ui: Visuals Panel Lead Chevron Info (#1033)

* lead info

* ui:chevron params

* Update system/manager/manager.py.

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>

common/params_keys.h

@@ -132,6 +132,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
+    {"ChevronInfo", PERSISTENT | BACKUP},
     {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
     {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
     {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},

selfdrive/ui/qt/onroad/model.cc

@@ -34,6 +34,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
       drawLead(painter, lead_two, lead_vertices[1], surface_rect);
     }
   }
+  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
 
   painter.restore();
 }
@@ -173,6 +174,173 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
       (1 - t) * start.alphaF() + t * end.alphaF());
 }
 
+
+void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) {
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+
+    if (!sm.alive("radarState")) return;
+
+    const auto &radar_state = sm["radarState"].getRadarState();
+    const auto &lead_one = radar_state.getLeadOne();
+    const auto &lead_two = radar_state.getLeadTwo();
+
+    // Check if we have any active leads
+    bool has_lead_one = lead_one.getStatus();
+    bool has_lead_two = lead_two.getStatus();
+
+    if (!has_lead_one && !has_lead_two) {
+        // Fade out status display
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        if (lead_status_alpha <= 0.0f) return;
+    } else {
+        // Fade in status display
+        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
+    }
+
+    // Draw status for each lead vehicle under its chevron
+    if (true) {
+        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
+    }
+
+    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
+        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
+    }
+}
+
+void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
+                                           const cereal::RadarState::LeadData::Reader &lead_data,
+                                           const QPointF &chevron_pos,
+                                           int height, int width,
+                                           const QString &label) {
+
+    float d_rel = lead_data.getDRel();
+    float v_rel = lead_data.getVRel();
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+    float v_ego = sm["carState"].getCarState().getVEgo();
+
+    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
+
+    // Calculate chevron size (same logic as drawLead)
+    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+
+    QFont content_font = painter.font();
+    content_font.setPixelSize(35);
+    content_font.setBold(true);
+    painter.setFont(content_font);
+
+    QFontMetrics fm(content_font);
+    bool is_metric = s->scene.is_metric;
+
+    QStringList text_lines;
+
+    const int chevron_types = 3;
+    const int chevron_all = chevron_types + 1;  // All metrics (value 4)
+    QStringList chevron_text[chevron_types];
+    int position;
+    float val;
+
+    // Distance display (chevron_data == 1 or all)
+    if (chevron_data == 1 || chevron_data == chevron_all) {
+        position = 0;
+        val = std::max(0.0f, d_rel);
+        QString distance_unit = is_metric ? "m" : "ft";
+        if (!is_metric) {
+            val *= 3.28084f; // Convert meters to feet
+        }
+        chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
+    }
+
+    // Absolute velocity display (chevron_data == 2 or all)
+    if (chevron_data == 2 || chevron_data == chevron_all) {
+        position = (chevron_data == 2) ? 0 : 1;
+        val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
+        chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
+    }
+
+    // Time-to-contact display (chevron_data == 3 or all)
+    if (chevron_data == 3 || chevron_data == chevron_all) {
+        position = (chevron_data == 3) ? 0 : 2;
+        val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+        QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+        chevron_text[position].append(ttc_str);
+    }
+
+    // Collect all non-empty text lines
+    for (int i = 0; i < chevron_types; ++i) {
+        if (!chevron_text[i].isEmpty()) {
+            text_lines.append(chevron_text[i]);
+        }
+    }
+
+    // If no text to display, return early
+    if (text_lines.isEmpty()) {
+        return;
+    }
+
+    // Text box dimensions
+    float str_w = 150;  // Width of text area
+    float str_h = 45;   // Height per line
+
+    // Position text below chevron, centered horizontally
+    float text_x = chevron_pos.x() - str_w / 2;
+    float text_y = chevron_pos.y() + sz + 15;
+
+    // Clamp to screen bounds
+    text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
+
+    // Shadow offset
+    QPoint shadow_offset(2, 2);
+
+    // Draw each line of text with shadow
+    for (int i = 0; i < text_lines.size(); ++i) {
+        if (!text_lines[i].isEmpty()) {
+            QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
+
+            // Draw shadow
+            painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
+            painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
+                           Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
+
+            // Determine text color based on content and danger level
+            QColor text_color;
+
+            // Check if this is a distance line (contains 'm' or 'ft')
+            if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
+                if (d_rel < 20.0f) {
+                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
+                } else if (d_rel < 40.0f) {
+                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
+                } else {
+                    text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
+                }
+            }
+            // Enhanced color coding for time-to-contact
+            else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) {
+                float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat();
+                if (ttc_val < 3.0f) {
+                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent
+                } else if (ttc_val < 6.0f) {
+                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
+                } else {
+                    text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe
+                }
+            }
+            else {
+                text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
+            }
+
+            // Draw main text
+            painter.setPen(text_color);
+            painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
+        }
+    }
+
+    // Reset pen
+    painter.setPen(Qt::NoPen);
+}
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -34,6 +34,12 @@ protected:
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                         QPolygonF *pvd, int max_idx, bool allow_invert = true);
+  void drawLeadStatus(QPainter &painter, int height, int width);
+  void drawLeadStatusAtPosition(QPainter &painter,
+                             const cereal::RadarState::LeadData::Reader &lead_data,
+                             const QPointF &chevron_pos,
+                             int height, int width,
+                             const QString &label);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
   virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
@@ -58,4 +64,9 @@ protected:
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
+
+  float lead_status_alpha = 0.0f;
+  QPointF lead_status_pos;
+  QString lead_status_text;
+  QColor lead_status_color;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc

@@ -12,7 +12,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
     paramsRefresh();
   });
-  
+
   main_layout = new QStackedLayout(this);
   ListWidgetSP *list = new ListWidgetSP(this, false);
 
@@ -30,6 +30,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     },
   };
 
+  // Add regular toggles first
   for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
     auto toggle = new ParamControlSP(param, title, desc, icon, this);
 
@@ -53,9 +54,20 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     param_watcher->addParam(param);
   }
 
+  // Visuals: Display Metrics below Chevron
+  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
+  chevron_info_settings = new ButtonParamControlSP(
+    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
+    "",
+    chevron_info_settings_texts,
+    200);
+  chevron_info_settings->showDescription();
+  list->addItem(chevron_info_settings);
+  param_watcher->addParam("ChevronInfo");
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
-  
+
   main_layout->addWidget(sunnypilotScreen);
 }
 
@@ -67,4 +79,8 @@ void VisualsPanel::paramsRefresh() {
   for (auto toggle : toggles) {
     toggle.second->refresh();
   }
+
+  if (chevron_info_settings) {
+    chevron_info_settings->refresh();
+  }
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h

@@ -27,4 +27,5 @@ protected:
  Params params;
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
+ ButtonParamControlSP *chevron_info_settings;
 };

system/manager/manager.py

@@ -50,6 +50,8 @@ def manager_init() -> None:
     ("BlindSpot", "0"),
     ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
     ("BlinkerPauseLateralControl", "0"),
+    ("Brightness", "0"),
+    ("ChevronInfo", "4"),
     ("CustomAccIncrementsEnabled", "0"),
     ("CustomAccLongPressIncrement", "5"),
     ("CustomAccShortPressIncrement", "1"),
@@ -66,7 +68,6 @@ def manager_init() -> None:
     ("MadsUnifiedEngagementMode", "1"),
     ("MapdVersion", f"{VERSION}"),
     ("MaxTimeOffroad", "1800"),
-    ("Brightness", "0"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),