Visuals - Custom Onroad UI - Compass
Add a compass to the onroad UI.
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selfdrive/frogpilot/assets/other_images/compass_inner.png
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selfdrive/frogpilot/assets/other_images/compass_inner.png
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After Width: | Height: | Size: 42 KiB |
@ -401,8 +401,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
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// hide map settings button for alerts and flip for right hand DM
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if (map_settings_btn->isEnabled()) {
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map_settings_btn->setVisible(!hideBottomIcons);
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main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
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map_settings_btn->setVisible(!hideBottomIcons && compass);
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main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignTop);
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}
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// Update FrogPilot widgets
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@ -832,6 +832,9 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
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QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
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bottom_layout->addItem(spacer);
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compass_img = new Compass(this);
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bottom_layout->addWidget(compass_img);
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map_settings_btn_bottom = new MapSettingsButton(this);
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bottom_layout->addWidget(map_settings_btn_bottom);
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@ -862,6 +865,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
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alwaysOnLateralActive = scene.always_on_lateral_active;
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showAlwaysOnLateralStatusBar = scene.show_aol_status_bar;
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compass = scene.compass;
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conditionalStatus = scene.conditional_status;
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showConditionalExperimentalStatusBar = scene.show_cem_status_bar;
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@ -893,6 +898,13 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
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drawSLCConfirmation(p);
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}
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bool enableCompass = compass && !hideBottomIcons;
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compass_img->setVisible(enableCompass);
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if (enableCompass) {
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compass_img->updateState();
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bottom_layout->setAlignment(compass_img, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight));
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}
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bool enableDistanceButton = onroadDistanceButton && !hideBottomIcons;
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distance_btn->setVisible(enableDistanceButton);
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if (enableDistanceButton) {
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@ -902,11 +914,117 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
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map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
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if (map_settings_btn_bottom->isEnabled()) {
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map_settings_btn_bottom->setVisible(!hideBottomIcons);
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map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass);
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bottom_layout->setAlignment(map_settings_btn_bottom, rightHandDM ? Qt::AlignLeft : Qt::AlignRight);
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}
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}
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Compass::Compass(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
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setFixedSize(btn_size * 1.5, btn_size * 1.5);
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compassSize = btn_size;
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circleOffset = compassSize / 2;
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degreeLabelOffset = circleOffset + 25;
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innerCompass = compassSize / 2;
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x = (btn_size * 1.5) / 2 + 20;
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y = (btn_size * 1.5) / 2;
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compassInnerImg = loadPixmap("../frogpilot/assets/other_images/compass_inner.png", QSize(compassSize / 1.75, compassSize / 1.75));
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staticElements = QPixmap(size());
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staticElements.fill(Qt::transparent);
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QPainter p(&staticElements);
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p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
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QPen whitePen(Qt::white, 2);
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p.setPen(whitePen);
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p.setOpacity(1.0);
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p.setBrush(QColor(0, 0, 0, 100));
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p.drawEllipse(x - circleOffset, y - circleOffset, circleOffset * 2, circleOffset * 2);
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p.setBrush(Qt::NoBrush);
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p.drawEllipse(x - (innerCompass + 5), y - (innerCompass + 5), (innerCompass + 5) * 2, (innerCompass + 5) * 2);
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p.drawEllipse(x - degreeLabelOffset, y - degreeLabelOffset, degreeLabelOffset * 2, degreeLabelOffset * 2);
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QPainterPath outerCircle, innerCircle;
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outerCircle.addEllipse(x - degreeLabelOffset, y - degreeLabelOffset, degreeLabelOffset * 2, degreeLabelOffset * 2);
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innerCircle.addEllipse(x - circleOffset, y - circleOffset, compassSize, compassSize);
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p.fillPath(outerCircle.subtracted(innerCircle), Qt::black);
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}
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void Compass::updateState() {
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if (bearingDeg != scene.bearing_deg) {
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update();
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bearingDeg = scene.bearing_deg;
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}
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}
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void Compass::paintEvent(QPaintEvent *event) {
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QPainter p(this);
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p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
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bearingDeg = fmod(bearingDeg, 360);
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if (bearingDeg < 0) {
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bearingDeg += 360;
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}
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p.drawPixmap(0, 0, staticElements);
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p.translate(x, y);
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p.rotate(bearingDeg);
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p.drawPixmap(-compassInnerImg.width() / 2, -compassInnerImg.height() / 2, compassInnerImg);
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p.rotate(-bearingDeg);
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p.translate(-x, -y);
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QFont font = InterFont(10, QFont::Normal);
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for (int i = 0; i < 360; i += 15) {
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bool isBold = abs(i - bearingDeg) <= 7;
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font.setWeight(isBold ? QFont::Bold : QFont::Normal);
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p.setFont(font);
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p.setPen(QPen(Qt::white, i % 90 == 0 ? 2 : 1));
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p.save();
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p.translate(x, y);
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p.rotate(i);
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p.drawLine(0, -(compassSize / 2 - (i % 90 == 0 ? 12 : 8)), 0, -(compassSize / 2));
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p.translate(0, -(compassSize / 2 + 12));
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p.rotate(-i);
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p.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter, QString::number(i));
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p.restore();
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}
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p.setFont(InterFont(20, QFont::Bold));
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std::map<QString, std::tuple<QPair<float, float>, int, QColor>> directionInfo = {
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{"N", {{292.5, 67.5}, Qt::AlignTop | Qt::AlignHCenter, Qt::white}},
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{"E", {{22.5, 157.5}, Qt::AlignRight | Qt::AlignVCenter, Qt::white}},
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{"S", {{112.5, 247.5}, Qt::AlignBottom | Qt::AlignHCenter, Qt::white}},
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{"W", {{202.5, 337.5}, Qt::AlignLeft | Qt::AlignVCenter, Qt::white}}
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};
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int directionOffset = 20;
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for (auto &item : directionInfo) {
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QString direction = item.first;
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auto &[range, alignmentFlag, color] = item.second;
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auto &[minRange, maxRange] = range;
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QRect textRect(x - innerCompass + directionOffset, y - innerCompass + directionOffset, innerCompass * 2 - 2 * directionOffset, innerCompass * 2 - 2 * directionOffset);
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bool isInRange = false;
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if (minRange > maxRange) {
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isInRange = bearingDeg >= minRange || bearingDeg <= maxRange;
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} else {
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isInRange = bearingDeg >= minRange && bearingDeg <= maxRange;
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}
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p.setOpacity(isInRange ? 1.0 : 0.2);
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p.setPen(QPen(color));
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p.drawText(textRect, alignmentFlag, direction);
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}
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}
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DistanceButton::DistanceButton(QWidget *parent) : QPushButton(parent), scene(uiState()->scene) {
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setFixedSize(btn_size * 1.5, btn_size * 1.5);
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@ -34,6 +34,30 @@ private:
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UIScene &scene;
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};
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class Compass : public QWidget {
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public:
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explicit Compass(QWidget *parent = nullptr);
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void updateState();
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protected:
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void paintEvent(QPaintEvent *event) override;
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private:
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UIScene &scene;
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int bearingDeg;
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int circleOffset;
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int compassSize;
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int degreeLabelOffset;
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int innerCompass;
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int x;
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int y;
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QPixmap compassInnerImg;
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QPixmap staticElements;
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};
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class DistanceButton : public QPushButton {
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public:
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explicit DistanceButton(QWidget *parent = nullptr);
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@ -143,11 +167,13 @@ private:
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Params paramsMemory{"/dev/shm/params"};
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UIScene &scene;
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Compass *compass_img;
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DistanceButton *distance_btn;
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QHBoxLayout *bottom_layout;
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bool alwaysOnLateralActive;
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bool compass;
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bool experimentalMode;
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bool mapOpen;
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bool onroadDistanceButton;
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@ -248,6 +248,10 @@ static void update_state(UIState *s) {
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}
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if (sm.updated("liveLocationKalman")) {
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auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
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auto orientation = liveLocationKalman.getCalibratedOrientationNED();
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if (orientation.getValid()) {
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scene.bearing_deg = RAD2DEG(orientation.getValue()[2]);
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}
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}
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if (sm.updated("liveTorqueParameters")) {
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auto torque_params = sm["liveTorqueParameters"].getLiveTorqueParameters();
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@ -284,6 +288,9 @@ void ui_update_frogpilot_params(UIState *s) {
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scene.conditional_speed_lead = scene.conditional_experimental ? params.getInt("CESpeedLead") : 0;
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scene.show_cem_status_bar = scene.conditional_experimental && !params.getBool("HideCEMStatusBar");
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bool custom_onroad_ui = params.getBool("CustomUI");
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scene.compass = custom_onroad_ui && params.getBool("Compass");
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scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
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scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");
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@ -187,6 +187,7 @@ typedef struct UIScene {
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// FrogPilot variables
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bool always_on_lateral_active;
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bool compass;
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bool conditional_experimental;
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bool disable_smoothing_mtsc;
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bool disable_smoothing_vtsc;
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@ -222,6 +223,7 @@ typedef struct UIScene {
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float unconfirmed_speed_limit;
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int alert_size;
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int bearing_deg;
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int conditional_speed;
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int conditional_speed_lead;
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int conditional_status;
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