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Visuals - Developer UI - Border Metrics - Steering Torque

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Display steering torque metrics in onroad UI border.
This commit is contained in:
FrogAi 2024-05-12 03:23:44 -07:00
parent 20bc0dfe7d
commit 31c9f33623
4 changed files with 33 additions and 0 deletions
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27
selfdrive/ui/qt/onroad.cc
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@ -223,6 +223,33 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
QRect rect = this->rect(); QRect rect = this->rect();
p.fillRect(rect, QColor(bg.red(), bg.green(), bg.blue(), 255)); p.fillRect(rect, QColor(bg.red(), bg.green(), bg.blue(), 255));
if (scene.show_steering) {
QLinearGradient gradient(rect.topLeft(), rect.bottomLeft());
gradient.setColorAt(0.0, bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]);
gradient.setColorAt(0.15, bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]);
gradient.setColorAt(0.5, bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]);
gradient.setColorAt(0.85, bg_colors[STATUS_ENGAGED]);
gradient.setColorAt(1.0, bg_colors[STATUS_ENGAGED]);
QBrush brush(gradient);
int fillWidth = UI_BORDER_SIZE;
steer = 0.10 * abs(scene.steer) + 0.90 * steer;
int visibleHeight = rect.height() * steer;
if (scene.steering_angle_deg < 0) {
QRect leftRect(rect.x(), rect.y() + rect.height() - visibleHeight, fillWidth, visibleHeight);
p.fillRect(leftRect, brush);
QRect leftRectHidden(rect.x(), rect.y(), fillWidth, rect.height() - visibleHeight);
p.fillRect(leftRectHidden, QColor(bg.red(), bg.green(), bg.blue(), 255));
} else if (scene.steering_angle_deg > 0 ) {
QRect rightRect(rect.x() + rect.width() - fillWidth, rect.y() + rect.height() - visibleHeight, fillWidth, visibleHeight);
p.fillRect(rightRect, brush);
QRect rightRectHidden(rect.x() + rect.width() - fillWidth, rect.y(), fillWidth, rect.height() - visibleHeight);
p.fillRect(rightRectHidden, QColor(bg.red(), bg.green(), bg.blue(), 255));
}
}
if (scene.show_blind_spot) { if (scene.show_blind_spot) {
auto getBlindspotColor = [&](bool turn_signal, int &frames) { auto getBlindspotColor = [&](bool turn_signal, int &frames) {
if (turn_signal) { if (turn_signal) {

2
selfdrive/ui/qt/onroad.h
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@ -306,6 +306,8 @@ private:
Params params; Params params;
Params paramsMemory{"/dev/shm/params"}; Params paramsMemory{"/dev/shm/params"};
float steer;
QPoint timeoutPoint = QPoint(420, 69); QPoint timeoutPoint = QPoint(420, 69);
QTimer clickTimer; QTimer clickTimer;

2
selfdrive/ui/ui.cc
View File

@ -213,6 +213,7 @@ static void update_state(UIState *s) {
} }
if (sm.updated("carControl")) { if (sm.updated("carControl")) {
auto carControl = sm["carControl"].getCarControl(); auto carControl = sm["carControl"].getCarControl();
scene.steer = carControl.getActuators().getSteer();
} }
if (sm.updated("carParams")) { if (sm.updated("carParams")) {
scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
@ -326,6 +327,7 @@ void ui_update_frogpilot_params(UIState *s) {
bool developer_ui = params.getBool("DeveloperUI"); bool developer_ui = params.getBool("DeveloperUI");
bool border_metrics = developer_ui && params.getBool("BorderMetrics"); bool border_metrics = developer_ui && params.getBool("BorderMetrics");
scene.show_blind_spot = border_metrics && params.getBool("BlindSpotMetrics"); scene.show_blind_spot = border_metrics && params.getBool("BlindSpotMetrics");
scene.show_steering = border_metrics && params.getBool("ShowSteering");
scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing"); scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing"); scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");

2
selfdrive/ui/ui.h
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@ -219,6 +219,7 @@ typedef struct UIScene {
bool show_cem_status_bar; bool show_cem_status_bar;
bool show_slc_offset; bool show_slc_offset;
bool show_slc_offset_ui; bool show_slc_offset_ui;
bool show_steering;
bool speed_limit_changed; bool speed_limit_changed;
bool speed_limit_controller; bool speed_limit_controller;
bool speed_limit_overridden; bool speed_limit_overridden;
@ -241,6 +242,7 @@ typedef struct UIScene {
float speed_limit; float speed_limit;
float speed_limit_offset; float speed_limit_offset;
float speed_limit_overridden_speed; float speed_limit_overridden_speed;
float steer;
float unconfirmed_speed_limit; float unconfirmed_speed_limit;
int alert_size; int alert_size;