From c9932561c4788bba3741dbf9932f6f2d0315c8b8 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 28 Aug 2023 11:00:17 -0400 Subject: [PATCH] ui: remove Q_PROPERTY from `AnnotatedCameraWidget` (sync with upstream) (#231) --- selfdrive/ui/qt/onroad.cc | 124 +++++++++++++++++++------------------- selfdrive/ui/qt/onroad.h | 75 ----------------------- 2 files changed, 62 insertions(+), 137 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 7823e6bc43..7f34a7cb38 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -446,8 +446,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); // TODO: Add minimum speed? - setProperty("left_blindspot", cs_alive && car_state.getLeftBlindspot()); - setProperty("right_blindspot", cs_alive && car_state.getRightBlindspot()); + left_blindspot = cs_alive && car_state.getLeftBlindspot(); + right_blindspot = cs_alive && car_state.getRightBlindspot(); setProperty("is_cruise_set", cruise_set); setProperty("is_metric", s.scene.is_metric); @@ -457,55 +457,55 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { setProperty("hideBottomIcons", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE)); setProperty("status", s.status); - setProperty("steerOverride", car_state.getSteeringPressed()); - setProperty("gasOverride", car_state.getGasPressed()); - setProperty("latActive", car_control.getLatActive()); - setProperty("madsEnabled", car_state.getMadsEnabled()); + steerOverride = car_state.getSteeringPressed(); + gasOverride = car_state.getGasPressed(); + latActive = car_control.getLatActive(); + madsEnabled = car_state.getMadsEnabled(); - setProperty("brakeLights", car_state.getBrakeLights() && s.scene.visual_brake_lights); + brakeLights = car_state.getBrakeLights() && s.scene.visual_brake_lights; - setProperty("standStillTimer", s.scene.stand_still_timer); - setProperty("standStill", car_state.getStandstill()); - setProperty("standstillElapsedTime", lateral_plan.getStandstillElapsed()); + standStillTimer = s.scene.stand_still_timer; + standStill = car_state.getStandstill(); + standstillElapsedTime = lateral_plan.getStandstillElapsed(); - setProperty("hideVEgoUi", s.scene.hide_vego_ui); + hideVEgoUi = s.scene.hide_vego_ui; - setProperty("gac", s.scene.gac && s.scene.gac_mode != 0 && s.scene.longitudinal_control && - car_state.getCruiseState().getAvailable()); - setProperty("gacTr", s.scene.gac_tr); + gac = s.scene.gac && s.scene.gac_mode != 0 && s.scene.longitudinal_control && + car_state.getCruiseState().getAvailable(); + gacTr = s.scene.gac_tr; - setProperty("mapVisible", s.scene.map_visible); + mapVisible = s.scene.map_visible; // ############################## DEV UI START ############################## - setProperty("lead_d_rel", radar_state.getLeadOne().getDRel()); - setProperty("lead_v_rel", radar_state.getLeadOne().getVRel()); - setProperty("lead_status", radar_state.getLeadOne().getStatus()); - setProperty("lateralState", QString::fromStdString(cs.getLateralState())); - setProperty("angleSteers", car_state.getSteeringAngleDeg()); - setProperty("steerAngleDesired", cs.getLateralControlState().getPidState().getSteeringAngleDesiredDeg()); - setProperty("curvature", cs.getCurvature()); - setProperty("roll", sm["liveParameters"].getLiveParameters().getRoll()); - setProperty("memoryUsagePercent", sm["deviceState"].getDeviceState().getMemoryUsagePercent()); - setProperty("devUiEnabled", s.scene.dev_ui_enabled); - setProperty("devUiInfo", s.scene.dev_ui_info); - setProperty("gpsAccuracy", gpsLocationExternal.getAccuracy()); - setProperty("altitude", gpsLocationExternal.getAltitude()); - setProperty("vEgo", car_state.getVEgo()); - setProperty("aEgo", car_state.getAEgo()); - setProperty("steeringTorqueEps", car_state.getSteeringTorqueEps()); - setProperty("bearingAccuracyDeg", gpsLocationExternal.getBearingAccuracyDeg()); - setProperty("bearingDeg", gpsLocationExternal.getBearingDeg()); - setProperty("torquedUseParams", s.scene.live_torque_toggle && !s.scene.custom_torque_toggle); - setProperty("latAccelFactorFiltered", ltp.getLatAccelFactorFiltered()); - setProperty("frictionCoefficientFiltered", ltp.getFrictionCoefficientFiltered()); - setProperty("liveValid", ltp.getLiveValid()); + lead_d_rel = radar_state.getLeadOne().getDRel(); + lead_v_rel = radar_state.getLeadOne().getVRel(); + lead_status = radar_state.getLeadOne().getStatus(); + lateralState = QString::fromStdString(cs.getLateralState()); + angleSteers = car_state.getSteeringAngleDeg(); + steerAngleDesired = cs.getLateralControlState().getPidState().getSteeringAngleDesiredDeg(); + curvature = cs.getCurvature(); + roll = sm["liveParameters"].getLiveParameters().getRoll(); + memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent(); + devUiEnabled = s.scene.dev_ui_enabled; + devUiInfo = s.scene.dev_ui_info; + gpsAccuracy = gpsLocationExternal.getAccuracy(); + altitude = gpsLocationExternal.getAltitude(); + vEgo = car_state.getVEgo(); + aEgo = car_state.getAEgo(); + steeringTorqueEps = car_state.getSteeringTorqueEps(); + bearingAccuracyDeg = gpsLocationExternal.getBearingAccuracyDeg(); + bearingDeg = gpsLocationExternal.getBearingDeg(); + torquedUseParams = s.scene.live_torque_toggle && !s.scene.custom_torque_toggle; + latAccelFactorFiltered = ltp.getLatAccelFactorFiltered(); + frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered(); + liveValid = ltp.getLiveValid(); // ############################## DEV UI END ############################## - setProperty("btnPerc", s.scene.sleep_btn_opacity * 0.05); + btnPerc = s.scene.sleep_btn_opacity * 0.05; - setProperty("left_blinker", car_state.getLeftBlinker()); - setProperty("right_blinker", car_state.getRightBlinker()); - setProperty("lane_change_edge_block", lateral_plan.getLaneChangeEdgeBlock()); + left_blinker = car_state.getLeftBlinker(); + right_blinker = car_state.getRightBlinker(); + lane_change_edge_block = lateral_plan.getLaneChangeEdgeBlock(); // update engageability/experimental mode button experimental_btn->updateState(s); @@ -532,17 +532,17 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { QColor vtc_color = tcs_colors[int(vtcState)]; vtc_color.setAlpha(lpSoruce == cereal::LongitudinalPlan::LongitudinalPlanSource::TURN ? 255 : 100); - setProperty("showVTC", vtcState > cereal::LongitudinalPlan::VisionTurnControllerState::DISABLED); - setProperty("vtcSpeed", QString::number(std::nearbyint(vtc_speed))); - setProperty("vtcColor", vtc_color); - setProperty("showDebugUI", s.scene.show_debug_ui); + showVTC = vtcState > cereal::LongitudinalPlan::VisionTurnControllerState::DISABLED; + vtcSpeed = QString::number(std::nearbyint(vtc_speed)); + vtcColor = vtc_color; + showDebugUI = s.scene.show_debug_ui; const auto lmd = sm["liveMapData"].getLiveMapData(); QString road_name = QString::fromStdString(lmd.getCurrentRoadName()); const auto data_type = int(lmd.getDataType()); const QString data_type_draw(data_type == 2 ? "🌐 " : ""); - setProperty("roadName", !road_name.isEmpty() ? data_type_draw + road_name : ""); + roadName = !road_name.isEmpty() ? data_type_draw + road_name : ""; float speed_limit_slc = lp.getSpeedLimit() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); const float speed_limit_offset = lp.getSpeedLimitOffset() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); @@ -562,25 +562,25 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const QString sl_substring(sl_inactive || sl_temp_inactive ? sl_inactive_str : sl_distance > 0 ? sl_distance_str : sl_offset_str); - setProperty("showSpeedLimit", speed_limit_slc > 0.0); - setProperty("speedLimitSLC", speed_limit_slc); - setProperty("slcSubText", sl_substring); - setProperty("slcSubTextSize", sl_inactive || sl_temp_inactive || sl_distance > 0 ? 25.0 : 27.0); - setProperty("mapSourcedSpeedLimit", lp.getIsMapSpeedLimit()); - setProperty("slcActive", !sl_inactive && !sl_temp_inactive); - setProperty("overSpeedLimit", (((speed_limit_slc + speed_limit_offset) < cur_speed) && !sl_inactive && !sl_temp_inactive) || - ((speed_limit_slc < cur_speed) && (speed_limit_slc > 0.0) && (sl_inactive || sl_temp_inactive))); + showSpeedLimit = speed_limit_slc > 0.0; + speedLimitSLC = speed_limit_slc; + slcSubText = sl_substring; + slcSubTextSize = sl_inactive || sl_temp_inactive || sl_distance > 0 ? 25.0 : 27.0; + mapSourcedSpeedLimit = lp.getIsMapSpeedLimit(); + slcActive = !sl_inactive && !sl_temp_inactive; + overSpeedLimit = (((speed_limit_slc + speed_limit_offset) < cur_speed) && !sl_inactive && !sl_temp_inactive) || + ((speed_limit_slc < cur_speed) && (speed_limit_slc > 0.0) && (sl_inactive || sl_temp_inactive)); const float tsc_speed = lp.getTurnSpeed() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); const auto tscState = lp.getTurnSpeedControlState(); const int t_distance = int(lp.getDistToTurn() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH) / 10.0) * 10; const QString t_distance_str(QString::number(t_distance) + (s.scene.is_metric ? "m" : "f")); - setProperty("showTurnSpeedLimit", tsc_speed > 0.0 && (tsc_speed < cur_speed || s.scene.show_debug_ui)); - setProperty("turnSpeedLimit", QString::number(std::nearbyint(tsc_speed))); - setProperty("tscSubText", t_distance > 0 ? t_distance_str : QString("")); - setProperty("tscActive", tscState > cereal::LongitudinalPlan::SpeedLimitControlState::TEMP_INACTIVE); - setProperty("curveSign", lp.getTurnSign()); + showTurnSpeedLimit = tsc_speed > 0.0 && (tsc_speed < cur_speed || s.scene.show_debug_ui); + turnSpeedLimit = QString::number(std::nearbyint(tsc_speed)); + tscSubText = t_distance > 0 ? t_distance_str : QString(""); + tscActive = tscState > cereal::LongitudinalPlan::SpeedLimitControlState::TEMP_INACTIVE; + curveSign = lp.getTurnSign(); } static int reverse_delay = 0; @@ -595,7 +595,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { } } - setProperty("reversing", reverse_allowed); + reversing = reverse_allowed; int e2eLStatus = 0; static bool chime_sent = false; @@ -651,8 +651,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { } else { } - setProperty("e2eStatus", chime_prompt); - setProperty("e2eState", e2eLStatus); + e2eStatus = chime_prompt; + e2eState = e2eLStatus; #ifdef ENABLE_DASHCAM recorder->updateState(s); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 2edeca94f8..b748501fe1 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -85,81 +85,6 @@ class AnnotatedCameraWidget : public CameraWidget { Q_PROPERTY(bool rightHandDM MEMBER rightHandDM); Q_PROPERTY(int status MEMBER status); - Q_PROPERTY(bool steerOverride MEMBER steerOverride); - Q_PROPERTY(bool gasOverride MEMBER gasOverride); - Q_PROPERTY(bool latActive MEMBER latActive); - Q_PROPERTY(bool madsEnabled MEMBER madsEnabled); - - Q_PROPERTY(bool brakeLights MEMBER brakeLights); - - Q_PROPERTY(bool standStillTimer MEMBER standStillTimer); - Q_PROPERTY(bool standStill MEMBER standStill); - Q_PROPERTY(float standstillElapsedTime MEMBER standstillElapsedTime); - - Q_PROPERTY(bool showVTC MEMBER showVTC); - Q_PROPERTY(QString vtcSpeed MEMBER vtcSpeed); - Q_PROPERTY(QColor vtcColor MEMBER vtcColor); - Q_PROPERTY(bool showDebugUI MEMBER showDebugUI); - - Q_PROPERTY(QString roadName MEMBER roadName); - - Q_PROPERTY(bool showSpeedLimit MEMBER showSpeedLimit); - Q_PROPERTY(float speedLimitSLC MEMBER speedLimitSLC); - Q_PROPERTY(QString slcSubText MEMBER slcSubText); - Q_PROPERTY(float slcSubTextSize MEMBER slcSubTextSize); - Q_PROPERTY(bool overSpeedLimit MEMBER overSpeedLimit); - Q_PROPERTY(bool mapSourcedSpeedLimit MEMBER mapSourcedSpeedLimit); - Q_PROPERTY(bool slcActive MEMBER slcActive); - - Q_PROPERTY(bool showTurnSpeedLimit MEMBER showTurnSpeedLimit); - Q_PROPERTY(QString turnSpeedLimit MEMBER turnSpeedLimit); - Q_PROPERTY(QString tscSubText MEMBER tscSubText); - Q_PROPERTY(bool tscActive MEMBER tscActive); - Q_PROPERTY(int curveSign MEMBER curveSign); - - Q_PROPERTY(bool hideVEgoUi MEMBER hideVEgoUi); - - Q_PROPERTY(bool gac MEMBER gac); - Q_PROPERTY(int gacTr MEMBER gacTr); - - Q_PROPERTY(bool mapVisible MEMBER mapVisible); - - // ############################## DEV UI START ############################## - Q_PROPERTY(bool lead_status MEMBER lead_status); - Q_PROPERTY(float lead_d_rel MEMBER lead_d_rel); - Q_PROPERTY(float lead_v_rel MEMBER lead_v_rel); - Q_PROPERTY(QString lateralState MEMBER lateralState); - Q_PROPERTY(float angleSteers MEMBER angleSteers); - Q_PROPERTY(float steerAngleDesired MEMBER steerAngleDesired); - Q_PROPERTY(float curvature MEMBER curvature); - Q_PROPERTY(float roll MEMBER roll); - Q_PROPERTY(int memoryUsagePercent MEMBER memoryUsagePercent); - Q_PROPERTY(bool devUiEnabled MEMBER devUiEnabled); - Q_PROPERTY(int devUiInfo MEMBER devUiInfo); - Q_PROPERTY(float gpsAccuracy MEMBER gpsAccuracy); - Q_PROPERTY(float altitude MEMBER altitude); - Q_PROPERTY(float vEgo MEMBER vEgo); - Q_PROPERTY(float aEgo MEMBER aEgo); - Q_PROPERTY(float steeringTorqueEps MEMBER steeringTorqueEps); - Q_PROPERTY(float bearingAccuracyDeg MEMBER bearingAccuracyDeg); - Q_PROPERTY(float bearingDeg MEMBER bearingDeg); - Q_PROPERTY(bool torquedUseParams MEMBER torquedUseParams); - Q_PROPERTY(float latAccelFactorFiltered MEMBER latAccelFactorFiltered); - Q_PROPERTY(float frictionCoefficientFiltered MEMBER frictionCoefficientFiltered); - Q_PROPERTY(bool liveValid MEMBER liveValid); - // ############################## DEV UI END ############################## - - Q_PROPERTY(float btnPerc MEMBER btnPerc); - - Q_PROPERTY(bool reversing MEMBER reversing); - - 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);