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Visuals - Developer UI - Lateral Metrics

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Display various metrics related to the lateral performance of openpilot.
This commit is contained in:
FrogAi 2024-05-11 14:05:58 -07:00
parent 5ca48bea57
commit 119e63952b
3 changed files with 36 additions and 0 deletions
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27
selfdrive/ui/qt/onroad.cc
View File

@ -351,6 +351,33 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
update();
}
QString logicsDisplayString = QString();
if (scene.show_tuning) {
if (!scene.live_valid) {
logicsDisplayString += "Friction: Calculating... | Lateral Acceleration: Calculating...";
} else {
logicsDisplayString += QString("Friction: %1 | Lateral Acceleration: %2")
.arg(scene.friction, 0, 'f', 3)
.arg(scene.lat_accel, 0, 'f', 3);
}
}
if (logicsDisplayString.endsWith(" | ")) {
logicsDisplayString.chop(3);
}
if (!logicsDisplayString.isEmpty()) {
p.setFont(InterFont(28, QFont::DemiBold));
p.setRenderHint(QPainter::TextAntialiasing);
p.setPen(Qt::white);
int logicsWidth = p.fontMetrics().horizontalAdvance(logicsDisplayString);
int logicsX = (rect.width() - logicsWidth) / 2;
int logicsY = rect.top() + 27;
p.drawText(logicsX, logicsY, logicsDisplayString);
update();
}
}
// ***** onroad widgets *****

4
selfdrive/ui/ui.cc
View File

@ -270,6 +270,9 @@ static void update_state(UIState *s) {
}
if (sm.updated("liveTorqueParameters")) {
auto torque_params = sm["liveTorqueParameters"].getLiveTorqueParameters();
scene.friction = torque_params.getFrictionCoefficientFiltered();
scene.lat_accel = torque_params.getLatAccelFactorFiltered();
scene.live_valid = torque_params.getLiveValid();
}
if (sm.updated("wideRoadCameraState")) {
auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
@ -330,6 +333,7 @@ void ui_update_frogpilot_params(UIState *s) {
scene.show_signal = border_metrics && params.getBool("SignalMetrics");
scene.show_steering = border_metrics && params.getBool("ShowSteering");
scene.fps_counter = developer_ui && params.getBool("FPSCounter");
scene.show_tuning = developer_ui && scene.has_auto_tune && params.getBool("LateralMetrics");
scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");

5
selfdrive/ui/ui.h
View File

@ -203,7 +203,9 @@ typedef struct UIScene {
bool experimental_mode;
bool experimental_mode_via_screen;
bool fps_counter;
bool has_auto_tune;
bool holiday_themes;
bool live_valid;
bool map_open;
bool online;
bool onroad_distance_button;
@ -222,6 +224,7 @@ typedef struct UIScene {
bool show_slc_offset;
bool show_slc_offset_ui;
bool show_steering;
bool show_tuning;
bool speed_limit_changed;
bool speed_limit_controller;
bool speed_limit_overridden;
@ -237,9 +240,11 @@ typedef struct UIScene {
bool vtsc_controlling_curve;
float adjusted_cruise;
float friction;
float lane_detection_width;
float lane_width_left;
float lane_width_right;
float lat_accel;
float lead_detection_threshold;
float speed_limit;
float speed_limit_offset;