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Visuals - Custom Onroad UI - Paths - Acceleration

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Show your projected acceleration on the driving path.
This commit is contained in:
FrogAi 2024-05-11 12:47:25 -07:00
parent 6069692f15
commit 358d37f8ee
3 changed files with 4 additions and 1 deletions
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2
selfdrive/ui/qt/onroad.cc
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@ -605,7 +605,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
// paint path // paint path
QLinearGradient bg(0, height(), 0, 0); QLinearGradient bg(0, height(), 0, 0);
if (experimentalMode) { if (experimentalMode || scene.acceleration_path) {
// The first half of track_vertices are the points for the right side of the path // The first half of track_vertices are the points for the right side of the path
// and the indices match the positions of accel from uiPlan // and the indices match the positions of accel from uiPlan
const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel(); const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();

2
selfdrive/ui/ui.cc
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@ -289,6 +289,8 @@ void ui_update_frogpilot_params(UIState *s) {
scene.show_cem_status_bar = scene.conditional_experimental && !params.getBool("HideCEMStatusBar"); scene.show_cem_status_bar = scene.conditional_experimental && !params.getBool("HideCEMStatusBar");
bool custom_onroad_ui = params.getBool("CustomUI"); bool custom_onroad_ui = params.getBool("CustomUI");
bool custom_paths = custom_onroad_ui && params.getBool("CustomPaths");
scene.acceleration_path = custom_paths && params.getBool("AccelerationPath");
scene.compass = custom_onroad_ui && params.getBool("Compass"); scene.compass = custom_onroad_ui && params.getBool("Compass");
scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing"); scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");

1
selfdrive/ui/ui.h
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@ -186,6 +186,7 @@ typedef struct UIScene {
uint64_t started_frame; uint64_t started_frame;
// FrogPilot variables // FrogPilot variables
bool acceleration_path;
bool always_on_lateral_active; bool always_on_lateral_active;
bool compass; bool compass;
bool conditional_experimental; bool conditional_experimental;