From be7a2a284a5ea74ed7bc0f16470fa9f2eba263d0 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Thu, 13 Jun 2024 22:03:15 +0800
Subject: [PATCH] display GPS accuracy

---
 selfdrive/ui/qt/sidebar.cc | 15 +++++++++++++--
 selfdrive/ui/qt/sidebar.h  |  3 +++
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 1cedbb9cf..d98ba612a 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -4,6 +4,12 @@
 
 #include "selfdrive/ui/qt/util.h"
 
+#ifdef DP
+#include "dp_priv/selfdrive/ui/qt/util.h"
+#endif
+// dp - for satellite fmin
+#include <cmath>
+
 void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y) {
   const QRect rect = {30, y, 240, 126};
 
@@ -102,8 +108,13 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
     pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
-  } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
-    pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color};
+//  } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
+//    pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color};
+  } else if (s.scene.started) { //} && sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
+    auto gpsReader = s.gps_service == "gpsLocationExternal"? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+    float gpsAccuracy = gpsReader.getVerticalAccuracy();
+    bool gps_ok = sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK() && gpsAccuracy < 10;
+    pandaStatus = {{tr("GPS"), gps_ok? QString("%1 m").arg(fmin(99, gpsAccuracy), 0, 'f', 2) : "N/A"}, gps_ok? good_color : warning_color};
   }
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
   // rick - update every 5 secs
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 0b818a640..d7dc64e8b 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -6,6 +6,9 @@
 #include <QMap>
 
 #include "selfdrive/ui/ui.h"
+#ifdef DP
+#include "dp_priv/selfdrive/ui/qt/sidebar.h"
+#endif
 
 typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);