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ui: onroad: drawLead cleanup

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This commit is contained in:
Jason Wen
2024-07-09 22:59:44 -04:00
parent 64a34f97aa
commit ba12998986
2 changed files with 20 additions and 13 deletions
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selfdrive/ui/qt/onroad/annotated_camera.cc
+18 -12
View File
@@ -1490,13 +1490,14 @@ void AnnotatedCameraWidget::rocketFuel(QPainter &p) {
}
void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd,
int num, float radar_d_rel, float v_ego, float radar_v_rel, int chevron_data, bool isMetric) {
int num, const cereal::CarState::Reader &car_data, int chevron_data) {
painter.save();
const float speedBuff = 10.;
const float leadBuff = 40.;
const float d_rel = lead_data.getDRel();
const float v_rel = lead_data.getVRel();
const float v_ego = car_data.getVEgo();
float fillAlpha = 0;
if (d_rel < leadBuff) {
@@ -1524,22 +1525,29 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState
painter.drawPolygon(chevron, std::size(chevron));
if (num == 0) { // Display metrics to the 0th lead car
QStringList chevron_text[2];
int chevron_types = 2;
QStringList chevron_text[chevron_types];
int position;
float val;
if (chevron_data == 1 || chevron_data == 3) {
chevron_text[0].append(QString::number(radar_d_rel,'f', 0) + " " + "m");
position = 0;
val = std::max(0.0f, d_rel);
chevron_text[position].append(QString::number(val,'f', 0) + " " + "m");
}
if (chevron_data == 2 || chevron_data == 3) {
chevron_text[chevron_data - 2].append(QString::number((radar_v_rel + v_ego) * (isMetric ? MS_TO_KPH : MS_TO_MPH),'f', 0) + " " + (isMetric ? "km/h" : "mph"));
position = (chevron_data == 2) ? 0 : 1;
val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
chevron_text[position].append(QString::number(val,'f', 0) + " " + (is_metric ? "km/h" : "mph"));
}
int str_w = 200; // Width of the text box, might need adjustment
int str_h = 50; // Height of the text box, adjust as necessary
float str_w = 200; // Width of the text box, might need adjustment
float str_h = 50; // Height of the text box, adjust as necessary
painter.setFont(InterFont(45, QFont::Bold));
// Calculate the center of the chevron and adjust the text box position
float text_y = y + sz + 12; // Position the text at the bottom of the chevron
QRect textRect(x - str_w / 2, text_y, str_w, str_h); // Adjust the rectangle to center the text horizontally at the chevron's bottom
QPoint shadow_offset(2, 2);
for (int i = 0; i < 2; ++i) {
for (int i = 0; i < chevron_types; ++i) {
if (!chevron_text[i].isEmpty()) {
painter.setPen(QColor(0x0, 0x0, 0x0, 200)); // Draw shadow
painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y() + i * str_h), Qt::AlignBottom | Qt::AlignHCenter, chevron_text[i].at(0));
@@ -1623,17 +1631,15 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
auto radar_state = sm["radarState"].getRadarState();
auto car_state = sm["carState"].getCarState();
update_leads(s, radar_state, model.getPosition());
auto lead_one = radar_state.getLeadOne();
auto lead_two = radar_state.getLeadTwo();
float v_ego = sm["carState"].getCarState().getVEgo();
float radar_d_rel = radar_state.getLeadOne().getDRel();
float radar_v_rel = radar_state.getLeadOne().getVRel();
if (lead_one.getStatus()) {
drawLead(painter, lead_one, s->scene.lead_vertices[0], 0, radar_d_rel, v_ego, radar_v_rel, s->scene.chevron_data, s->scene.is_metric);
drawLead(painter, lead_one, s->scene.lead_vertices[0], 0, car_state, s->scene.chevron_data);
}
if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
drawLead(painter, lead_two, s->scene.lead_vertices[1], 1, radar_d_rel, v_ego, radar_v_rel, s->scene.chevron_data, s->scene.is_metric);
drawLead(painter, lead_two, s->scene.lead_vertices[1], 1, car_state, s->scene.chevron_data);
}
rocketFuel(painter);
selfdrive/ui/qt/onroad/annotated_camera.h
+2 -1
View File
@@ -211,7 +211,8 @@ protected:
void showEvent(QShowEvent *event) override;
void updateFrameMat() override;
void drawLaneLines(QPainter &painter, const UIState *s);
void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, int num, float radar_d_rel, float v_ego, float radar_v_rel, int chevron_data, bool isMetric);
void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd,
int num, const cereal::CarState::Reader &car_data, int chevron_data);
void drawHud(QPainter &p);
void drawDriverState(QPainter &painter, const UIState *s);
inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }