mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-06-26 11:52:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

"Concept by Aleksei Voronov: At SunnyPilot, we turn concepts into reality."

Browse Source
This commit is contained in:
rav4kumar
2025-02-17 17:33:07 -07:00
parent 984e09971e
commit ebbdc92531
3 changed files with 164 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/qt/onroad/model.cc
+160 -2
View File
@@ -35,7 +35,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
update_model(model, lead_one);
drawLaneLines(painter);
drawPath(painter, model, surface_rect.height());
drawPath(painter, model, surface_rect.height(), surface_rect.width());
if (longitudinal_control && sm.alive("radarState")) {
update_leads(radar_state, model.getPosition());
@@ -105,7 +105,7 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
}
}
void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height, int width) {
QLinearGradient bg(0, height, 0, 0);
auto *s = uiState();
auto &sm = *(s->sm);
@@ -173,6 +173,9 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
painter.setBrush(bg);
painter.drawPolygon(track_vertices);
LongFuel(painter,height, width);
LateralFuel(painter, height, width);
}
@@ -220,6 +223,161 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
(1 - t) * start.alphaF() + t * end.alphaF());
}
void ModelRenderer::LongFuel(QPainter &painter, int height, int width) {
qreal rectWidth = static_cast<qreal>(width);
qreal rectHeight = static_cast<qreal>(height);
UIState *s = uiState();
float currentAcceleration = (*s->sm)["carControl"].getCarControl().getActuators().getAccel();
//float currentAcceleration = (*s->sm)["carState"].getCarState().getAEgo();
qreal gaugeSize = 140.0; // Diameter of the semicircle
qreal backgroundSize = gaugeSize * 1.4; // Background is 30% larger than the gague
qreal centerX = rectWidth / 17; // Center the gague horz
qreal centerY = rectHeight / 2 + 120; // Center the gauge vertical offset
// Draw a dark circular background
painter.setPen(Qt::NoPen);
painter.setBrush(QColor(0, 0, 0, 80)); // Semi-transparent black
painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2, backgroundSize / 2);
// Add a subtle border/glow around the background
QPen borderPen(QColor(0, 0, 0, 100));
borderPen.setWidth(2);
painter.setPen(borderPen);
painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2 + 1, backgroundSize / 2 + 1);
// Draw the background semicircle
QPen semicirclePen(QColor(50, 50, 50)); // Dark gray for the semicircle
semicirclePen.setWidth(30); // Thicker pen for the semicircle
semicirclePen.setCapStyle(Qt::RoundCap);
painter.setPen(semicirclePen);
painter.drawArc(QRectF(centerX - gaugeSize / 2, centerY - gaugeSize / 2, gaugeSize, gaugeSize), 0, 180 * 16);
// Determine the color based on the magnitude of acceleration
QColor indicatorColor;
float absoluteAcceleration = std::abs(currentAcceleration);
if (absoluteAcceleration < 0.3) {
indicatorColor = QColor(23, 241, 66, 200); // Green for low acceleration
} else if (absoluteAcceleration < 0.6) {
indicatorColor = QColor(255, 166, 0, 200); // Yellow for moderate acceleration
} else {
indicatorColor = QColor(245, 0, 0, 200); // Red for high acceleration
}
// Calculate the span of the arc based on acceleration
int spanAngle = static_cast<int>(90 * absoluteAcceleration * 16); // Scale for better visibility
spanAngle = std::clamp(spanAngle, 0, 90 * 16); // Ensure the arc does not exceed 90 degrees
// Starting angle is at the middle of the semicircle (90 degrees)
int startAngle = 90 * 16;
// Draw the acceleration arc if there's significant acceleration
if (absoluteAcceleration > 0.01) {
semicirclePen.setColor(indicatorColor);
painter.setPen(semicirclePen);
QRectF arcRect(centerX - gaugeSize / 2, centerY - gaugeSize / 2, gaugeSize, gaugeSize);
// For positive acceleration, draw the arc to the left
if (currentAcceleration > 0) {
painter.drawArc(arcRect, startAngle, -spanAngle); // Negative span for left side
} else {
// For negative acceleration (deceleration), draw the arc to the right
painter.drawArc(arcRect, startAngle, spanAngle); // Positive span for right side
}
}
// Draw the text center
painter.setPen(Qt::white);
QFont font = painter.font();
font.setPixelSize(20);
font.setBold(true);
painter.setFont(font);
painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, "LONG");
}
void ModelRenderer::LateralFuel(QPainter &painter, int height, int width) {
qreal rectWidth = static_cast<qreal>(width);
qreal rectHeight = static_cast<qreal>(height);
UIState *s = uiState();
float currentLateral = (*s->sm)["carState"].getCarState().getSteeringAngleDeg();
qreal gaugeSize = 140.0; // Diameter of the semicircle
qreal backgroundSize = gaugeSize * 1.4; // Background is 30% larger than the gague
qreal centerX = rectWidth / 17; // Center the gague horz
qreal centerY = rectHeight / 2 - 120; // Center the gague vertical offset
// Draw a dark circular background
painter.setPen(Qt::NoPen);
painter.setBrush(QColor(0, 0, 0, 80)); // Semi-transparent black
painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2, backgroundSize / 2);
// Add a subtle border/glow around the background
QPen borderPen(QColor(0, 0, 0, 100));
borderPen.setWidth(2);
painter.setPen(borderPen);
painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2 + 1, backgroundSize / 2 + 1);
// Draw the background semicircle
QPen semicirclePen(QColor(50, 50, 50)); // Dark gray for the semicircle
semicirclePen.setWidth(30); // Thicker pen for the semicircle
semicirclePen.setCapStyle(Qt::RoundCap);
painter.setPen(semicirclePen);
painter.drawArc(QRectF(centerX - gaugeSize / 2, centerY - gaugeSize / 2, gaugeSize, gaugeSize), 0, 180 * 16);
// Determine the color based on the magnitude of lateral force
QColor indicatorColor;
float absoluteLateral = std::abs(currentLateral); // TODO: its too choppy, something is wrong here
if (absoluteLateral < 5.0) { // Low lateral force
indicatorColor = QColor(23, 241, 66, 200); // Green
} else if (absoluteLateral < 15.0) { // Moderate lateral force
indicatorColor = QColor(255, 166, 0, 200); // Yellow
} else { // High lateral force
indicatorColor = QColor(245, 0, 0, 200); // Red
}
// Calculate the span of the arc based on lateral force
int spanAngle = static_cast<int>(90 * (absoluteLateral / 15.0) * 16); // Scale for better visibility
spanAngle = std::clamp(spanAngle, 0, 90 * 16); // Ensure the arc does not exceed 90 degrees
// Starting angle is at the middle of the semicircle (90 degrees)
int startAngle = 90 * 16;
// Draw the lateral arc if there's significant lateral force
if (absoluteLateral > 0.1) {
semicirclePen.setColor(indicatorColor);
painter.setPen(semicirclePen);
QRectF arcRect(centerX - gaugeSize / 2, centerY - gaugeSize / 2, gaugeSize, gaugeSize);
// For left turn (negative lateral), draw the arc on the left side
if (currentLateral < 0) {
painter.drawArc(arcRect, startAngle, -spanAngle); // Negative span for left side
}
// For right turn (positive lateral), draw the arc on the right side
else {
painter.drawArc(arcRect, startAngle, spanAngle); // Positive span for right side
}
}
// Draw the text in the center
painter.setPen(Qt::white);
QFont font = painter.font();
font.setPixelSize(20);
font.setBold(true);
painter.setFont(font);
painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, "LAT");
}
void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
const QPointF &vd, const QRect &surface_rect) {
const float speedBuff = 10.;
selfdrive/ui/qt/onroad/model.h
+3 -2
View File
@@ -23,10 +23,11 @@ private:
void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
void drawLaneLines(QPainter &painter);
void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height, int width);
void updatePathGradient(QLinearGradient &bg);
QColor blendColors(const QColor &start, const QColor &end, float t);
void LongFuel(QPainter &p, int height, int width);
void LateralFuel(QPainter &p, int height, int width);
bool longitudinal_control = false;
bool experimental_mode = false;
float blend_factor = 1.0f;
selfdrive/ui/sunnypilot/ui.cc
+1 -1
View File
@@ -18,7 +18,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
"pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
"wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
"modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP",
"modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "carControl",
});
// update timer