mawei
/
openpilot1
mirror of https://github.com/huifan0114/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Visuals - Developer UI - Border Metrics - Steering Torque 

Display steering torque metrics in onroad UI border.
This commit is contained in:
FrogAi 2024-06-20 06:46:28 -07:00
parent cb430e489f
commit 31678b7269
4 changed files with 48 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
selfdrive/ui/qt/onroad/onroad_home.cc
View File

@ -87,8 +87,11 @@ void OnroadWindow::updateState(const UIState &s) {
blindSpotLeft = scene.blind_spot_left;
blindSpotRight = scene.blind_spot_right;
showBlindspot = scene.show_blind_spot && (blindSpotLeft || blindSpotRight);
showSteering = scene.show_steering;
steer = scene.steer;
steeringAngleDeg = scene.steering_angle_deg;
if (showBlindspot) {
if (showBlindspot || showSteering) {
shouldUpdate = true;
}
@ -212,6 +215,41 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
QColor bgColor(bg.red(), bg.green(), bg.blue(), 255);
p.fillRect(rect, bgColor);
if (showSteering) {
static float smoothedSteer = 0.0;
smoothedSteer = 0.1 * std::abs(steer) + 0.9 * smoothedSteer;
if (std::abs(smoothedSteer - steer) < 0.01) {
smoothedSteer = steer;
}
int visibleHeight = rect.height() * smoothedSteer;
QLinearGradient gradient(rect.topLeft(), rect.bottomLeft());
gradient.setColorAt(0.0, bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]);
gradient.setColorAt(0.15, bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]);
gradient.setColorAt(0.5, bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]);
gradient.setColorAt(0.85, bg_colors[STATUS_ENGAGED]);
gradient.setColorAt(1.0, bg_colors[STATUS_ENGAGED]);
QBrush brush(gradient);
int fillWidth = UI_BORDER_SIZE;
if (steeringAngleDeg != 0) {
QRect rectToFill, rectToHide;
if (steeringAngleDeg < 0) {
rectToFill = QRect(rect.x(), rect.y() + rect.height() - visibleHeight, fillWidth, visibleHeight);
rectToHide = QRect(rect.x(), rect.y(), fillWidth, rect.height() - visibleHeight);
} else {
rectToFill = QRect(rect.x() + rect.width() - fillWidth, rect.y() + rect.height() - visibleHeight, fillWidth, visibleHeight);
rectToHide = QRect(rect.x() + rect.width() - fillWidth, rect.y(), fillWidth, rect.height() - visibleHeight);
}
p.fillRect(rectToFill, brush);
p.fillRect(rectToHide, bgColor);
}
}
if (showBlindspot) {
QColor blindspotColorLeft = bgColor;
QColor blindspotColorRight = bgColor;

5
selfdrive/ui/qt/onroad/onroad_home.h
View File

@ -28,6 +28,11 @@ private:
bool blindSpotLeft;
bool blindSpotRight;
bool showBlindspot;
bool showSteering;
float steer;
int steeringAngleDeg;
QPoint timeoutPoint = QPoint(420, 69);

2
selfdrive/ui/ui.cc
View File

@ -214,6 +214,7 @@ static void update_state(UIState *s) {
}
if (sm.updated("carControl")) {
auto carControl = sm["carControl"].getCarControl();
scene.steer = carControl.getActuators().getSteer();
}
if (sm.updated("carParams")) {
scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
@ -341,6 +342,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
bool developer_ui = params.getBool("DeveloperUI");
bool border_metrics = developer_ui && params.getBool("BorderMetrics");
scene.show_blind_spot = border_metrics && params.getBool("BlindSpotMetrics");
scene.show_steering = border_metrics && params.getBool("ShowSteering");
scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");

2
selfdrive/ui/ui.h
View File

@ -159,6 +159,7 @@ typedef struct UIScene {
bool show_cem_status_bar;
bool show_slc_offset;
bool show_slc_offset_ui;
bool show_steering;
bool show_stopping_point;
bool show_stopping_point_metrics;
bool speed_limit_changed;
@ -183,6 +184,7 @@ typedef struct UIScene {
float speed_limit;
float speed_limit_offset;
float speed_limit_overridden_speed;
float steer;
float unconfirmed_speed_limit;
int alert_size;