zhudongjer/carrot
1
1
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

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

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
selfdrive/ui/qt/onroad.cc
View File

@ -18,15 +18,19 @@
#include "selfdrive/ui/qt/maps/map_panel.h"
#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.setOpacity(1.0); // bg dictates opacity of ellipse
p.setPen(Qt::NoPen);
p.setBrush(bg);
p.drawEllipse(center, btn_size / 2, btn_size / 2);
p.save();
p.translate(center);
p.rotate(angle);
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.restore();
}
OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
@ -318,7 +322,15 @@ void ExperimentalButton::updateState(const UIState &s) {
}
// FrogPilot variables
rotatingWheel = scene.rotating_wheel;
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) {
@ -338,7 +350,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
(scene.navigate_on_openpilot ? bg_colors[STATUS_NAVIGATION_ACTIVE] : 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
View File

@ -107,6 +107,9 @@ private:
QMap<int, QPixmap> wheelImages;
bool rotatingWheel;
int steeringAngleDeg;
int wheelIcon;
};

2
selfdrive/ui/ui.cc
View File

@ -224,6 +224,7 @@ static void update_state(UIState *s) {
scene.blind_spot_right = carState.getRightBlindspot();
scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK;
scene.standstill = carState.getStandstill();
scene.steering_angle_deg = -carState.getSteeringAngleDeg();
}
if (sm.updated("controlsState")) {
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.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI");
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.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");

2
selfdrive/ui/ui.h
View File

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