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UI cleanup (#2091)

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* remove unused UI code

* these params aren't used anymore

* this is cleaner

* remove one more timeout

* read that from carParams

* only android needs pm

* fix that

* fix that

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 43e3ec1bc1ee0d7b8044c5cabbe4022c5ddc9783
This commit is contained in:
Adeeb Shihadeh
2020-08-27 11:57:31 -07:00
committed by GitHub
parent 139301e00f
commit d2cdd7706c
6 changed files with 29 additions and 158 deletions
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1
selfdrive/manager.py
View File

@@ -571,7 +571,6 @@ def main():
("IsUploadRawEnabled", "1"),
("IsLdwEnabled", "1"),
("IsGeofenceEnabled", "-1"),
("SpeedLimitOffset", "0"),
("LongitudinalControl", "0"),
("LimitSetSpeed", "0"),
("LimitSetSpeedNeural", "0"),

31
selfdrive/ui/android_ui.cc
View File

@@ -143,7 +143,7 @@ static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
}
}
static void update_offroad_layout_state(UIState *s) {
static void update_offroad_layout_state(UIState *s, PubMaster *pm) {
static int timeout = 0;
static bool prev_collapsed = false;
static cereal::UiLayoutState::App prev_app = cereal::UiLayoutState::App::NONE;
@@ -157,7 +157,7 @@ static void update_offroad_layout_state(UIState *s) {
auto layout = event.initUiLayoutState();
layout.setActiveApp(s->active_app);
layout.setSidebarCollapsed(s->scene.uilayout_sidebarcollapsed);
s->pm->send("offroadLayout", msg);
pm->send("offroadLayout", msg);
LOGD("setting active app to %d with sidebar %d", (int)s->active_app, s->scene.uilayout_sidebarcollapsed);
prev_collapsed = s->scene.uilayout_sidebarcollapsed;
prev_app = s->active_app;
@@ -176,9 +176,10 @@ int main(int argc, char* argv[]) {
UIState *s = &uistate;
ui_init(s);
set_awake(s, true);
enable_event_processing(true);
PubMaster *pm = new PubMaster({"offroadLayout"});
pthread_t connect_thread_handle;
err = pthread_create(&connect_thread_handle, NULL,
vision_connect_thread, s);
@@ -196,11 +197,11 @@ int main(int argc, char* argv[]) {
// light sensor scaling params
const bool LEON = util::read_file("/proc/cmdline").find("letv") != std::string::npos;
float brightness_b, brightness_m;
float brightness_b = 0, brightness_m = 0;
int result = read_param(&brightness_b, "BRIGHTNESS_B", true);
result += read_param(&brightness_m, "BRIGHTNESS_M", true);
if(result != 0){
if(result != 0) {
brightness_b = LEON ? 10.0 : 5.0;
brightness_m = LEON ? 2.6 : 1.3;
write_param_float(brightness_b, "BRIGHTNESS_B", true);
@@ -245,10 +246,6 @@ int main(int argc, char* argv[]) {
if (!s->started) {
// always process events offroad
check_messages(s);
if (s->started) {
s->controls_timeout = 5 * UI_FREQ;
}
} else {
set_awake(s, true);
// Car started, fetch a new rgb image from ipc
@@ -275,9 +272,7 @@ int main(int argc, char* argv[]) {
}
// manage hardware disconnect
if (s->hardware_timeout > 0) {
s->hardware_timeout--;
} else {
if ((s->sm->frame - s->sm->rcv_frame("health")) > 5*UI_FREQ) {
s->scene.hwType = cereal::HealthData::HwType::UNKNOWN;
}
@@ -290,9 +285,8 @@ int main(int argc, char* argv[]) {
s->sound.setVolume(fmin(MAX_VOLUME, MIN_VOLUME + s->scene.controls_state.getVEgo() / 5)); // up one notch every 5 m/s
if (s->controls_timeout > 0) {
s->controls_timeout--;
} else if (s->started && !s->scene.frontview) {
bool controls_timeout = (s->sm->frame - s->sm->rcv_frame("controlsState")) > 5*UI_FREQ;
if (s->started && !s->scene.frontview && controls_timeout) {
if (!s->controls_seen) {
// car is started, but controlsState hasn't been seen at all
s->scene.alert_text1 = "openpilot Unavailable";
@@ -315,9 +309,6 @@ int main(int argc, char* argv[]) {
}
read_param_timeout(&s->is_metric, "IsMetric", &s->is_metric_timeout);
read_param_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
read_param_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
read_param_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
int param_read = read_param_timeout(&s->last_athena_ping, "LastAthenaPingTime", &s->last_athena_ping_timeout);
if (param_read != -1) { // Param was updated this loop
if (param_read != 0) { // Failed to read param
@@ -328,7 +319,7 @@ int main(int argc, char* argv[]) {
s->scene.athenaStatus = NET_ERROR;
}
}
update_offroad_layout_state(s);
update_offroad_layout_state(s, pm);
pthread_mutex_unlock(&s->lock);
@@ -355,6 +346,6 @@ int main(int argc, char* argv[]) {
err = pthread_join(connect_thread_handle, NULL);
assert(err == 0);
delete s->sm;
delete s->pm;
delete pm;
return 0;
}

106
selfdrive/ui/paint.cc
View File

@@ -276,8 +276,8 @@ static void draw_frame(UIState *s) {
static inline bool valid_frame_pt(UIState *s, float x, float y) {
return x >= 0 && x <= s->rgb_width && y >= 0 && y <= s->rgb_height;
}
static void update_lane_line_data(UIState *s, const float *points, float off, model_path_vertices_data *pvd, float valid_len) {
pvd->cnt = 0;
int rcount = fmin(MODEL_PATH_MAX_VERTICES_CNT / 2, valid_len);
@@ -323,6 +323,7 @@ static void ui_draw_vision_lanes(UIState *s) {
update_all_lane_lines_data(s, scene->model.getLeftLane(), scene->left_lane_points, pvd);
update_all_lane_lines_data(s, scene->model.getRightLane(), scene->right_lane_points, pvd + MODEL_LANE_PATH_CNT);
}
// Draw left lane edge
ui_draw_lane(
s, pvd,
@@ -336,6 +337,7 @@ static void ui_draw_vision_lanes(UIState *s) {
if(s->sm->updated("radarState")) {
update_all_track_data(s);
}
// Draw vision path
ui_draw_track(s, false, &s->track_vertices[0]);
if (scene->controls_state.getEnabled()) {
@@ -385,25 +387,20 @@ static void ui_draw_world(UIState *s) {
}
static void ui_draw_vision_maxspeed(UIState *s) {
/*if (!s->longitudinal_control){
return;
}*/
char maxspeed_str[32];
float maxspeed = s->scene.controls_state.getVCruise();
int maxspeed_calc = maxspeed * 0.6225 + 0.5;
float speedlimit = s->scene.speedlimit;
int speedlim_calc = speedlimit * 2.2369363 + 0.5;
int speed_lim_off = s->speed_lim_off * 2.2369363 + 0.5;
if (s->is_metric) {
maxspeed_calc = maxspeed + 0.5;
speedlim_calc = speedlimit * 3.6 + 0.5;
speed_lim_off = s->speed_lim_off * 3.6 + 0.5;
}
bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA);
bool is_speedlim_valid = s->scene.speedlimit_valid;
bool is_set_over_limit = is_speedlim_valid && s->scene.controls_state.getEnabled() &&
is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off);
is_cruise_set && maxspeed_calc > speedlim_calc;
int viz_maxspeed_w = 184;
int viz_maxspeed_h = 202;
@@ -411,12 +408,7 @@ static void ui_draw_vision_maxspeed(UIState *s) {
int viz_maxspeed_y = (box_y + (bdr_s*1.5));
int viz_maxspeed_xo = 180;
#ifdef SHOW_SPEEDLIMIT
viz_maxspeed_w += viz_maxspeed_xo;
viz_maxspeed_x += viz_maxspeed_w - (viz_maxspeed_xo * 2);
#else
viz_maxspeed_xo = 0;
#endif
// Draw Background
ui_draw_rect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h,
@@ -444,65 +436,6 @@ static void ui_draw_vision_maxspeed(UIState *s) {
}
}
#ifdef SHOW_SPEEDLIMIT
static void ui_draw_vision_speedlimit(UIState *s) {
char speedlim_str[32];
float speedlimit = s->scene.speedlimit;
int speedlim_calc = speedlimit * 2.2369363 + 0.5;
if (s->is_metric) {
speedlim_calc = speedlimit * 3.6 + 0.5;
}
bool is_speedlim_valid = s->scene.speedlimit_valid;
float hysteresis_offset = 0.5;
if (s->is_ego_over_limit) {
hysteresis_offset = 0.0;
}
s->is_ego_over_limit = is_speedlim_valid && s->scene.controls_state.getVEgo() > (speedlimit + s->speed_lim_off + hysteresis_offset);
int viz_speedlim_w = 180;
int viz_speedlim_h = 202;
int viz_speedlim_x = (s->scene.ui_viz_rx + (bdr_s*2));
int viz_speedlim_y = (box_y + (bdr_s*1.5));
if (!is_speedlim_valid) {
viz_speedlim_w -= 5;
viz_speedlim_h -= 10;
viz_speedlim_x += 9;
viz_speedlim_y += 5;
}
// Draw Background
NVGcolor color = COLOR_WHITE_ALPHA(100);
if (is_speedlim_valid && s->is_ego_over_limit) {
color = nvgRGBA(218, 111, 37, 180);
} else if (is_speedlim_valid) {
color = COLOR_WHITE;
}
ui_draw_rect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, color, is_speedlim_valid ? 30 : 15);
// Draw Border
if (is_speedlim_valid) {
ui_draw_rect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h,
s->is_ego_over_limit ? COLOR_OCHRE : COLOR_WHITE, 20, 10);
}
const float text_x = viz_speedlim_x + viz_speedlim_w / 2;
const float text_y = viz_speedlim_y + (is_speedlim_valid ? 50 : 45);
// Draw "Speed Limit" Text
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
color = is_speedlim_valid && s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y, "SMART", 50, color, s->font_sans_semibold);
ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y + 40, "SPEED", 50, color, s->font_sans_semibold);
// Draw Speed Text
color = s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
if (is_speedlim_valid) {
snprintf(speedlim_str, sizeof(speedlim_str), "%d", speedlim_calc);
ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), speedlim_str, 48*2.5, color, s->font_sans_bold);
} else {
ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", 42*2.5, color, s->font_sans_semibold);
}
}
#endif
static void ui_draw_vision_speed(UIState *s) {
const UIScene *scene = &s->scene;
float v_ego = s->scene.controls_state.getVEgo();
@@ -551,15 +484,6 @@ static void ui_draw_vision_event(UIState *s) {
}
}
#ifdef SHOW_SPEEDLIMIT
static void ui_draw_vision_map(UIState *s) {
const int map_size = 96;
const int map_x = (s->scene.ui_viz_rx + (map_size * 3) + (bdr_s * 3));
const int map_y = (footer_y + ((footer_h - map_size) / 2));
ui_draw_circle_image(s->vg, map_x, map_y, map_size, s->img_map, s->scene.map_valid);
}
#endif
static void ui_draw_vision_face(UIState *s) {
const int face_size = 96;
const int face_x = (s->scene.ui_viz_rx + face_size + (bdr_s * 2));
@@ -629,20 +553,12 @@ static void ui_draw_vision_header(UIState *s) {
ui_draw_vision_maxspeed(s);
#ifdef SHOW_SPEEDLIMIT
ui_draw_vision_speedlimit(s);
#endif
ui_draw_vision_speed(s);
ui_draw_vision_event(s);
}
static void ui_draw_vision_footer(UIState *s) {
ui_draw_vision_face(s);
#ifdef SHOW_SPEEDLIMIT
// ui_draw_vision_map(s);
#endif
}
void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size, int va_color,
@@ -654,15 +570,13 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
{cereal::ControlsState::AlertSize::FULL, vwp_h}};
const UIScene *scene = &s->scene;
const bool hasSidebar = !scene->uilayout_sidebarcollapsed;
const bool mapEnabled = scene->uilayout_mapenabled;
bool longAlert1 = strlen(va_text1) > 15;
const uint8_t *color = alert_colors[va_color];
int alr_s = alert_size_map[va_size];
const int alr_x = scene->ui_viz_rx-(mapEnabled?(hasSidebar?nav_w:(nav_ww)):0)-bdr_s;
const int alr_w = scene->ui_viz_rw+(mapEnabled?(hasSidebar?nav_w:(nav_ww)):0)+(bdr_s*2);
const int alr_x = scene->ui_viz_rx- bdr_s;
const int alr_w = scene->ui_viz_rw + (bdr_s*2);
const int alr_h = alr_s+(va_size==cereal::ControlsState::AlertSize::NONE?0:bdr_s);
const int alr_y = vwp_h-alr_h;
@@ -719,9 +633,9 @@ static void ui_draw_vision(UIState *s) {
if (scene->alert_size != cereal::ControlsState::AlertSize::NONE) {
// Controls Alerts
ui_draw_vision_alert(s, scene->alert_size, s->status,
scene->alert_text1.c_str(), scene->alert_text2.c_str());
} else {
if (!scene->frontview){ui_draw_vision_footer(s);}
scene->alert_text1.c_str(), scene->alert_text2.c_str());
} else if (!scene->frontview) {
ui_draw_vision_footer(s);
}
}
@@ -864,8 +778,6 @@ void ui_nvg_init(UIState *s) {
assert(s->img_turn != 0);
s->img_face = nvgCreateImage(s->vg, "../assets/img_driver_face.png", 1);
assert(s->img_face != 0);
s->img_map = nvgCreateImage(s->vg, "../assets/img_map.png", 1);
assert(s->img_map != 0);
s->img_button_settings = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
assert(s->img_button_settings != 0);
s->img_button_home = nvgCreateImage(s->vg, "../assets/images/button_home.png", 1);

3
selfdrive/ui/qt/ui.cc
View File

@@ -2,8 +2,7 @@
#include "window.hpp"
int main(int argc, char *argv[])
{
int main(int argc, char *argv[]) {
QSurfaceFormat fmt;
#ifdef __APPLE__
fmt.setVersion(3, 2);

31
selfdrive/ui/ui.cc
View File

@@ -25,12 +25,8 @@ int write_param_float(float param, const char* param_name, bool persistent_param
void ui_init(UIState *s) {
pthread_mutex_init(&s->lock, NULL);
s->sm = new SubMaster({"model", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal",
"health", "ubloxGnss", "driverState", "dMonitoringState"
#ifdef SHOW_SPEEDLIMIT
, "liveMapData"
#endif
"health", "carParams", "ubloxGnss", "driverState", "dMonitoringState"
});
s->pm = new PubMaster({"offroadLayout"});
s->ipc_fd = -1;
s->scene.satelliteCount = -1;
@@ -70,15 +66,9 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->rgb_front_stride = front_bufs.stride;
s->rgb_front_buf_len = front_bufs.buf_len;
read_param(&s->speed_lim_off, "SpeedLimitOffset");
read_param(&s->is_metric, "IsMetric");
read_param(&s->longitudinal_control, "LongitudinalControl");
read_param(&s->limit_set_speed, "LimitSetSpeed");
// Set offsets so params don't get read at the same time
s->longitudinal_control_timeout = UI_FREQ / 3;
s->is_metric_timeout = UI_FREQ / 2;
s->limit_set_speed_timeout = UI_FREQ;
s->is_metric_timeout = UI_FREQ;
}
void update_status(UIState *s, int status) {
@@ -96,10 +86,9 @@ static inline void fill_path_points(const cereal::ModelData::PathData::Reader &p
void handle_message(UIState *s, SubMaster &sm) {
UIScene &scene = s->scene;
if (s->started && sm.updated("controlsState")) {
if (sm.updated("controlsState")) {
auto event = sm["controlsState"];
scene.controls_state = event.getControlsState();
s->controls_timeout = 1 * UI_FREQ;
s->controls_seen = true;
auto alert_sound = scene.controls_state.getAlertSound();
@@ -174,11 +163,6 @@ void handle_message(UIState *s, SubMaster &sm) {
s->active_app = data.getActiveApp();
scene.uilayout_sidebarcollapsed = data.getSidebarCollapsed();
}
#ifdef SHOW_SPEEDLIMIT
if (sm.updated("liveMapData")) {
scene.map_valid = sm["liveMapData"].getLiveMapData().getMapValid();
}
#endif
if (sm.updated("thermal")) {
scene.thermal = sm["thermal"].getThermal();
}
@@ -190,7 +174,9 @@ void handle_message(UIState *s, SubMaster &sm) {
}
if (sm.updated("health")) {
scene.hwType = sm["health"].getHealth().getHwType();
s->hardware_timeout = 5*UI_FREQ; // 5 seconds
}
if (sm.updated("carParams")) {
s->longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
}
if (sm.updated("driverState")) {
scene.driver_state = sm["driverState"].getDriverState();
@@ -199,10 +185,7 @@ void handle_message(UIState *s, SubMaster &sm) {
scene.dmonitoring_state = sm["dMonitoringState"].getDMonitoringState();
scene.is_rhd = scene.dmonitoring_state.getIsRHD();
scene.frontview = scene.dmonitoring_state.getIsPreview();
}
// timeout on frontview
if ((sm.frame - sm.rcv_frame("dMonitoringState")) > 1*UI_FREQ) {
} else if ((sm.frame - sm.rcv_frame("dMonitoringState")) > 1*UI_FREQ) {
scene.frontview = false;
}

15
selfdrive/ui/ui.hpp
View File

@@ -50,8 +50,6 @@
#endif
#define UI_BUF_COUNT 4
//#define SHOW_SPEEDLIMIT 1
//#define DEBUG_TURN
// TODO: Detect dynamically
#ifdef QCOM2
@@ -114,9 +112,7 @@ typedef struct UIScene {
bool speedlimit_valid;
bool is_rhd;
bool map_valid;
bool uilayout_sidebarcollapsed;
bool uilayout_mapenabled;
// responsive layout
int ui_viz_rx;
int ui_viz_rw;
@@ -144,7 +140,7 @@ typedef struct UIScene {
typedef struct {
float x, y;
}vertex_data;
} vertex_data;
typedef struct {
vertex_data v[MODEL_PATH_MAX_VERTICES_CNT];
@@ -174,7 +170,6 @@ typedef struct UIState {
int img_wheel;
int img_turn;
int img_face;
int img_map;
int img_button_settings;
int img_button_home;
int img_battery;
@@ -183,7 +178,6 @@ typedef struct UIState {
// sockets
SubMaster *sm;
PubMaster *pm;
cereal::UiLayoutState::App active_app;
@@ -219,12 +213,7 @@ typedef struct UIState {
// timeouts
int awake_timeout;
int controls_timeout;
int speed_lim_off_timeout;
int is_metric_timeout;
int longitudinal_control_timeout;
int limit_set_speed_timeout;
int hardware_timeout;
int last_athena_ping_timeout;
bool controls_seen;
@@ -233,8 +222,6 @@ typedef struct UIState {
int status;
bool is_metric;
bool longitudinal_control;
bool limit_set_speed;
float speed_lim_off;
bool is_ego_over_limit;
float alert_blinking_alpha;
bool alert_blinked;