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fix (#155)

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add c3x position on sidebar
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Lee Jong Mun 2025-04-26 13:27:59 +09:00 committed by GitHub
parent 18bba4fc86
commit ee5076f581
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GPG Key ID: B5690EEEBB952194
5 changed files with 40 additions and 9 deletions
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1
common/params_keys.h
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@ -266,4 +266,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"NNFFLite", PERSISTENT},
{"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION},
{"DevicePosition", CLEAR_ON_MANAGER_START},
};

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selfdrive/assets/img_c3x.png Normal file
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19
selfdrive/ui/qt/offroad/settings.cc
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@ -283,6 +283,25 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
connect(statusCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
addItem(statusCalibBtn);
std::string calib_bytes = params.get("CalibrationParams");
if (!calib_bytes.empty()) {
try {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
QString position = QString("%2 %1° %4 %3°")
.arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "↓" : "↑",
QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "←" : "→");
params.put("DevicePosition", position.toStdString());
}
} catch (kj::Exception) {
qInfo() << "invalid CalibrationParams";
}
}
if (Hardware::TICI()) {
auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
connect(regulatoryBtn, &ButtonControl::clicked, [=]() {

12
selfdrive/ui/qt/sidebar.cc
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@ -28,6 +28,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
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);
c3x_img = loadPixmap("../assets/img_c3x.png", home_btn.size());
connect(this, &Sidebar::valueChanged, [=] { update(); });
@ -115,11 +116,20 @@ void Sidebar::paintEvent(QPaintEvent *event) {
p.fillRect(rect(), QColor(57, 57, 57));
QString c3x_position = QString("%1").arg(QString::fromStdString(params.get("DevicePosition")));
// buttons
p.setOpacity(settings_pressed ? 0.65 : 1.0);
p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img);
p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0);
p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img);
//p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img);
p.drawPixmap(home_btn.x(), home_btn.y(), c3x_img);
const QRect r3 = QRect(0, 967, event->rect().width(), 50);
p.setFont(InterFont(30));
p.setPen(QColor(0xff, 0xff, 0xff));
p.drawText(r3, Qt::AlignCenter, c3x_position);
p.setOpacity(1.0);
// network

3
selfdrive/ui/qt/sidebar.h
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@ -36,7 +36,7 @@ protected:
void mouseReleaseEvent(QMouseEvent *event) override;
void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
QPixmap home_img, flag_img, settings_img;
QPixmap home_img, flag_img, settings_img, c3x_img;
bool onroad, flag_pressed, settings_pressed;
const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
{cereal::DeviceState::NetworkType::NONE, tr("--")},
@ -61,4 +61,5 @@ protected:
private:
std::unique_ptr<PubMaster> pm;
Networking *networking = nullptr;
Params params;
};