fix (#155)

add c3x position on sidebar

common/params_keys.h

@@ -119,11 +119,11 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
-    
+
     // carrot
     {"LongitudinalPersonalityMax", PERSISTENT},
     {"NetworkAddress", CLEAR_ON_MANAGER_START},
-    
+
     {"ApiCache_NavDestinations", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
@@ -261,9 +261,10 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CustomSR", PERSISTENT},
     {"SteerRatioRate", PERSISTENT},
     {"SoftRestartTriggered", CLEAR_ON_MANAGER_START},
-    
+
     {"NNFF", PERSISTENT},
     {"NNFFLite", PERSISTENT},
     {"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION},
-    
+
+    {"DevicePosition", CLEAR_ON_MANAGER_START},
 };

selfdrive/ui/qt/offroad/settings.cc

@@ -282,7 +282,26 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   auto statusCalibBtn = new ButtonControl(tr("Calibration Status"), tr("SHOW"), "");
   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, [=]() {
@@ -399,7 +418,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
     if (param.endsWith("Panel")) {
       QString panelName = param;
       panelName.chop(5); // Remove "Panel" suffix
-      
+
       // Find the panel by name
       for (int i = 0; i < nav_btns->buttons().size(); i++) {
         if (nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) {
@@ -411,7 +430,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
       emit expandToggleDescription(param);
     }
   }
-  
+
   panel_widget->setCurrentIndex(index);
   nav_btns->buttons()[index]->setChecked(true);
 }

selfdrive/ui/qt/sidebar.cc

@@ -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

selfdrive/ui/qt/sidebar.h

@@ -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;
 };