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FrogPilot setup - Setup UI

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This commit is contained in:
FrogAi 2024-05-21 23:52:28 -07:00
parent 814b55c0d7
commit 8b46c5ac49
8 changed files with 178 additions and 14 deletions
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1
selfdrive/ui/qt/offroad/settings.h
View File

@ -99,4 +99,5 @@ private:
// FrogPilot variables
Params paramsMemory{"/dev/shm/params"};
UIScene &scene;
};

2
selfdrive/ui/qt/offroad/software_settings.cc
View File

@ -20,7 +20,7 @@ void SoftwarePanel::checkForUpdates() {
std::system("pkill -SIGUSR1 -f selfdrive.updated.updated");
}
SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent), scene(uiState()->scene) {
onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off."));
onroadLbl->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; padding-top: 30px; padding-bottom: 30px;");
addItem(onroadLbl);

127
selfdrive/ui/qt/onroad.cc
View File

@ -28,7 +28,7 @@ static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, cons
p.setOpacity(1.0);
}
OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setMargin(UI_BORDER_SIZE);
QStackedLayout *stacked_layout = new QStackedLayout;
@ -114,6 +114,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
QObject::connect(nvg->map_settings_btn_bottom, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
nvg->map_settings_btn->setEnabled(true);
m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
@ -170,11 +171,13 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
int margin = 40;
int radius = 30;
int offset = true ? 25 : 0;
if (alert.size == cereal::ControlsState::AlertSize::FULL) {
margin = 0;
radius = 0;
offset = 0;
}
QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
QRect r = QRect(0 + margin, height() - h + margin - offset, width() - margin*2, h - margin*2);
QPainter p(this);
@ -215,7 +218,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
}
// ExperimentalButton
ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent), scene(uiState()->scene) {
setFixedSize(btn_size, btn_size);
engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
@ -250,7 +253,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
// MapSettingsButton
MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
setFixedSize(btn_size, btn_size);
setFixedSize(btn_size, btn_size + 20);
settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
// hidden by default, made visible if map is created (has prime or mapbox token)
@ -265,7 +268,7 @@ void MapSettingsButton::paintEvent(QPaintEvent *event) {
// Window that shows camera view and variety of info drawn on top
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent), scene(uiState()->scene) {
pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
main_layout = new QVBoxLayout(this);
@ -279,6 +282,9 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
// Initialize FrogPilot widgets
initializeFrogPilotWidgets();
}
void AnnotatedCameraWidget::updateState(const UIState &s) {
@ -331,6 +337,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
map_settings_btn->setVisible(!hideBottomIcons);
main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
}
// Update FrogPilot widgets
updateFrogPilotWidgets();
}
void AnnotatedCameraWidget::drawHud(QPainter &p) {
@ -429,6 +438,9 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
drawText(p, rect().center().x(), 290, speedUnit, 200);
p.restore();
// Draw FrogPilot widgets
paintFrogPilotWidgets(p);
}
void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
@ -471,7 +483,6 @@ void AnnotatedCameraWidget::updateFrameMat() {
void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.save();
const UIScene &scene = s->scene;
SubMaster &sm = *(s->sm);
// lanelines
@ -488,7 +499,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
// paint path
QLinearGradient bg(0, height(), 0, 0);
if (sm["controlsState"].getControlsState().getExperimentalMode()) {
if (experimentalMode) {
// 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
const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
@ -528,13 +539,12 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
}
void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) {
const UIScene &scene = s->scene;
painter.save();
// base icon
int offset = UI_BORDER_SIZE + btn_size / 2;
int x = rightHandDM ? width() - offset : offset;
offset += true ? 25 : 0;
int y = height() - offset;
float opacity = dmActive ? 0.65 : 0.2;
drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
@ -636,7 +646,7 @@ void AnnotatedCameraWidget::paintGL() {
} else if (v_ego > 15) {
wide_cam_requested = false;
}
wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
wide_cam_requested = wide_cam_requested && experimentalMode;
// for replay of old routes, never go to widecam
wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
}
@ -704,3 +714,100 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
ui_update_params(uiState());
prev_draw_t = millis_since_boot();
}
// FrogPilot widgets
void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
bottom_layout = new QHBoxLayout();
QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
bottom_layout->addItem(spacer);
map_settings_btn_bottom = new MapSettingsButton(this);
bottom_layout->addWidget(map_settings_btn_bottom);
main_layout->addLayout(bottom_layout);
}
void AnnotatedCameraWidget::updateFrogPilotWidgets() {
if (is_metric) {
accelerationUnit = tr(" m/s²");
leadDistanceUnit = tr(mapOpen ? "m" : "meters");
leadSpeedUnit = tr("kph");
accelerationConversion = 1.0f;
distanceConversion = 1.0f;
speedConversion = MS_TO_KPH;
} else {
accelerationUnit = tr(" ft/s²");
leadDistanceUnit = tr(mapOpen ? "ft" : "feet");
leadSpeedUnit = tr("mph");
accelerationConversion = METER_TO_FOOT;
distanceConversion = METER_TO_FOOT;
speedConversion = MS_TO_MPH;
}
alertSize = scene.alert_size;
experimentalMode = scene.experimental_mode;
mapOpen = scene.map_open;
}
void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
if (true) {
drawStatusBar(p);
}
map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
if (map_settings_btn_bottom->isEnabled()) {
map_settings_btn_bottom->setVisible(!hideBottomIcons);
bottom_layout->setAlignment(map_settings_btn_bottom, rightHandDM ? Qt::AlignLeft : Qt::AlignRight);
}
}
void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
p.save();
static bool displayStatusText = false;
constexpr qreal fadeDuration = 1500.0;
constexpr qreal textDuration = 5000.0;
static QElapsedTimer timer;
static QString lastShownStatus;
QString newStatus;
QRect currentRect = rect();
QRect statusBarRect(currentRect.left() - 1, currentRect.bottom() - 50, currentRect.width() + 2, 100);
p.setBrush(QColor(0, 0, 0, 150));
p.setOpacity(1.0);
p.drawRoundedRect(statusBarRect, 30, 30);
if (newStatus != lastShownStatus) {
displayStatusText = true;
lastShownStatus = newStatus;
timer.restart();
} else if (displayStatusText && timer.hasExpired(textDuration + fadeDuration)) {
displayStatusText = false;
}
p.setFont(InterFont(40, QFont::Bold));
p.setPen(Qt::white);
p.setRenderHint(QPainter::TextAntialiasing);
static qreal statusTextOpacity;
int elapsed = timer.elapsed();
if (displayStatusText) {
statusTextOpacity = qBound(0.0, 1.0 - (elapsed - textDuration) / fadeDuration, 1.0);
}
p.setOpacity(statusTextOpacity);
QRect textRect = p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
textRect.moveBottom(statusBarRect.bottom() - 50);
p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
p.restore();
}

31
selfdrive/ui/qt/onroad.h
View File

@ -20,7 +20,7 @@ class OnroadAlerts : public QWidget {
Q_OBJECT
public:
OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
OnroadAlerts(QWidget *parent = 0) : QWidget(parent), scene(uiState()->scene) {}
void updateAlert(const Alert &a);
protected:
@ -29,6 +29,9 @@ protected:
private:
QColor bg;
Alert alert = {};
// FrogPilot variables
UIScene &scene;
};
class ExperimentalButton : public QPushButton {
@ -50,6 +53,7 @@ private:
// FrogPilot variables
Params paramsMemory{"/dev/shm/params"};
UIScene &scene;
};
@ -74,6 +78,7 @@ public:
void updateState(const UIState &s);
MapSettingsButton *map_settings_btn;
MapSettingsButton *map_settings_btn_bottom;
private:
void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
@ -100,8 +105,31 @@ private:
int skip_frame_count = 0;
bool wide_cam_requested = false;
// FrogPilot widgets
void initializeFrogPilotWidgets();
void paintFrogPilotWidgets(QPainter &p);
void updateFrogPilotWidgets();
void drawStatusBar(QPainter &p);
// FrogPilot variables
Params paramsMemory{"/dev/shm/params"};
UIScene &scene;
QHBoxLayout *bottom_layout;
bool experimentalMode;
bool mapOpen;
float accelerationConversion;
float distanceConversion;
float speedConversion;
int alertSize;
QString accelerationUnit;
QString leadDistanceUnit;
QString leadSpeedUnit;
protected:
void paintGL() override;
@ -142,6 +170,7 @@ private:
QHBoxLayout* split;
// FrogPilot variables
UIScene &scene;
Params params;
Params paramsMemory{"/dev/shm/params"};

2
selfdrive/ui/qt/sidebar.cc
View File

@ -24,7 +24,7 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
}
Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false), scene(uiState()->scene) {
home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);

1
selfdrive/ui/qt/sidebar.h
View File

@ -62,4 +62,5 @@ private:
// FrogPilot variables
Params params;
UIScene &scene;
};

10
selfdrive/ui/ui.cc
View File

@ -148,6 +148,8 @@ void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &drivers
kpt_this = matvecmul3(r_xyz, kpt_this);
scene.face_kpts_draw[kpi] = (vec3){{(float)kpt_this.v[0], (float)kpt_this.v[1], (float)(kpt_this.v[2] * (1.0-dm_fade_state) + 8 * dm_fade_state)}};
}
scene.right_hand_drive = is_rhd;
}
static void update_sockets(UIState *s) {
@ -210,6 +212,9 @@ static void update_state(UIState *s) {
}
if (sm.updated("controlsState")) {
auto controlsState = sm["controlsState"].getControlsState();
scene.alert_size = controlsState.getAlertSize() == cereal::ControlsState::AlertSize::MID ? 350 : controlsState.getAlertSize() == cereal::ControlsState::AlertSize::SMALL ? 200 : 0;
scene.enabled = controlsState.getEnabled();
scene.experimental_mode = controlsState.getExperimentalMode();
}
if (sm.updated("deviceState")) {
auto deviceState = sm["deviceState"].getDeviceState();
@ -217,6 +222,9 @@ static void update_state(UIState *s) {
if (sm.updated("frogpilotCarControl")) {
auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl();
}
if (sm.updated("frogpilotCarState")) {
auto frogpilotCarState = sm["frogpilotCarState"].getFrogpilotCarState();
}
if (sm.updated("frogpilotPlan")) {
auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan();
}
@ -279,7 +287,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
"pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
"wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "carControl", "liveTorqueParameters",
"frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
"frogpilotCarControl", "frogpilotCarState", "frogpilotDeviceState", "frogpilotPlan",
});
Params params;

18
selfdrive/ui/ui.h
View File

@ -107,6 +107,10 @@ typedef enum UIStatus {
STATUS_DISENGAGED,
STATUS_OVERRIDE,
STATUS_ENGAGED,
// FrogPilot statuses
STATUS_EXPERIMENTAL_MODE_ACTIVE,
STATUS_NAVIGATION_ACTIVE,
} UIStatus;
enum PrimeType {
@ -123,6 +127,10 @@ const QColor bg_colors [] = {
[STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
[STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
[STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
// FrogPilot colors
[STATUS_EXPERIMENTAL_MODE_ACTIVE] = QColor(0xda, 0x6f, 0x25, 0xf1),
[STATUS_NAVIGATION_ACTIVE] = QColor(0x31, 0xa1, 0xee, 0xf1),
};
static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
@ -164,6 +172,16 @@ typedef struct UIScene {
bool started, ignition, is_metric, map_on_left, longitudinal_control;
bool world_objects_visible = false;
uint64_t started_frame;
// FrogPilot variables
bool enabled;
bool experimental_mode;
bool map_open;
bool online;
bool right_hand_drive;
int alert_size;
} UIScene;
class UIState : public QObject {