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Visuals - Custom Onroad UI - Steering Wheel Icon - Live Rotation

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This commit is contained in:
FrogAi 2024-05-12 20:29:13 -07:00
parent 9c7a043300
commit 159f53d20c
4 changed files with 22 additions and 3 deletions
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18
selfdrive/ui/qt/onroad.cc
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@ -18,15 +18,19 @@
#include "selfdrive/ui/qt/maps/map_panel.h" #include "selfdrive/ui/qt/maps/map_panel.h"
#endif #endif
static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) { static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity, const int angle = 0) {
p.setRenderHint(QPainter::Antialiasing); p.setRenderHint(QPainter::Antialiasing);
p.setOpacity(1.0); // bg dictates opacity of ellipse p.setOpacity(1.0); // bg dictates opacity of ellipse
p.setPen(Qt::NoPen); p.setPen(Qt::NoPen);
p.setBrush(bg); p.setBrush(bg);
p.drawEllipse(center, btn_size / 2, btn_size / 2); p.drawEllipse(center, btn_size / 2, btn_size / 2);
p.save();
p.translate(center);
p.rotate(angle);
p.setOpacity(opacity); p.setOpacity(opacity);
p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img); p.drawPixmap(-QPoint(img.width() / 2, img.height() / 2), img);
p.setOpacity(1.0); p.setOpacity(1.0);
p.restore();
} }
OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) { OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
@ -318,7 +322,15 @@ void ExperimentalButton::updateState(const UIState &s) {
} }
// FrogPilot variables // FrogPilot variables
rotatingWheel = scene.rotating_wheel;
wheelIcon = scene.wheel_icon; wheelIcon = scene.wheel_icon;
if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
update();
steeringAngleDeg = scene.steering_angle_deg;
} else if (!rotatingWheel) {
steeringAngleDeg = 0;
}
} }
void ExperimentalButton::paintEvent(QPaintEvent *event) { void ExperimentalButton::paintEvent(QPaintEvent *event) {
@ -338,7 +350,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
(scene.navigate_on_openpilot ? bg_colors[STATUS_NAVIGATION_ACTIVE] : QColor(0, 0, 0, 166)))))) : (scene.navigate_on_openpilot ? bg_colors[STATUS_NAVIGATION_ACTIVE] : QColor(0, 0, 0, 166)))))) :
QColor(0, 0, 0, 166); QColor(0, 0, 0, 166);
drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0); drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0, steeringAngleDeg);
} }

3
selfdrive/ui/qt/onroad.h
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@ -107,6 +107,9 @@ private:
QMap<int, QPixmap> wheelImages; QMap<int, QPixmap> wheelImages;
bool rotatingWheel;
int steeringAngleDeg;
int wheelIcon; int wheelIcon;
}; };

2
selfdrive/ui/ui.cc
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@ -224,6 +224,7 @@ static void update_state(UIState *s) {
scene.blind_spot_right = carState.getRightBlindspot(); scene.blind_spot_right = carState.getRightBlindspot();
scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK; scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK;
scene.standstill = carState.getStandstill(); scene.standstill = carState.getStandstill();
scene.steering_angle_deg = -carState.getSteeringAngleDeg();
} }
if (sm.updated("controlsState")) { if (sm.updated("controlsState")) {
auto controlsState = sm["controlsState"].getControlsState(); auto controlsState = sm["controlsState"].getControlsState();
@ -310,6 +311,7 @@ void ui_update_frogpilot_params(UIState *s) {
scene.dynamic_pedals_on_ui = scene.pedals_on_ui && params.getBool("DynamicPedalsOnUI"); scene.dynamic_pedals_on_ui = scene.pedals_on_ui && params.getBool("DynamicPedalsOnUI");
scene.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI"); scene.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI");
scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI"); scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI");
scene.rotating_wheel = custom_onroad_ui && params.getBool("RotatingWheel");
scene.wheel_icon = custom_onroad_ui ? params.getInt("WheelIcon") : 0; scene.wheel_icon = custom_onroad_ui ? params.getInt("WheelIcon") : 0;
scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing"); scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");

2
selfdrive/ui/ui.h
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@ -211,6 +211,7 @@ typedef struct UIScene {
bool reverse_cruise_ui; bool reverse_cruise_ui;
bool right_hand_drive; bool right_hand_drive;
bool road_name_ui; bool road_name_ui;
bool rotating_wheel;
bool show_aol_status_bar; bool show_aol_status_bar;
bool show_cem_status_bar; bool show_cem_status_bar;
bool show_slc_offset; bool show_slc_offset;
@ -242,6 +243,7 @@ typedef struct UIScene {
int conditional_speed; int conditional_speed;
int conditional_speed_lead; int conditional_speed_lead;
int conditional_status; int conditional_status;
int steering_angle_deg;
int wheel_icon; int wheel_icon;
QPolygonF track_adjacent_vertices[6]; QPolygonF track_adjacent_vertices[6];