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Code Issues Packages Projects Releases Wiki Activity

ui/map: cache navigation images at startup (#28783)

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Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
This commit is contained in:
Dean Lee
2023-07-15 03:18:49 +08:00
committed by GitHub
parent ce0717670b
commit ccfca97dfc
2 changed files with 34 additions and 19 deletions
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50
selfdrive/ui/qt/maps/map.cc
View File

@@ -3,6 +3,7 @@
#include <eigen3/Eigen/Dense>
#include <QDebug>
#include <QDir>
#include "common/transformations/coordinates.hpp"
#include "selfdrive/ui/qt/maps/map_helpers.h"
@@ -411,6 +412,31 @@ MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) {
pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
setAutoFillBackground(true);
setPalette(pal);
buildPixmapCache();
}
void MapInstructions::buildPixmapCache() {
QDir dir("../assets/navigation");
for (QString fn : dir.entryList({"*" + ICON_SUFFIX}, QDir::Files)) {
QPixmap pm(dir.filePath(fn));
QString key = fn.left(fn.size() - ICON_SUFFIX.length());
pm = pm.scaledToWidth(200, Qt::SmoothTransformation);
// Maneuver icons
pixmap_cache[key] = pm;
// lane direction icons
if (key.contains("turn_")) {
pixmap_cache["lane_" + key] = pm.scaled({125, 125}, Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
}
// for rhd, reflect direction and then flip
if (key.contains("_left")) {
pixmap_cache["rhd_" + key.replace("_left", "_right")] = pm.transformed(QTransform().scale(-1, 1));
} else if (key.contains("_right")) {
pixmap_cache["rhd_" + key.replace("_right", "_left")] = pm.transformed(QTransform().scale(-1, 1));
}
}
}
QString MapInstructions::getDistance(float d) {
@@ -441,27 +467,13 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
QString type = QString::fromStdString(instruction.getManeuverType());
QString modifier = QString::fromStdString(instruction.getManeuverModifier());
if (!type.isEmpty()) {
QString fn = "../assets/navigation/direction_" + type;
QString fn = "direction_" + type;
if (!modifier.isEmpty()) {
fn += "_" + modifier;
}
fn += ICON_SUFFIX;
fn = fn.replace(' ', '_');
// for rhd, reflect direction and then flip
if (is_rhd) {
if (fn.contains("left")) {
fn.replace("left", "right");
} else if (fn.contains("right")) {
fn.replace("right", "left");
}
}
QPixmap pix(fn);
if (is_rhd) {
pix = pix.transformed(QTransform().scale(-1, 1));
}
icon_01->setPixmap(pix.scaledToWidth(200, Qt::SmoothTransformation));
bool rhd = is_rhd && (fn.contains("_left") || fn.contains("_right"));
icon_01->setPixmap(pixmap_cache[!rhd ? fn : "rhd_" + fn]);
icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
icon_01->setVisible(true);
}
@@ -480,7 +492,7 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
}
// TODO: Make more images based on active direction and combined directions
QString fn = "../assets/navigation/direction_";
QString fn = "lane_direction_";
if (left) {
fn += "turn_left";
} else if (right) {
@@ -497,7 +509,7 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
if (!label->parentWidget()) {
lane_layout->addWidget(label);
}
label->setPixmap(loadPixmap(fn + ICON_SUFFIX, {125, 125}, Qt::IgnoreAspectRatio));
label->setPixmap(pixmap_cache[fn]);
label->setVisible(true);
}

3
selfdrive/ui/qt/maps/map.h
View File

@@ -4,6 +4,7 @@
#include <QGeoCoordinate>
#include <QGestureEvent>
#include <QHash>
#include <QHBoxLayout>
#include <QLabel>
#include <QMap>
@@ -34,9 +35,11 @@ private:
QHBoxLayout *lane_layout;
bool is_rhd = false;
std::vector<QLabel *> lane_labels;
QHash<QString, QPixmap> pixmap_cache;
public:
MapInstructions(QWidget * parent=nullptr);
void buildPixmapCache();
QString getDistance(float d);
void updateInstructions(cereal::NavInstruction::Reader instruction);
};