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Visuals: Move custom chevron info to sunnypilot/qt (#1066)

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* refactor: move to sp ui

* pr suggestion

* no need to check pcm just oplong

* no color, big front, long check

* Fix Rainbow Mode & Y Positioning

* Move param to uiscene

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: nayan <nayan8teen@gmail.com>
This commit is contained in:
Kumar
2025-10-12 20:11:23 -07:00
committed by GitHub
parent 5b29fd0f2c
commit cb6fa622ee
8 changed files with 185 additions and 177 deletions
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167
selfdrive/ui/qt/onroad/model.cc
View File

@@ -34,7 +34,6 @@ 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();
}
@@ -175,172 +174,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
}
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.;

10
selfdrive/ui/qt/onroad/model.h
View File

@@ -34,12 +34,6 @@ 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);
@@ -65,8 +59,4 @@ protected:
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;
};

34
selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
View File

@@ -140,6 +140,40 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
vlayout->addWidget(sunnypilotScroller);
main_layout->addWidget(sunnypilotScreen);
QObject::connect(uiState(), &UIState::offroadTransition, this, &VisualsPanel::refreshLongitudinalStatus);
refreshLongitudinalStatus();
}
void VisualsPanel::refreshLongitudinalStatus() {
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
has_longitudinal_control = hasLongitudinalControl(CP);
} else {
has_longitudinal_control = false;
}
if (chevron_info_settings) {
QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).");
QString chevronNoLongDescription = tr("This feature requires openpilot longitudinal control to be available.");
if (has_longitudinal_control) {
chevron_info_settings->setDescription(chevronEnabledDescription);
} else {
// Reset to "Off" when longitudinal not available
params.put("ChevronInfo", "0");
chevron_info_settings->setDescription(chevronNoLongDescription);
}
// Enable only when longitudinal is available
chevron_info_settings->setEnabled(has_longitudinal_control);
chevron_info_settings->refresh();
}
}
void VisualsPanel::paramsRefresh() {

3
selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
View File

@@ -19,6 +19,7 @@ public:
explicit VisualsPanel(QWidget *parent = nullptr);
void paramsRefresh();
void refreshLongitudinalStatus();
protected:
QStackedLayout* main_layout = nullptr;
@@ -29,4 +30,6 @@ protected:
ParamWatcher * param_watcher;
ButtonParamControlSP *chevron_info_settings;
ButtonParamControlSP *dev_ui_settings;
bool has_longitudinal_control = false;
};

135
selfdrive/ui/sunnypilot/qt/onroad/model.cc
View File

@@ -87,4 +87,139 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
// Normal path rendering
ModelRenderer::drawPath(painter, model, surface_rect.height());
}
drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
}
void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
auto *s = uiState();
auto &sm = *(s->sm);
bool longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
if (!longitudinal_control) {
lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
return;
}
if (!sm.alive("radarState")) {
lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
return;
}
const auto &radar_state = sm["radarState"].getRadarState();
const auto &lead_one = radar_state.getLeadOne();
const auto &lead_two = radar_state.getLeadTwo();
bool has_lead_one = lead_one.getStatus();
bool has_lead_two = lead_two.getStatus();
if (!has_lead_one && !has_lead_two) {
lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
if (lead_status_alpha <= 0.0f) return;
} else {
lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
}
if (has_lead_one) {
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 ModelRendererSP::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 = s->scene.chevron_info;
float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
QFont content_font = painter.font();
content_font.setPixelSize(50);
content_font.setBold(true);
painter.setFont(content_font);
bool is_metric = s->scene.is_metric;
QStringList text_lines;
const int chevron_all = 4;
QStringList chevron_text[3];
// Distance display
if (chevron_data == 1 || chevron_data == chevron_all) {
int pos = 0;
float val = std::max(0.0f, d_rel);
QString unit = is_metric ? "m" : "ft";
if (!is_metric) val *= 3.28084f;
chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
}
// Speed display
if (chevron_data == 2 || chevron_data == chevron_all) {
int pos = (chevron_data == 2) ? 0 : 1;
float multiplier = is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH);
float val = std::max(0.0f, (v_rel + v_ego) * multiplier);
QString unit = is_metric ? "km/h" : "mph";
chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
}
// Time to contact
if (chevron_data == 3 || chevron_data == chevron_all) {
int pos = (chevron_data == 3) ? 0 : 2;
float val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
QString ttc = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
chevron_text[pos].append(ttc);
}
for (int i = 0; i < 3; ++i) {
if (!chevron_text[i].isEmpty()) text_lines.append(chevron_text[i]);
}
if (text_lines.isEmpty()) return;
QFontMetrics fm(content_font);
float text_width = 120.0f;
for (const QString &line : text_lines) {
text_width = std::max(text_width, fm.horizontalAdvance(line) + 20.0f);
}
text_width = std::min(text_width, 250.0f);
float line_height = 50.0f;
float total_height = text_lines.size() * line_height;
float margin = 20.0f;
float text_y = chevron_pos.y() + sz + 15;
if (text_y + total_height > height - margin) {
float y_max = chevron_pos.y() > (height - margin) ? (height - margin) : chevron_pos.y();
text_y = y_max - 15 - total_height;
text_y = std::max(margin, text_y);
}
float text_x = chevron_pos.x() - text_width / 2;
text_x = std::clamp(text_x, margin, (float)width - text_width - margin);
QPoint shadow_offset(2, 2);
QColor text_color = QColor(255, 255, 255, (int)(255 * lead_status_alpha));
for (int i = 0; i < text_lines.size(); ++i) {
float y = text_y + (i * line_height);
if (y + line_height > height - margin) break;
QRect rect(text_x, y, text_width, line_height);
// Draw shadow
painter.setPen(QColor(0, 0, 0, (int)(200 * lead_status_alpha)));
painter.drawText(rect.translated(shadow_offset), Qt::AlignCenter, text_lines[i]);
painter.setPen(text_color);
painter.drawText(rect, Qt::AlignCenter, text_lines[i]);
}
painter.setPen(Qt::NoPen);
}

11
selfdrive/ui/sunnypilot/qt/onroad/model.h
View File

@@ -17,6 +17,17 @@ private:
void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
// Lead status display methods
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);
QPolygonF left_blindspot_vertices;
QPolygonF right_blindspot_vertices;
// Lead status animation
float lead_status_alpha = 0.0f;
};

1
selfdrive/ui/sunnypilot/ui.cc
View File

@@ -73,6 +73,7 @@ void ui_update_params_sp(UIStateSP *s) {
s->scene.onroadScreenOffTimerParam = std::atoi(params.get("OnroadScreenOffTimer").c_str());
s->scene.turn_signals = params.getBool("ShowTurnSignals");
s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
}
void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {

1
selfdrive/ui/sunnypilot/ui_scene.h
View File

@@ -18,4 +18,5 @@ typedef struct UISceneSP : UIScene {
bool trueVEgoUI;
bool hideVEgoUI;
bool turn_signals = false;
int chevron_info;
} UISceneSP;