This commit is contained in:
huifan
parent
a726872b4c
commit
5a6c60fbba
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@ -7,6 +7,9 @@
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#include "common/swaglog.h"
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#include "selfdrive/ui/qt/onroad/buttons.h"
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#include "selfdrive/ui/qt/util.h"
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//////////////////////////
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#include "selfdrive/ui/qt/maps/map_helpers.h"
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//////////////////////////
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// Window that shows camera view and variety of info drawn on top
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AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
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@ -54,6 +57,13 @@ void AnnotatedCameraWidget::updateState(int alert_height, const UIState &s) {
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const auto cs = sm["controlsState"].getControlsState();
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const auto car_state = sm["carState"].getCarState();
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const auto nav_instruction = sm["navInstruction"].getNavInstruction();
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//////////////////////////////////////////////
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kplProfile = car_state.getKpl();
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tankvolumeProfile = car_state.getTankvol();
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tankusedProfile = car_state.getTankused();
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fueltProfile = car_state.getFueltotal();
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oiltempProfile = car_state.getOiltemperature();
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//////////////////////////////////////////////////////////
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// Handle older routes where vCruiseCluster is not set
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float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
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@ -76,10 +86,141 @@ void AnnotatedCameraWidget::updateState(int alert_height, const UIState &s) {
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speedLimit = speedLimit - (showSLCOffset ? slcSpeedLimitOffset : 0);
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}
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//////////////////////////////////////////////////////////
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// Show arrow with direction
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QString primary_str = QString::fromStdString(nav_instruction.getManeuverPrimaryText());
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QString secondary_str = QString::fromStdString(nav_instruction.getManeuverSecondaryText());
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auto distance_str_pair = map_format_distance(nav_instruction.getManeuverDistance(), s.scene.is_metric);
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QString type = QString::fromStdString(nav_instruction.getManeuverType());
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QString modifier = QString::fromStdString(nav_instruction.getManeuverModifier());
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QString distance_str = distance_str_pair.first;
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QString distance_unit = distance_str_pair.second;
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int distance_value = nav_instruction.getManeuverDistance();
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QString fn;
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if (nav_alive) {
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fn += "於"+distance_str+distance_unit+"後 ";
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if (!modifier.isEmpty()) {
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QString moditext;
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if (modifier == "uturn") {
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moditext = "迴轉";
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} else if (modifier == "sharp right") {
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moditext = "向右急";
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} else if (modifier == "right") {
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moditext = "向右";
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} else if (modifier == "slight right") {
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moditext = "靠右";
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} else if (modifier == "straight") {
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moditext = "直行";
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} else if (modifier == "slight left") {
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moditext = "靠左";
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} else if (modifier == "left") {
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moditext = "向左";
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} else if (modifier == "sharp left") {
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moditext = "向左急";
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} else {
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moditext = modifier;
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}
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fn += moditext;
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}
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type = type.trimmed();
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if (!type.isEmpty()) {
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QString typetext;
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if (type == "turn") {
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typetext = "轉彎";
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} else if (type == "new name") {
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typetext = "新路";
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} else if (type == "depart") {
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typetext = "出發";
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} else if (type == "arrive") {
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typetext = "抵達";
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} else if (type == "merge") {
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typetext = "合併";
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} else if (type == "on ramp") {
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typetext = "進入交流道";
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} else if (type == "off ramp") {
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typetext = "駛出交流道";
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} else if (type == "fork") {
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typetext = "換道";
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} else if (type == "use lane") {
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typetext = "線道";
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} else if (type == "end off road") {
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typetext = "抵達終點";
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} else if (type == "continue") {
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typetext = "直行";
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} else if (type == "roundabout") {
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typetext = "進入圓環";
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} else if (type == "takeRoundabout") {
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typetext = "圓環轉彎";
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} else if (type == "exit roundabout") {
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typetext = "駛出圓環";
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} else if (type == "exit rotary") {
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typetext = "駛出圓環";
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} else if (type == "rotary") {
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typetext = "進入圓環";
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} else if (type == "notification") {
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typetext = "注意";
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} else if (type == "roundabout turn") {
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typetext = "圓環轉彎";
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} else {
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typetext = type;
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}
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fn += typetext;
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}
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navBanner = fn + "\n" + primary_str + " " + secondary_str;
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////////////NAV語音////////////////////////
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if (type.contains("turn") && (distance_value >200 && distance_value < 500)) {
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paramsMemory.putBool("navTurn", true);
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} else {
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paramsMemory.putBool("navTurn", false);
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}
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if (modifier.contains("right") && (distance_value >1 && distance_value < 200)) {
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paramsMemory.putBool("navturnRight", true);
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} else {
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paramsMemory.putBool("navturnRight", false);
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}
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if (modifier.contains("sharp right") && (distance_value >1 && distance_value < 200)) {
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paramsMemory.putBool("navSharpright", true);
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} else {
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paramsMemory.putBool("navSharpright", false);
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}
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if (modifier.contains("left") && (distance_value >1 && distance_value < 200)) {
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paramsMemory.putBool("navturnLeft", true);
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} else {
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paramsMemory.putBool("navturnLeft", false);
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}
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if (modifier.contains("sharp left") && (distance_value >1 && distance_value < 200)) {
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paramsMemory.putBool("navSharpleft", true);
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} else {
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paramsMemory.putBool("navSharpleft", false);
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}
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if (modifier.contains("uturn") && (distance_value >1 && distance_value < 200)) {
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paramsMemory.putBool("navUturn", true);
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} else {
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paramsMemory.putBool("navUturn", false);
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}
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if (type.contains("off_ramp") && (distance_value >200 && distance_value < 500)) {
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paramsMemory.putBool("navOfframp", true);
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} else {
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paramsMemory.putBool("navOfframp", false);
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}
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if (type.contains("reachEnd") && distance_value <1) {
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paramsMemory.remove("NavDestination");
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}
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if (type.contains("arrive") && distance_value <1) {
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paramsMemory.remove("NavDestination");
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}
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} else {
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navBanner = "";
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}
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////////////NAV語音////////////////////////
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has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || (speedLimitController && !useViennaSLCSign);
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has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) || (speedLimitController && useViennaSLCSign);
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is_metric = s.scene.is_metric;
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speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph");
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speedUnit = s.scene.is_metric ? tr("公里/小時") : tr("mph");
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hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || turnSignalAnimation && (turnSignalLeft || turnSignalRight) && (signalStyle == "traditional" || signalStyle == "traditional_gif") || bigMapOpen);
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status = s.status;
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@ -134,7 +275,9 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
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int top_radius = 32;
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int bottom_radius = has_eu_speed_limit ? 100 : 32;
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QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
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//////////////////////////////////////
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QRect set_speed_rect(QPoint(30 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
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//////////////////////////////////////
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if (is_cruise_set && cruiseAdjustment != 0) {
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float transition = qBound(0.0f, 5.0f * (cruiseAdjustment / setSpeed), 1.0f);
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QColor min = whiteColor(75);
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@ -147,6 +290,10 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
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), 10));
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} else if (trafficModeActive) {
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p.setPen(QPen(redColor(), 10));
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////////////////////////////////////
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} else if (autoaccProfile) {
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////////////////////////////////////
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p.setPen(QPen(blueColor(), 6));
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} else {
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p.setPen(QPen(whiteColor(75), 6));
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}
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@ -172,10 +319,10 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
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max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
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set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
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}
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p.setFont(InterFont(40, QFont::DemiBold));
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p.setFont(InterFont(40, QFont::Normal));
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p.setPen(max_color);
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p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
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p.setFont(InterFont(90, QFont::Bold));
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p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("最高"));
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p.setFont(InterFont(90, QFont::Normal));
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p.setPen(set_speed_color);
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p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
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@ -191,17 +338,17 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
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p.setOpacity(slcOverridden ? 0.25 : 1.0);
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if (speedLimitController && showSLCOffset && !slcOverridden) {
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p.setFont(InterFont(28, QFont::DemiBold));
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p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
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p.setFont(InterFont(70, QFont::Bold));
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p.setFont(InterFont(28, QFont::Normal));
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p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("速限"));
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p.setFont(InterFont(70, QFont::Normal));
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p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
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p.setFont(InterFont(50, QFont::DemiBold));
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p.setFont(InterFont(50, QFont::Normal));
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p.drawText(sign_rect.adjusted(0, 120, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr);
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} else {
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p.setFont(InterFont(28, QFont::DemiBold));
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p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
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p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
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p.setFont(InterFont(70, QFont::Bold));
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p.setFont(InterFont(28, QFont::Normal));
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p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("速度"));
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p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("速限"));
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p.setFont(InterFont(70, QFont::Normal));
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p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
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}
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}
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@ -217,12 +364,12 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
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p.setOpacity(slcOverridden ? 0.25 : 1.0);
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p.setPen(blackColor());
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if (showSLCOffset) {
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p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
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p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Normal));
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p.drawText(sign_rect.adjusted(0, -25, 0, 0), Qt::AlignCenter, speedLimitStr);
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p.setFont(InterFont(40, QFont::DemiBold));
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p.setFont(InterFont(40, QFont::Normal));
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p.drawText(sign_rect.adjusted(0, 100, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr);
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} else {
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p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
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p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Normal));
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p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
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}
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}
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@ -259,18 +406,154 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
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int minutes = standstillDuration / 60;
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int seconds = standstillDuration % 60;
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p.setFont(InterFont(176, QFont::Bold));
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p.setFont(InterFont(176, QFont::Normal));
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drawText(p, rect().center().x(), 210, minutes == 1 ? "1 minute" : QString("%1 minutes").arg(minutes), 255, true);
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p.setFont(InterFont(66));
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drawText(p, rect().center().x(), 290, QString("%1 seconds").arg(seconds));
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} else {
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p.setFont(InterFont(176, QFont::Bold));
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p.setFont(InterFont(176, QFont::Normal));
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drawText(p, rect().center().x(), 210, speedStr);
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p.setFont(InterFont(66));
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drawText(p, rect().center().x(), 290, speedUnit, 200);
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}
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}
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///////////////////////////////////////////////
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HFOPinfProfile = params.getBool("HFOPinf");
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if (HFOPinfProfile){
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leadspeed_diffProfile = paramsMemory.getInt("leadspeeddiffProfile");
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const QRect ci_rect(rect().left() + 20, rect().bottom() - 560, 220, 500);
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p.setPen(Qt::NoPen);
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if (leadspeed_diffProfile < -20) {
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p.setBrush(Qt::red);
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} else if (leadspeed_diffProfile <0 && leadspeed_diffProfile >-20) {
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p.setBrush(QColor(255, 165, 0));
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}
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else {
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p.setBrush(whiteColor());
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}
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AutoRoadtypeProfile = params.getBool("AutoRoadtype");
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p.drawRoundedRect(ci_rect, 24, 24);
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if (AutoRoadtypeProfile){
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p.setPen(QPen(QColor(255, 165, 0), 6));
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}else {
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p.setPen(QPen(blackColor(), 6));
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}
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p.drawRoundedRect(ci_rect.adjusted(9, 9, -9, -9), 16, 16);
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std::map<int, QString> roadprofileMap = {
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{0, "未選道路"},
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{1, "街道巷弄"},
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{2, "一般平面"},
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{3, "快速道路"},
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{4, "高速公路"},
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};
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int roadProfile = params.getInt("RoadtypeProfile");
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QString roadprofile_text = roadprofileMap[roadProfile];
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p.setFont(InterFont(45, QFont::Normal));
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p.setPen(QPen(blackColor(), 6));
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p.drawText(ci_rect.adjusted(20, 10, 0, 0), Qt::AlignTop | Qt::AlignJustify, roadprofile_text);
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std::map<int, QString> accelerationProfileMap = {
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{0, "標準"},
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{1, "節能"},
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{2, "運動"},
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{3, "超跑"},
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};
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int accProfile = params.getInt("AccelerationProfile");
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QString accprofile_text = "駕駛 "+accelerationProfileMap[accProfile];
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p.setFont(InterFont(40, QFont::Normal));
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p.drawText(ci_rect.adjusted(20, 65, 0, 0), Qt::AlignTop | Qt::AlignJustify, accprofile_text);
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std::map<int, QString> personalityProfileMap = {
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{0, "接近"},
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{1, "普通"},
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{2, "遠離"},
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};
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int personalityProfile = params.getInt("LongitudinalPersonality");
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QString profile_text = "車距 "+personalityProfileMap[personalityProfile];
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p.setFont(InterFont(40, QFont::Normal));
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p.drawText(ci_rect.adjusted(20, 110, 0, 0), Qt::AlignTop | Qt::AlignJustify, profile_text);
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QString vr_text = "速差 " +QString::number(leadspeed_diffProfile);
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p.drawText(ci_rect.adjusted(20, 155, 0, 0), Qt::AlignTop | Qt::AlignJustify, vr_text);
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QString tankvolStr = QString::number(tankvolumeProfile);
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if(tankvolumeProfile >30){
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p.setPen(QPen(Qt::black, 6));
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} else if (tankvolumeProfile > 10 && tankvolumeProfile <= 20) {
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p.setPen(QPen(QColor(128, 0, 128), 6));
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} else if(tankvolumeProfile < 10){
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p.setPen(QPen(QColor(255, 0, 0), 6));
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}
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p.drawText(ci_rect.adjusted(20, 290, 0, 0), Qt::AlignTop | Qt::AlignJustify, tr("油量 ")+tankvolStr);
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QString oiltempStr = QString::number(oiltempProfile);
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if(oiltempProfile <90){
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p.setPen(QPen(Qt::black, 6));
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} else if (oiltempProfile > 90 && oiltempProfile <= 110) {
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p.setPen(QPen(QColor(128, 0, 128), 6));
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} else if(oiltempProfile > 110){
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p.setPen(QPen(QColor(255, 0, 0), 6));
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}
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p.drawText(ci_rect.adjusted(20, 340, 0, 0), Qt::AlignTop | Qt::AlignJustify, tr("油溫 ")+oiltempStr);
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std::stringstream buffer;
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buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
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float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
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batteryVol = voltage;
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p.setPen(QPen(Qt::black, 6));
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p.setFont(InterFont(40, QFont::Normal));
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QString batteryvolStr = (batteryVol > 1) ? QString::number(batteryVol, 'f', 1) : "–";
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p.drawText(ci_rect.adjusted(20, 385, 0, 0), Qt::AlignTop | Qt::AlignJustify, tr("電壓 ")+batteryvolStr);
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std::map<int, QString> autoaccProfileMapMap = {
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{0, "手動"},
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{1, "自動"},
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};
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autoaccProfile = params.getBool("AutoACC");
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p.setFont(InterFont(40, QFont::Normal));
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if (autoaccProfile) {
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p.setPen(QPen(Qt::red, 6));
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} else {
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p.setPen(QPen(Qt::black, 6));
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}
|
||||
QString autoaccprofile_text = autoaccProfileMapMap[autoaccProfile]+" ACC";
|
||||
p.drawText(ci_rect.adjusted(20, 430, 0, 0), Qt::AlignTop | Qt::AlignJustify, autoaccprofile_text);
|
||||
|
||||
fuelpriceProfile = params.getBool("Fuelprice");
|
||||
if (fuelpriceProfile){
|
||||
int Fuelcosts = params.getInt("Fuelcosts")/10;
|
||||
int Fuelcosts_now = params.getInt("Fuelcostsnow");
|
||||
int Fuelcosts_pre = params.getInt("Fuelcostspre");
|
||||
if (Fuelcosts_now !=0 && Fuelcosts_pre == 0){
|
||||
Fuelcosts_pre = Fuelcosts_pre + Fuelcosts_now/100;
|
||||
params.putInt("Fuelcostsnow", 0);
|
||||
}
|
||||
if(fueltProfile >0){
|
||||
params.putInt("Fuelcostsnow", Fuelcosts_pre + (std::round(fueltProfile*10)/10*Fuelcosts)*100);
|
||||
}
|
||||
|
||||
int Fuelconsumption_now = params.getInt("Fuelconsumptionnow");
|
||||
int Fuelconsumption_pre = params.getInt("Fuelconsumptionpre");
|
||||
if (Fuelconsumption_now !=0 && Fuelconsumption_pre == 0){
|
||||
Fuelconsumption_pre = Fuelconsumption_pre + Fuelconsumption_now/100;
|
||||
params.putInt("Fuelconsumptionnow", 0);
|
||||
}
|
||||
if(fueltProfile >0){
|
||||
params.putInt("Fuelconsumptionnow", Fuelconsumption_pre + (std::round(fueltProfile*100)/100)*100);
|
||||
}
|
||||
|
||||
p.setPen(QPen(Qt::black, 6));
|
||||
QString tankused_text = "油資 " + QString::number(std::round(fueltProfile*10)/10*Fuelcosts);
|
||||
p.drawText(ci_rect.adjusted(20, 200, 0, 0), Qt::AlignTop | Qt::AlignJustify, tankused_text);
|
||||
|
||||
QString fueltStr = (fueltProfile > 0) ? QString::number(std::round(fueltProfile*100)/100) : "–";
|
||||
p.drawText(ci_rect.adjusted(20, 245, 0, 0), Qt::AlignTop | Qt::AlignJustify, tr("已用 ")+fueltStr);
|
||||
}
|
||||
}
|
||||
///////////////////////////////////////////////////
|
||||
p.restore();
|
||||
}
|
||||
|
||||
|
|
@ -449,10 +732,10 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, f
|
|||
painter.drawPolygon(lane);
|
||||
|
||||
if (scene.adjacent_path_metrics) {
|
||||
painter.setFont(InterFont(30, QFont::DemiBold));
|
||||
painter.setFont(InterFont(60, QFont::Normal));
|
||||
painter.setPen(Qt::white);
|
||||
|
||||
QString text = isBlindSpot ? tr("Vehicle in blind spot") : QString::number(laneWidth * distanceConversion, 'f', 2) + leadDistanceUnit;
|
||||
QString text = isBlindSpot ? tr("盲點車輛") : QString::number(laneWidth * distanceConversion, 'f', 2) + leadDistanceUnit;
|
||||
painter.drawText(lane.boundingRect(), Qt::AlignCenter, text);
|
||||
painter.setPen(Qt::NoPen);
|
||||
}
|
||||
|
|
@ -588,9 +871,18 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState
|
|||
|
||||
if (leadInfo) {
|
||||
float lead_speed = std::max(v_rel + v_ego, 0.0f);
|
||||
////////////////////////////////////////////////////////////////////////
|
||||
distance = d_rel;
|
||||
paramsMemory.putInt("leadspeeddiffProfile", (v_rel * speedConversion));
|
||||
|
||||
if (distance < 10 || v_ego < 10){
|
||||
paramsMemory.putInt("leaddisProfile", 0);
|
||||
paramsMemory.putInt("leadspeedProfile", 0);
|
||||
paramsMemory.putInt("leadspeeddiffProfile", 0);
|
||||
}
|
||||
////////////////////////////////////////////////////////////////////////
|
||||
painter.setPen(Qt::white);
|
||||
painter.setFont(InterFont(35, QFont::Bold));
|
||||
painter.setFont(InterFont(35, QFont::Normal));
|
||||
|
||||
QString text;
|
||||
if (adjacent) {
|
||||
|
|
@ -851,9 +1143,9 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
|
|||
|
||||
void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIScene &scene) {
|
||||
if (is_metric || useSI) {
|
||||
accelerationUnit = tr("m/s²");
|
||||
leadDistanceUnit = tr(mapOpen ? "m" : "meters");
|
||||
leadSpeedUnit = useSI ? tr("m/s") : tr("kph");
|
||||
accelerationUnit = tr(" m/s²");
|
||||
leadDistanceUnit = tr(mapOpen ? "米" : "公尺");
|
||||
leadSpeedUnit = useSI ? tr("m/s") : tr("公里");
|
||||
|
||||
accelerationConversion = 1.0f;
|
||||
distanceConversion = 1.0f;
|
||||
|
|
@ -1056,7 +1348,7 @@ void Compass::paintEvent(QPaintEvent *event) {
|
|||
const int halfCompassSize = compassSize / 2;
|
||||
for (int i = 0; i < 360; i += 15) {
|
||||
bool isBold = abs(i - bearingDeg) <= 7;
|
||||
font.setWeight(isBold ? QFont::Bold : QFont::Normal);
|
||||
font.setWeight(isBold ? QFont::Normal : QFont::Normal);
|
||||
p.setFont(font);
|
||||
p.setPen(QPen(Qt::white, i % 90 == 0 ? 2 : 1));
|
||||
|
||||
|
|
@ -1071,7 +1363,7 @@ void Compass::paintEvent(QPaintEvent *event) {
|
|||
p.restore();
|
||||
}
|
||||
|
||||
p.setFont(InterFont(20, QFont::Bold));
|
||||
p.setFont(InterFont(20, QFont::Normal));
|
||||
const std::map<QString, std::tuple<QPair<float, float>, int, QColor>> directionInfo = {
|
||||
{"N", {{292.5, 67.5}, Qt::AlignTop | Qt::AlignHCenter, Qt::white}},
|
||||
{"E", {{22.5, 157.5}, Qt::AlignRight | Qt::AlignVCenter, Qt::white}},
|
||||
|
|
@ -1131,9 +1423,9 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
|
|||
.arg(accelerationUnit);
|
||||
}
|
||||
|
||||
QString obstacleText = createText(mapOpen ? tr(" | Obstacle: ") : tr(" | Obstacle Factor: "), obstacleDistance);
|
||||
QString stopText = createText(mapOpen ? tr(" - Stop: ") : tr(" - Stop Factor: "), stoppedEquivalence);
|
||||
QString followText = " = " + createText(mapOpen ? tr("Follow: ") : tr("Follow Distance: "), desiredFollow);
|
||||
QString obstacleText = createText(mapOpen ? tr("障礙物:") : tr("障礙物係數:"), obstacleDistance);
|
||||
QString stopText = createText(mapOpen ? tr("- 停止:") : tr("- 停止係數:"), stoppedEquivalence);
|
||||
QString followText = " = " + createText(mapOpen ? tr("跟隨:") : tr("跟隨距離:"), desiredFollow);
|
||||
|
||||
auto createDiffText = [&](double data, double stockData) {
|
||||
double difference = std::round((data - stockData) * distanceConversion);
|
||||
|
|
@ -1145,7 +1437,7 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
|
|||
QRect insightsRect(rect().left() - 1, rect().top() - 60, rect().width() + 2, 100);
|
||||
p.setBrush(QColor(0, 0, 0, 150));
|
||||
p.drawRoundedRect(insightsRect, 30, 30);
|
||||
p.setFont(InterFont(28, QFont::Bold));
|
||||
p.setFont(InterFont(28, QFont::Normal));
|
||||
p.setRenderHint(QPainter::TextAntialiasing);
|
||||
|
||||
QRect adjustedRect = insightsRect.adjusted(0, 27, 0, 27);
|
||||
|
|
@ -1234,13 +1526,13 @@ void AnnotatedCameraWidget::drawSLCConfirmation(QPainter &p) {
|
|||
p.fillRect(rightRect, rightHandDM ? greenColor() : redColor());
|
||||
p.setOpacity(1.0);
|
||||
|
||||
p.setFont(InterFont(75, QFont::Bold));
|
||||
p.setFont(InterFont(75, QFont::Normal));
|
||||
p.setPen(Qt::white);
|
||||
|
||||
QString unitText = is_metric ? tr("kph") : tr("mph");
|
||||
QString unitText = is_metric ? tr("公里") : tr("mph");
|
||||
QString speedText = QString::number(std::nearbyint(unconfirmedSpeedLimit * (is_metric ? MS_TO_KPH : MS_TO_MPH))) + " " + unitText;
|
||||
QString confirmText = tr("Confirm speed limit\n") + speedText;
|
||||
QString ignoreText = tr("Ignore speed limit\n") + speedText;
|
||||
QString confirmText = tr("確認速限\n") + speedText;
|
||||
QString ignoreText = tr("忽略速限\n") + speedText;
|
||||
|
||||
QRect textRect(0, leftRect.height() / 2 - 225, halfWidth, leftRect.height() / 2);
|
||||
|
||||
|
|
@ -1253,16 +1545,16 @@ void AnnotatedCameraWidget::drawSLCConfirmation(QPainter &p) {
|
|||
void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
|
||||
p.save();
|
||||
|
||||
static QElapsedTimer timer;
|
||||
//static QElapsedTimer timer;
|
||||
static QString lastShownStatus;
|
||||
|
||||
static bool displayStatusText = false;
|
||||
//static bool displayStatusText = false;
|
||||
|
||||
constexpr qreal fadeDuration = 1500.0;
|
||||
constexpr qreal textDuration = 5000.0;
|
||||
//constexpr qreal fadeDuration = 1500.0;
|
||||
//constexpr qreal textDuration = 5000.0;
|
||||
|
||||
static qreal roadNameOpacity = 0.0;
|
||||
static qreal statusTextOpacity = 0.0;
|
||||
//static qreal roadNameOpacity = 0.0;
|
||||
//static qreal statusTextOpacity = 0.0;
|
||||
|
||||
QString newStatus;
|
||||
|
||||
|
|
@ -1276,39 +1568,39 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
|
|||
int modelStopTime = std::nearbyint(modelLength / (speed / (is_metric ? MS_TO_KPH : MS_TO_MPH)));
|
||||
|
||||
std::map<int, QString> conditionalStatusMap = {
|
||||
{0, tr("Conditional Experimental Mode ready")},
|
||||
{1, tr("Conditional Experimental overridden")},
|
||||
{2, tr("Experimental Mode manually activated")},
|
||||
{3, tr("Conditional Experimental overridden")},
|
||||
{4, tr("Experimental Mode manually activated")},
|
||||
{5, tr("Conditional Experimental overridden")},
|
||||
{6, tr("Experimental Mode manually activated")},
|
||||
{7, tr("Experimental Mode activated for %1").arg(mapOpen ? tr("low speed") : tr("speed being less than %1 %2").arg(conditionalSpeedLead).arg(is_metric ? tr("kph") : tr("mph")))},
|
||||
{8, tr("Experimental Mode activated for %1").arg(mapOpen ? tr("low speed") : tr("speed being less than %1 %2").arg(conditionalSpeed).arg(is_metric ? tr("kph") : tr("mph")))},
|
||||
{9, tr("Experimental Mode activated for turn") + (mapOpen ? " signal" : tr(" / lane change"))},
|
||||
{10, tr("Experimental Mode activated for intersection")},
|
||||
{11, tr("Experimental Mode activated for upcoming turn")},
|
||||
{12, tr("Experimental Mode activated for curve")},
|
||||
{13, tr("Experimental Mode activated for stopped lead")},
|
||||
{14, tr("Experimental Mode activated for slower lead")},
|
||||
{15, tr("Experimental Mode activated %1").arg(mapOpen || modelStopTime < 1 || speed < 1 ? tr("to stop") : QString("for the model wanting to stop in %1 seconds").arg(modelStopTime))},
|
||||
{16, tr("Experimental Mode forced on %1").arg(mapOpen || modelStopTime < 1 || speed < 1 ? tr("to stop") : QString("for the model wanting to stop in %1 seconds").arg(modelStopTime))},
|
||||
{17, tr("Experimental Mode activated due to no speed limit")},
|
||||
{0, tr("條件式實驗模式待命")},
|
||||
{1, tr("條件式實驗模式覆蓋")},
|
||||
{2, tr("實驗模式手動啟動")},
|
||||
{3, tr("條件式實驗模式覆蓋")},
|
||||
{4, tr("實驗模式手動啟動")},
|
||||
{5, tr("條件式實驗模式覆蓋")},
|
||||
{6, tr("實驗模式手動啟動")},
|
||||
{7, tr("實驗模式啟動因 %1").arg(mapOpen ? tr(" 低速") : tr(" 速度低於 %1 %2").arg(conditionalSpeedLead).arg(is_metric ? tr("kph") : tr("mph")))},
|
||||
{8, tr("實驗模式啟動因 %1").arg(mapOpen ? tr(" 低速") : tr(" 速度低於 %1 %2").arg(conditionalSpeed).arg(is_metric ? tr("kph") : tr("mph")))},
|
||||
{9, tr("實驗模式啟動因 變換車道") + (mapOpen ? " signal" : tr(" / 車道變換"))},
|
||||
{10, tr("實驗模式啟動因 路口")},
|
||||
{11, tr("實驗模式啟動因 即將轉彎")},
|
||||
{12, tr("實驗模式啟動因 彎道")},
|
||||
{13, tr("實驗模式啟動因 停止車")},
|
||||
{14, tr("實驗模式啟動因 慢速車")},
|
||||
{15, tr("實驗模式啟動因 停止標誌 %1").arg(mapOpen || modelStopTime < 1 || speed < 1 ? tr("to stop") : QString("for the model wanting to stop in %1 seconds").arg(modelStopTime))},
|
||||
{16, tr("實驗模式啟動因 強制停止 %1").arg(mapOpen || modelStopTime < 1 || speed < 1 ? tr("to stop") : QString("for the model wanting to stop in %1 seconds").arg(modelStopTime))},
|
||||
{17, tr("實驗模式啟動因 無速限")},
|
||||
};
|
||||
|
||||
if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
|
||||
newStatus = tr("Always On Lateral active") + (mapOpen ? "" : tr(". Press the \"Cruise Control\" button to disable"));
|
||||
newStatus = tr("全時置中啟動") + (mapOpen ? "" : tr(". 按壓巡航控制鍵取消"));
|
||||
} else if (showConditionalExperimentalStatusBar) {
|
||||
newStatus = conditionalStatusMap.at(conditionalStatus);
|
||||
}
|
||||
|
||||
static const std::map<int, QString> suffixMap = {
|
||||
{1, tr(". Long press the \"distance\" button to revert")},
|
||||
{2, tr(". Long press the \"distance\" button to revert")},
|
||||
{3, tr(". Click the \"LKAS\" button to revert")},
|
||||
{4, tr(". Click the \"LKAS\" button to revert")},
|
||||
{5, tr(". Double tap the screen to revert")},
|
||||
{6, tr(". Double tap the screen to revert")},
|
||||
{1, tr(". 長按 距離按鈕 恢復")},
|
||||
{2, tr(". 長按 距離按鈕 恢復")},
|
||||
{3, tr(". 連按 LKAS按鈕 恢復")},
|
||||
{4, tr(". 連按 LKAS按鈕 恢復")},
|
||||
{5, tr(". 連按屏幕恢復")},
|
||||
{6, tr(". 連按屏幕恢復")},
|
||||
};
|
||||
|
||||
if (!alwaysOnLateralActive && !mapOpen && !newStatus.isEmpty()) {
|
||||
|
|
@ -1320,38 +1612,73 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
|
|||
QString roadName = QString::fromStdString(paramsMemory.get("RoadName"));
|
||||
roadName = (!roadNameUI || roadName.isEmpty() || roadName == "null") ? "" : roadName;
|
||||
|
||||
if (newStatus != lastShownStatus || roadName.isEmpty()) {
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
if (newStatus != lastShownStatus) {
|
||||
lastShownStatus = newStatus;
|
||||
displayStatusText = true;
|
||||
timer.restart();
|
||||
} else if (displayStatusText && timer.hasExpired(textDuration + fadeDuration)) {
|
||||
displayStatusText = false;
|
||||
// displayStatusText = true;
|
||||
// timer.restart();
|
||||
// } else if (displayStatusText && timer.hasExpired(textDuration + fadeDuration)) {
|
||||
// displayStatusText = false;
|
||||
}
|
||||
|
||||
if (displayStatusText) {
|
||||
statusTextOpacity = qBound(0.0, 1.0 - (timer.elapsed() - textDuration) / fadeDuration, 1.0);
|
||||
roadNameOpacity = 1.0 - statusTextOpacity;
|
||||
} else {
|
||||
roadNameOpacity = qBound(0.0, timer.elapsed() / fadeDuration, 1.0);
|
||||
statusTextOpacity = 0.0;
|
||||
}
|
||||
// if (displayStatusText) {
|
||||
// statusTextOpacity = qBound(0.0, 1.0 - (timer.elapsed() - textDuration) / fadeDuration, 1.0);
|
||||
// roadNameOpacity = 1.0 - statusTextOpacity;
|
||||
// } else {
|
||||
// roadNameOpacity = qBound(0.0, timer.elapsed() / fadeDuration, 1.0);
|
||||
// statusTextOpacity = 0.0;
|
||||
// }
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
p.setFont(InterFont(40, QFont::Bold));
|
||||
p.setOpacity(statusTextOpacity);
|
||||
p.setFont(InterFont(40, QFont::Normal));
|
||||
//p.setOpacity(statusTextOpacity);
|
||||
p.setPen(Qt::white);
|
||||
p.setRenderHint(QPainter::TextAntialiasing);
|
||||
|
||||
QRect textRect = p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
|
||||
textRect.moveBottom(statusBarRect.bottom() - offset);
|
||||
textRect.moveBottom(statusBarRect.bottom() - 50);
|
||||
p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
if (!roadName.isEmpty()) {
|
||||
p.setOpacity(roadNameOpacity);
|
||||
// p.setOpacity(roadNameOpacity);
|
||||
p.setFont(InterFont(70, QFont::Normal));
|
||||
textRect = p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, roadName);
|
||||
textRect.moveBottom(statusBarRect.bottom() - offset);
|
||||
textRect.moveBottom(statusBarRect.bottom() - 105);
|
||||
p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, roadName);
|
||||
}
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
bool auto_roadtype = params.getBool("AutoRoadtype");
|
||||
int roadProfile = params.getInt("RoadtypeProfile");
|
||||
|
||||
if (auto_roadtype && roadProfile != 5 ){
|
||||
if (roadName.contains("街") ||roadName.contains("巷") || roadName.contains("弄")) {
|
||||
if (roadProfile != 1) {
|
||||
roadProfile = 1;
|
||||
}
|
||||
} else if (roadName.contains("交流道")) {
|
||||
if (roadProfile != 2) {
|
||||
roadProfile = 2;
|
||||
}
|
||||
} else if (roadName.contains("快速")) {
|
||||
if (roadProfile != 3) {
|
||||
roadProfile = 3;
|
||||
}
|
||||
} else if (roadName.contains("高速")) {
|
||||
if (roadProfile != 4) {
|
||||
roadProfile = 4;
|
||||
}
|
||||
} else {
|
||||
if (roadProfile != 2) {
|
||||
roadProfile = 2;
|
||||
}
|
||||
}
|
||||
params.putInt("RoadtypeProfile", roadProfile);
|
||||
updateFrogPilotToggles();
|
||||
}
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
p.restore();
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -7,7 +7,9 @@
|
|||
#include "selfdrive/ui/qt/widgets/cameraview.h"
|
||||
|
||||
#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h"
|
||||
|
||||
////////////////////////
|
||||
#include "selfdrive/ui/qt/maps/map_instructions.h"
|
||||
////////////////////////
|
||||
class Compass : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
|
|
@ -100,6 +102,9 @@ private:
|
|||
void updateSignals();
|
||||
|
||||
// FrogPilot variables
|
||||
/////////////////////////
|
||||
Params params;
|
||||
/////////////////////////
|
||||
Params paramsMemory{"/dev/shm/params"};
|
||||
|
||||
Compass *compass_img;
|
||||
|
|
@ -168,6 +173,25 @@ private:
|
|||
int stoppedEquivalence;
|
||||
int totalFrames;
|
||||
|
||||
////////////////////////////
|
||||
int leadspeed_diffProfile;
|
||||
bool autoaccProfile;
|
||||
bool fuelpriceProfile;
|
||||
bool HFOPinfProfile;
|
||||
bool AutoRoadtypeProfile;
|
||||
|
||||
float batteryVol;
|
||||
float tankvolumeProfile;
|
||||
float tankusedProfile;
|
||||
float kplProfile;
|
||||
float fueltProfile;
|
||||
float oiltempProfile;
|
||||
float distance;
|
||||
bool currentIsEngaged;
|
||||
MapInstructions *map_instructions;
|
||||
QString navBanner;
|
||||
////////////////////////////
|
||||
|
||||
QElapsedTimer standstillTimer;
|
||||
|
||||
QPixmap stopSignImg;
|
||||
|
|
|
|||
|
|
@ -127,6 +127,14 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
|
|||
QRect leftRect(0, 0, size.width() / 2, size.height());
|
||||
QRect rightRect(size.width() / 2, 0, size.width() / 2, size.height());
|
||||
|
||||
///////////////////////
|
||||
QRect hideSpeedRect(rect().center().x() - 175, 50, 350, 350);
|
||||
QRect maxSpeedRect(7, 25, 225, 225);
|
||||
QRect speedLimitRect(7, 250, 225, 225);
|
||||
QRect autoRoadtypeRect(20, 560, 225, 225);
|
||||
QRect roadtypeProfileRect(20, 800, 225, 225);
|
||||
///////////////////////
|
||||
|
||||
if (scene.speed_limit_changed && (leftRect.contains(pos) || rightRect.contains(pos))) {
|
||||
bool slcConfirmed = leftRect.contains(pos) ? !scene.right_hand_drive : scene.right_hand_drive;
|
||||
paramsMemory.putBoolNonBlocking("SLCConfirmed", slcConfirmed);
|
||||
|
|
@ -134,6 +142,78 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
|
|||
return;
|
||||
}
|
||||
|
||||
if (maxSpeedRect.contains(pos) ) {
|
||||
// scene.reverse_cruise = !scene.reverse_cruise;
|
||||
// params.putBoolNonBlocking("ReverseCruise", scene.reverse_cruise);
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
bool autoaccProfile = !params.getBool("AutoACC");
|
||||
params.putBoolNonBlocking("AutoACC", autoaccProfile);
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
updateFrogPilotToggles();
|
||||
return;
|
||||
}
|
||||
|
||||
if (hideSpeedRect.contains(pos)) {
|
||||
scene.hide_speed = !scene.hide_speed;
|
||||
params.putBoolNonBlocking("HideSpeed", scene.hide_speed);
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
int ScreenBrightnessOnroadpre = params.getInt("ScreenBrightnessOnroadpre");
|
||||
if (ScreenBrightnessOnroadpre== 0) {
|
||||
params.putInt("ScreenBrightnessOnroadpre", params.getInt("ScreenBrightnessOnroad"));
|
||||
params.putInt("ScreenBrightnessOnroad", 0);
|
||||
}else{
|
||||
params.putInt("ScreenBrightnessOnroad", ScreenBrightnessOnroadpre);
|
||||
params.putInt("ScreenBrightnessOnroadpre", 0);
|
||||
}
|
||||
updateFrogPilotToggles();
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
return;
|
||||
}
|
||||
|
||||
if (speedLimitRect.contains(pos)) {
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
bool Traffic_Mode = !params.getBool("TrafficMode");
|
||||
params.putBoolNonBlocking("TrafficMode", Traffic_Mode);
|
||||
// paramsMemory.putBoolNonBlocking("TrafficModeActive", false);
|
||||
|
||||
// if(Traffic_Mode == 1){
|
||||
// params.putBoolNonBlocking("speedreminderreset", false);
|
||||
// } else{
|
||||
// params.putBoolNonBlocking("speedreminderreset", true);
|
||||
// }
|
||||
// updateFrogPilotToggles();
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
return;
|
||||
}
|
||||
|
||||
if (autoRoadtypeRect.contains(pos) ) {
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
bool Auto_Roadtype = !params.getBool("AutoRoadtype");
|
||||
params.putBoolNonBlocking("AutoRoadtype", Auto_Roadtype);
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
updateFrogPilotToggles();
|
||||
return;
|
||||
}
|
||||
|
||||
if (roadtypeProfileRect.contains(pos) ) {
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
bool Auto_Roadtype = params.getBool("AutoRoadtype");
|
||||
int roadtypeProfile = params.getInt("RoadtypeProfile");
|
||||
if (Auto_Roadtype){
|
||||
Auto_Roadtype = !Auto_Roadtype;
|
||||
params.putBoolNonBlocking("AutoRoadtype", Auto_Roadtype);
|
||||
} else {
|
||||
roadtypeProfile = roadtypeProfile +1;
|
||||
if (roadtypeProfile > 4){
|
||||
roadtypeProfile = 0;
|
||||
}
|
||||
params.putInt ("RoadtypeProfile", roadtypeProfile);
|
||||
}
|
||||
/////////////////////////////////////////////////////////////////////////////////
|
||||
updateFrogPilotToggles();
|
||||
return;
|
||||
}
|
||||
|
||||
if (scene.experimental_mode_via_tap && pos != timeoutPoint) {
|
||||
if (clickTimer.isActive()) {
|
||||
clickTimer.stop();
|
||||
|
|
|
|||
|
|
@ -56,6 +56,11 @@ def run_classic_modeld(started, params, CP: car.CarParams, classic_model) -> boo
|
|||
def run_new_modeld(started, params, CP: car.CarParams, classic_model) -> bool:
|
||||
return started and not classic_model
|
||||
|
||||
############################################################################################
|
||||
def enable_dm(started, params, CP: car.CarParams, classic_model) -> bool:
|
||||
return driverview(started, params, CP, classic_model) and not (True and True)
|
||||
############################################################################################
|
||||
|
||||
procs = [
|
||||
DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
|
||||
|
||||
|
|
@ -66,7 +71,9 @@ procs = [
|
|||
PythonProcess("micd", "system.micd", iscar),
|
||||
PythonProcess("timed", "system.timed", always_run, enabled=not PC),
|
||||
|
||||
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
|
||||
############################################################################################
|
||||
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", enable_dm, enabled=(not PC or WEBCAM)),
|
||||
############################################################################################
|
||||
NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
|
||||
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
|
||||
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
|
||||
|
|
@ -83,7 +90,9 @@ procs = [
|
|||
PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
|
||||
PythonProcess("card", "selfdrive.car.card", only_onroad),
|
||||
PythonProcess("deleter", "system.loggerd.deleter", always_run),
|
||||
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
|
||||
############################################################################################
|
||||
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enable_dm, enabled=(not PC or WEBCAM)),
|
||||
############################################################################################
|
||||
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
|
||||
#PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
|
||||
PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
|
||||
|
|
@ -98,6 +107,9 @@ procs = [
|
|||
PythonProcess("updated", "system.updated.updated", always_run, enabled=not PC),
|
||||
PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
|
||||
PythonProcess("statsd", "system.statsd", allow_logging),
|
||||
############################################################################################
|
||||
# PythonProcess("keyinput3", "tools.joystick.keyinput3", only_onroad),
|
||||
############################################################################################
|
||||
|
||||
# debug procs
|
||||
NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
|
||||
|
|
|
|||
Loading…
Reference in New Issue