b61696fd28
* lanemode lag (#166) * fix.. laneline_t * check limit only, accel safety, * fix.. cruise speed.. * fix.. enable_dm * remove mapboxkey.. * test * fix.. * revert print
327 lines
11 KiB
C++
327 lines
11 KiB
C++
#include "selfdrive/ui/qt/onroad/onroad_home.h"
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#include <QPainter>
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#include <QStackedLayout>
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#include <QJsonDocument>
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#include <QJsonObject>
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#include <QJsonValue>
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#include <QJsonArray>
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#include <QDialog>
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#include <QMouseEvent>
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#include "selfdrive/ui/qt/util.h"
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#include "selfdrive/ui/carrot.h"
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#ifdef ENABLE_MAPS
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#include "selfdrive/ui/qt/maps/map_helpers.h"
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#include "selfdrive/ui/qt/maps/map_panel.h"
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#endif
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class OverlayDialog : public QWidget {
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Q_OBJECT
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public:
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explicit OverlayDialog(QWidget* parent = nullptr) : QWidget(parent) {
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setWindowFlags(Qt::Window | Qt::FramelessWindowHint); // 다이얼로그처럼 동작
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setStyleSheet("background-color: rgba(0, 0, 0, 0.8); border-radius: 10px;");
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resize(400, 300); // 기본 크기 설정
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}
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void setContent(QWidget* content) {
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QVBoxLayout* layout = new QVBoxLayout(this);
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layout->addWidget(content);
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layout->setMargin(0);
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setLayout(layout);
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}
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};
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OnroadWindow::OnroadWindow(QWidget *parent) : QOpenGLWidget(parent) {
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QVBoxLayout *main_layout = new QVBoxLayout(this);
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main_layout->setMargin(UI_BORDER_SIZE);
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//main_layout->setContentsMargins(UI_BORDER_SIZE, 0, UI_BORDER_SIZE, 0);
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QStackedLayout *stacked_layout = new QStackedLayout;
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stacked_layout->setStackingMode(QStackedLayout::StackAll);
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main_layout->addLayout(stacked_layout);
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nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);
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QWidget * split_wrapper = new QWidget;
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split = new QHBoxLayout(split_wrapper);
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split->setContentsMargins(0, 0, 0, 0);
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split->setSpacing(0);
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split->addWidget(nvg);
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if (getenv("DUAL_CAMERA_VIEW")) {
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CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, this);
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split->insertWidget(0, arCam);
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}
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if (getenv("MAP_RENDER_VIEW")) {
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CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, this);
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split->insertWidget(0, map_render);
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}
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stacked_layout->addWidget(split_wrapper);
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alerts = new OnroadAlerts(this);
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alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true);
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stacked_layout->addWidget(alerts);
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// setup stacking order
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alerts->raise();
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setAttribute(Qt::WA_OpaquePaintEvent);
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QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
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QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
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}
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void OnroadWindow::updateState(const UIState &s) {
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UIState* ss = uiState();
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if (!s.scene.started) {
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ss->scene._current_carrot_display_prev = -1;
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return;
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}
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//alerts->updateState(s);
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ui_update_alert(OnroadAlerts::getAlert(*(s.sm), s.scene.started_frame));
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if (s.scene.map_on_left) {
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split->setDirection(QBoxLayout::LeftToRight);
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} else {
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split->setDirection(QBoxLayout::RightToLeft);
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}
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nvg->updateState(s);
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QColor bgColor = bg_colors[s.status];
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QColor bgColor_long = bg_colors[s.status];
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const SubMaster& sm = *(s.sm);
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const auto car_control = sm["carControl"].getCarControl();
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auto selfdrive_state = sm["selfdriveState"].getSelfdriveState();
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//if (s.status == STATUS_DISENGAGED && car_control.getLatActive()) {
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// bgColor = bg_colors[STATUS_LAT_ACTIVE];
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//}
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const auto car_state = sm["carState"].getCarState();
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if (car_state.getSteeringPressed()) {
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bgColor = bg_colors[STATUS_OVERRIDE];
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}
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else if (car_control.getLatActive()) {
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bgColor = bg_colors[STATUS_ENGAGED];
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}
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else if (car_state.getLatEnabled()) {
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bgColor = bg_colors[STATUS_ACTIVE];
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}
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else
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bgColor = bg_colors[STATUS_DISENGAGED];
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if (car_state.getGasPressed()) {
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bgColor_long = bg_colors[STATUS_OVERRIDE];
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}
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else if (selfdrive_state.getEnabled()) {
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bgColor_long = bg_colors[STATUS_ENGAGED];
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}
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else if (car_state.getCruiseState().getAvailable()) {
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bgColor_long = bg_colors[STATUS_ACTIVE];
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}
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else
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bgColor_long = bg_colors[STATUS_DISENGAGED];
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if (bg != bgColor || bg_long != bgColor_long) {
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// repaint border
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bg = bgColor;
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bg_long = bgColor_long;
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//update();
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}
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update();
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if (true) {
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int carrot_display = 0;
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static int carrot_cmd_index_last = 0;
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if (sm.alive("carrotMan")) {
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const auto& carrot = sm["carrotMan"].getCarrotMan();
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int carrot_cmd_index = carrot.getCarrotCmdIndex();
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if (carrot_cmd_index != carrot_cmd_index_last) {
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carrot_cmd_index_last = carrot_cmd_index;
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QString carrot_cmd = QString::fromStdString(carrot.getCarrotCmd());
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QString carrot_arg = QString::fromStdString(carrot.getCarrotArg());
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if (carrot_cmd == "DISPLAY") {
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if (carrot_arg == "TOGGLE") {
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carrot_display = 5;
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//printf("Display toggle\n");
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}
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else if (carrot_arg == "DEFAULT") {
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carrot_display = 1;
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//printf("Display 1\n");
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}
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else if (carrot_arg == "ROAD") {
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carrot_display = 2;
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//printf("Display 2\n");
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}
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else if (carrot_arg == "MAP") {
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carrot_display = 3;
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//printf("Display 3\n");
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}
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else if (carrot_arg == "FULLMAP") {
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carrot_display = 4;
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//printf("Display 4\n");
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}
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}
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}
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}
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if (carrot_display == 5) ss->scene._current_carrot_display = (ss->scene._current_carrot_display % 3) + 1;
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else if(carrot_display > 0) ss->scene._current_carrot_display = carrot_display;
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if (map == nullptr && ss->scene._current_carrot_display > 2) ss->scene._current_carrot_display = 1;
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//if (offroad) _current_carrot_display = 1;
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switch (ss->scene._current_carrot_display) {
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case 1: // default
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if (map != nullptr) map->setVisible(false);
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if (ss->scene._current_carrot_display_prev != ss->scene._current_carrot_display) ss->scene._display_time_count = 100; // 100: about 5 seconds
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if (ss->scene._display_time_count-- <= 0) ss->scene._current_carrot_display = 2; // change to road view
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break;
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case 2: // road
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if (map != nullptr) map->setVisible(false);
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break;
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case 3: // map
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if (map == nullptr) ss->scene._current_carrot_display = 1;
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else {
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map->setVisible(true);
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//map->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
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}
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break;
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case 4: // fullmap
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if (map == nullptr) ss->scene._current_carrot_display = 1;
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else {
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map->setVisible(true);
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//map->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
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//map->setFixedWidth(topWidget(this)->width() - UI_BORDER_SIZE);
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}
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break;
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}
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ss->scene._current_carrot_display_prev = ss->scene._current_carrot_display;
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}
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}
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void OnroadWindow::mousePressEvent(QMouseEvent* e) {
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//printf("uiState()->scene.navigate_on_openpilot = %d\n", uiState()->scene.navigate_on_openpilot);
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//#ifdef ENABLE_MAPS
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// if (map != nullptr) {
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// Switch between map and sidebar when using navigate on openpilot
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//bool sidebarVisible = geometry().x() > 0;
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//bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
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//map->setVisible(show_map && !map->isVisible());
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// }
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//#endif
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// propagation event to parent(HomeWindow)
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int x = e->x(); // 430 - 500 : gap window
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int y = height() - e->y(); // 60 - 180 : gap window
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int ey = e->y();
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printf("x=%d, y=%d, ey=%d\n", x, y, ey);
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double now = millis_since_boot();
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static double last_click_time = 0;
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static int _click_count = 0;
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// 40,150, 200, 150
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Params params;
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if (x > 40 && x < 370 && ey > 30 && ey < 240) { // date & time
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int show_date_time = params.getInt("ShowDateTime");
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params.putIntNonBlocking("ShowDateTime", (show_date_time + 1) % 3);
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}
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else if (x > 40 && x < 500 && y > 400 && y < 530) { // device info
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int show_device_state = params.getInt("ShowDeviceState");
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params.putIntNonBlocking("ShowDeviceState", (show_device_state + 1) % 2);
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}
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else if (x > 40 && x < 200 && y > 20 && y < 150) { // driving mode
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int my_driving_mode = params.getInt("MyDrivingMode");
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params.putIntNonBlocking("MyDrivingMode", (my_driving_mode) % 4 + 1);
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}
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else if (x > 350 && x < 550 && y > 20 && y < 250) { // gap control
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int longitudinalPersonalityMax = params.getInt("LongitudinalPersonalityMax");
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int personality = (params.getInt("LongitudinalPersonality") - 1 + longitudinalPersonalityMax) % longitudinalPersonalityMax;
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params.putIntNonBlocking("LongitudinalPersonality", personality);
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}
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else {
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if (now - last_click_time < 500) {
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_click_count++;
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}
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else {
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_click_count = 0;
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}
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last_click_time = now;
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if (_click_count == 3) {
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params.putIntNonBlocking("SoftRestartTriggered", 1);
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}
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UIState* s = uiState();
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s->scene._current_carrot_display = (s->scene._current_carrot_display % 3) + 1; // 4번: full map은 안보여줌.
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printf("_current_carrot_display1=%d\n", s->scene._current_carrot_display);
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QWidget::mousePressEvent(e);
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}
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}
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//OverlayDialog* mapDialog = nullptr;
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void OnroadWindow::offroadTransition(bool offroad) {
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#ifdef ENABLE_MAPS
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if (!offroad) {
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if (map == nullptr && (!MAPBOX_TOKEN.isEmpty())) {
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printf("####### Initialize MapPanel\n");
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#if 0
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auto m = new MapPanel(get_mapbox_settings());
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map = m;
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m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
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split->insertWidget(0, m);
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// hidden by default, made visible when navRoute is published
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m->setVisible(false);
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#else
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OverlayDialog* mapDialog = new OverlayDialog(this);
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mapDialog->setWindowFlags(Qt::FramelessWindowHint | Qt::WindowStaysOnTopHint);
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mapDialog->setAttribute(Qt::WA_TranslucentBackground);
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mapDialog->setAttribute(Qt::WA_NoSystemBackground);
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// MapPanel 추가
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auto m = new MapPanel(get_mapbox_settings(), mapDialog);
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map = m;
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mapDialog->setContent(m);
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// 특정 위치에 배치 (오른쪽 하단)
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mapDialog->setGeometry(topWidget(this)->width() - 790 - UI_BORDER_SIZE, UI_BORDER_SIZE + 15, 775, topWidget(this)->height() - 400);
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//mapDialog->hide(); // 기본적으로 숨김 상태
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mapDialog->show();
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mapDialog->raise();
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uiState()->scene._current_carrot_display = 1;
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#endif
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}
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}
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#endif
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alerts->clear();
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}
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void OnroadWindow::paintEvent(QPaintEvent *event) {
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QPainter p(this);
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p.beginNativePainting();
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UIState* s = uiState();
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extern void ui_draw_border(UIState * s, int w, int h, QColor bg, QColor bg_long);
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ui_draw_border(s, width(), height(), bg, bg_long);
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p.endNativePainting();
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}
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// OnroadWindow.cpp에서 OpenGL 초기화 및 그리기 구현
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void OnroadWindow::initializeGL() {
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initializeOpenGLFunctions(); // QOpenGLFunctions 초기화
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// Parent widget을 위한 NanoVG 컨텍스트 생성
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//s->vg = nvgCreate(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
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//if (s->vg == nullptr) {
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// printf("Could not init nanovg.\n");
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// return;
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//}
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}
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#include "selfdrive/ui/qt/onroad/onroad_home.moc"
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