151 lines
3.5 KiB
C++
151 lines
3.5 KiB
C++
#pragma once
|
|
|
|
#include <eigen3/Eigen/Dense>
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include <QTimer>
|
|
#include <QColor>
|
|
#include <QFuture>
|
|
#include <QPolygonF>
|
|
#include "nanovg.h"
|
|
|
|
#include "cereal/messaging/messaging.h"
|
|
#include "common/mat.h"
|
|
#include "common/params.h"
|
|
#include "common/util.h"
|
|
#include "system/hardware/hw.h"
|
|
#include "selfdrive/ui/qt/prime_state.h"
|
|
|
|
const int UI_BORDER_SIZE = 30;
|
|
const int UI_HEADER_HEIGHT = 420;
|
|
|
|
const int UI_FREQ = 20; // Hz
|
|
const int BACKLIGHT_OFFROAD = 50;
|
|
|
|
const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0,
|
|
1.0, 0.0, 0.0).finished();
|
|
|
|
const Eigen::Matrix3f FCAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
|
|
2648.0, 0.0, 1928.0 / 2,
|
|
0.0, 2648.0, 1208.0 / 2,
|
|
0.0, 0.0, 1.0).finished();
|
|
|
|
// tici ecam focal probably wrong? magnification is not consistent across frame
|
|
// Need to retrain model before this can be changed
|
|
const Eigen::Matrix3f ECAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
|
|
567.0, 0.0, 1928.0 / 2,
|
|
0.0, 567.0, 1208.0 / 2,
|
|
0.0, 0.0, 1.0).finished();
|
|
|
|
typedef enum UIStatus {
|
|
STATUS_DISENGAGED,
|
|
STATUS_OVERRIDE,
|
|
STATUS_ENGAGED,
|
|
STATUS_ACTIVE,
|
|
} UIStatus;
|
|
|
|
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),
|
|
[STATUS_ACTIVE] = QColor(0x6f, 0xc0, 0xc9, 0xf1),
|
|
};
|
|
|
|
typedef struct UIScene {
|
|
Eigen::Matrix3f view_from_calib = VIEW_FROM_DEVICE;
|
|
Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
|
|
cereal::PandaState::PandaType pandaType;
|
|
|
|
cereal::LongitudinalPersonality personality;
|
|
|
|
float light_sensor = -1;
|
|
bool started, ignition, is_metric;
|
|
bool navigate_on_openpilot = false;
|
|
int _current_carrot_display = 0;
|
|
int _current_carrot_display_prev = 0;
|
|
int _display_time_count = 0;
|
|
bool map_on_left;
|
|
uint64_t started_frame;
|
|
|
|
bool carrot_experimental_mode = false;
|
|
|
|
} UIScene;
|
|
|
|
class UIState : public QObject {
|
|
Q_OBJECT
|
|
|
|
public:
|
|
UIState(QObject* parent = 0);
|
|
void updateStatus();
|
|
inline bool engaged() const {
|
|
return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
|
|
}
|
|
int fb_w = 0, fb_h = 0;
|
|
NVGcontext* vg;
|
|
NVGcontext* vg_border = nullptr;
|
|
|
|
std::map<std::string, int> images;
|
|
std::unique_ptr<SubMaster> sm;
|
|
UIStatus status;
|
|
UIScene scene = {};
|
|
QString language;
|
|
PrimeState *prime_state;
|
|
|
|
float max_distance = 0.0;
|
|
float show_brightness_ratio = 1.0;
|
|
int show_brightness_timer = 20;
|
|
|
|
signals:
|
|
void uiUpdate(const UIState &s);
|
|
void offroadTransition(bool offroad);
|
|
|
|
private slots:
|
|
void update();
|
|
|
|
private:
|
|
QTimer *timer;
|
|
bool started_prev = false;
|
|
};
|
|
|
|
UIState *uiState();
|
|
|
|
// device management class
|
|
class Device : public QObject {
|
|
Q_OBJECT
|
|
|
|
public:
|
|
Device(QObject *parent = 0);
|
|
bool isAwake() { return awake; }
|
|
void setOffroadBrightness(int brightness) {
|
|
offroad_brightness = std::clamp(brightness, 0, 100);
|
|
}
|
|
|
|
private:
|
|
bool awake = false;
|
|
int interactive_timeout = 0;
|
|
bool ignition_on = false;
|
|
|
|
int offroad_brightness = BACKLIGHT_OFFROAD;
|
|
int last_brightness = 0;
|
|
FirstOrderFilter brightness_filter;
|
|
QFuture<void> brightness_future;
|
|
|
|
void updateBrightness(const UIState &s);
|
|
void updateWakefulness(const UIState &s);
|
|
void setAwake(bool on);
|
|
|
|
signals:
|
|
void displayPowerChanged(bool on);
|
|
void interactiveTimeout();
|
|
|
|
public slots:
|
|
void resetInteractiveTimeout(int timeout = -1);
|
|
void update(const UIState &s);
|
|
};
|
|
|
|
Device *device();
|
|
void ui_update_params(UIState *s);
|