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ui: driving path size scaling with MADS status (#223)

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* ui: driving path size scaling with MADS status

* cleanup
This commit is contained in:
Jason Wen
2023-08-09 03:46:39 -04:00
committed by GitHub
parent cbc2469494
commit ea35f72528
2 changed files with 32 additions and 2 deletions
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selfdrive/ui/ui.cc
+22 -2
View File
@@ -119,8 +119,8 @@ void update_model(UIState *s,
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
}
max_idx = get_path_length_idx(plan_position, max_distance);
update_line_data(s, plan_position, 0.9, 1.22, 1.22, &scene.track_vertices, max_idx, false);
update_line_data(s, plan_position, 1.0, 1.22, 1.22, &scene.track_edge_vertices, max_idx, false);
update_line_data(s, plan_position, 0.9 - scene.mads_path_range * scene.mads_path_scale, 1.22, 1.22, &scene.track_vertices, max_idx, false);
update_line_data(s, plan_position, 1.0 - scene.mads_path_range * scene.mads_path_scale - 0.1 * scene.mads_path_scale, 1.22, 1.22, &scene.track_edge_vertices, max_idx, false);
}
void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
@@ -276,12 +276,32 @@ void UIState::updateStatus() {
auto controls_state = (*sm)["controlsState"].getControlsState();
auto car_control = (*sm)["carControl"].getCarControl();
auto car_state = (*sm)["carState"].getCarState();
auto mads_enabled = car_state.getMadsEnabled();
auto state = controls_state.getState();
if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
status = STATUS_OVERRIDE;
} else {
status = car_state.getMadsEnabled() ? car_control.getLongActive() ? STATUS_ENGAGED : STATUS_MADS : STATUS_DISENGAGED;
}
if (mads_enabled != last_mads_enabled) {
mads_path_state = true;
}
last_mads_enabled = mads_enabled;
if (mads_path_state) {
if (mads_enabled) {
mads_path_count = fmax(mads_path_count - 1, 0);
if (mads_path_count == 0) {
mads_path_state = false;
}
} else {
mads_path_count = fmin(mads_path_count + 1, mads_path_timestep);
if (mads_path_count == mads_path_timestep) {
mads_path_state = false;
}
}
}
scene.mads_path_scale = mads_path_count * (1 / mads_path_timestep);
}
// Handle onroad/offroad transition
selfdrive/ui/ui.h
+10
View File
@@ -20,6 +20,8 @@ const int UI_BORDER_SIZE = 30;
const int UI_HEADER_HEIGHT = 420;
const QRect speed_sgn_rc(UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2.5 + 202, 184, 184);
const float DRIVING_PATH_WIDE = 0.9;
const float DRIVING_PATH_NARROW = 0.25;
const int UI_FREQ = 20; // Hz
const int BACKLIGHT_OFFROAD = 50;
@@ -209,6 +211,9 @@ typedef struct UIScene {
// UI button sorting
int gac_btn;
float mads_path_scale = DRIVING_PATH_WIDE - DRIVING_PATH_NARROW;
float mads_path_range = DRIVING_PATH_WIDE - DRIVING_PATH_NARROW; // 0.9 - 0.25 = 0.65
} UIScene;
class UIState : public QObject {
@@ -251,6 +256,11 @@ private:
bool started_prev = false;
int prime_type = -1;
uint64_t last_update_params_sidebar;
bool last_mads_enabled = false;
bool mads_path_state = false;
float mads_path_timestep = 4; // UI runs at 20 Hz, therefore 0.2 second is [0.2 second / (1 / 20 Hz) = 4]
float mads_path_count = 4; // UI runs at 20 Hz, therefore 0.2 second is [0.2 second / (1 / 20 Hz) = 4]
};
UIState *uiState();