoint(arrowX + 3, arrowY + arrowSize)
+               << QPoint(arrowX + arrowSize - 10, arrowY + arrowSize / 2);
+  painter.drawPolygon(arrowPolygon);
+
+  // Draw the tail rectangle
+  int tailWidth = arrowSize / 2.25;
+  int tailHeight = arrowSize / 2;
+  QRect tailRect(arrowX - tailWidth + 3, arrowY + arrowSize / 4, tailWidth, tailHeight);
+  painter.fillRect(tailRect, arrow_color);
+}
+
+int AnnotatedCameraWidget::blinkerPulse(int frame) {
+  if (frame % UI_FREQ < (UI_FREQ / 2)) {
+    blinker_state = 1;
+  } else {
+    blinker_state = 0;
+  }
+
+  return blinker_state;
+}
+

 void AnnotatedCameraWidget::initializeGL() {
  CameraWidget::initializeGL();
@@ -1794,6 +1923,19 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {

  drawHud(painter);

+  if (left_blinker || right_blinker) {
+    blinker_frame++;
+    int state = blinkerPulse(blinker_frame);
+    if (left_blinker) {
+      drawLeftTurnSignal(painter, rect().center().x() - 300, 90, state);
+    }
+    if (right_blinker) {
+      drawRightTurnSignal(painter, rect().center().x() + 180, 90, state);
+    }
+  } else {
+    blinker_frame = 0;
+  }
+
  double cur_draw_t = millis_since_boot();
  double dt = cur_draw_t - prev_draw_t;
  double fps = fps_filter.update(1. / dt * 1000);
@@ -144,6 +144,10 @@ class AnnotatedCameraWidget : public CameraWidget {
  Q_PROPERTY(int e2eState MEMBER e2eState);
  Q_PROPERTY(int e2eStatus MEMBER e2eStatus);

+  Q_PROPERTY(bool left_blinker MEMBER left_blinker);
+  Q_PROPERTY(bool right_blinker MEMBER right_blinker);
+  Q_PROPERTY(bool lane_change_edge_block MEMBER lane_change_edge_block);
+
 public:
  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
  void updateState(const UIState &s);
@@ -175,6 +179,10 @@ private:

  void drawE2eStatus(QPainter &p, int x, int y, int w, int h, int e2e_long_status);

+  void drawLeftTurnSignal(QPainter &painter, int x, int y, int state);
+  void drawRightTurnSignal(QPainter &painter, int x, int y, int state);
+  int blinkerPulse(int frame);
+
  uint64_t last_update_params;

  ExperimentalButton *experimental_btn;
@@ -280,6 +288,10 @@ private:
  int e2eState;
  int e2eStatus;

+  bool left_blinker, right_blinker, lane_change_edge_block;
+  int blinker_frame;
+  int blinker_state = 0;
+
 protected:
  void paintGL() override;
  void initializeGL() override;