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2024-05-18 08:42:15 -05:00
parent d6fff3fa1b
commit 037b08dd0d
7 changed files with 43 additions and 205 deletions
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21
selfdrive/car/hyundai/carcontroller.py
View File

@@ -132,7 +132,10 @@ class CarController(CarControllerBase):
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
# params_memory = Params("/dev/shm/params")
# if params_memory.get_bool("CPTLkasButtonAction"):
if params_memory.get_bool("CPTLkasButtonAction"):
if self.frame % 10 == 0:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL))
# can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
# can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, self.CP, self.CAN, CS.cruise_info, 50))
# can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
@@ -197,7 +200,6 @@ class CarController(CarControllerBase):
can_sends = []
if use_clu11:
if CC.cruiseControl.cancel:
print("Cancel button go")
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
CS.lkas_trigger_result = 5
elif CC.cruiseControl.resume:
@@ -210,17 +212,18 @@ class CarController(CarControllerBase):
else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
params_memory = Params("/dev/shm/params")
if params_memory.get_bool("CPTLkasButtonAction"):
params_memory.put_bool("CPTLkasButtonAction", False)
CC.cruiseControl.cancel = True
print("Debug cancel executed")
# if params_memory.get_bool("CPTLkasButtonAction"):
# params_memory.put_bool("CPTLkasButtonAction", False)
# CC.cruiseControl.cancel = True
# print("Debug cancel executed")
# cruise cancel
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# pass
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
# can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
print("Yes2")
# can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
print("Try Cancel Button Alt")
self.last_button_frame = self.frame
CS.lkas_trigger_result = 1
else:

4
selfdrive/controls/controlsd.py
View File

@@ -673,9 +673,9 @@ class Controls:
if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
CC.latActive = False
self.params_memory.put_int("no_lat_lane_change", 1)
self.params_memory.put_bool("no_lat_lane_change", True)
else:
self.params_memory.put_int("no_lat_lane_change", 0)
self.params_memory.put_bool("no_lat_lane_change", False)
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame

149
selfdrive/ui/qt/onroad.cc
View File

@@ -75,7 +75,7 @@ void OnroadWindow::updateState(const UIState &s) {
nvg->updateState(s);
QColor bgColor = bg_colors[s.status];
if (paramsMemory.getInt("no_lat_lane_change") == 1) {
if (paramsMemory.getBool("no_lat_lane_change") == 1) {
bgColor = bg_colors[STATUS_DISENGAGED];
}
@@ -355,9 +355,6 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
top_right_layout->setSpacing(0);
top_right_layout->addLayout(buttons_layout);
pedal_icons = new PedalIcons(this);
// top_right_layout->addWidget(pedal_icons, 0, Qt::AlignRight);
main_layout->addLayout(top_right_layout, 0);
main_layout->setAlignment(top_right_layout, Qt::AlignTop | Qt::AlignRight);
@@ -530,13 +527,13 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
// }
// }
void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed) {
void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176) {
// Draw outer box + border to contain set speed and speed limit
const int sign_margin = 12;
const int us_sign_height = 186;
const int eu_sign_size = 176;
const int eu_sign_size = width;
const QSize default_size = {172, 204};
const QSize default_size = {width, 204};
QSize set_speed_size = default_size;
if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
@@ -560,9 +557,9 @@ void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QSt
p.setFont(InterFont(90, QFont::Bold));
p.setPen(colorSpeed);
p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
}
void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
QRect real_rect = p.fontMetrics().boundingRect(text);
real_rect.moveCenter({x, y - real_rect.height() / 2});
@@ -622,19 +619,19 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
// paint center lane path
// QColor bg_colors[CHANGE_LANE_PATH_COLOR];
// int is_no_lat_lane_change = paramsMemory.getInt("no_lat_lane_change");
bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
QColor center_lane_color;
// if (is_no_lat_lane_change) {
// center_lane_color = bg_colors[CHANGE_LANE_PATH_COLOR];
// } else {
if (is_no_lat_lane_change) {
center_lane_color = bg_colors[CHANGE_LANE_PATH_COLOR];
} else {
center_lane_color = bg_colors[CENTER_LANE_COLOR];
// }
}
QLinearGradient path_gradient(0, height(), 0, 0);
// if (edgeColor != bg_colors[STATUS_DISENGAGED] || is_no_lat_lane_change) {
if (edgeColor != bg_colors[STATUS_DISENGAGED] || is_no_lat_lane_change) {
if (scene.acceleration_path) {
// The first half of track_vertices are the points for the right side of the path
// and the indices match the positions of accel from uiPlan
@@ -684,7 +681,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.setBrush(path_gradient);
painter.drawPolygon(scene.track_vertices);
// }
}
// Paint path edges ,Use current background color
if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
@@ -924,8 +921,6 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
bottom_layout = new QHBoxLayout();
distance_btn = new DistanceButton(this);
// bottom_layout->addWidget(distance_btn);
// QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
// bottom_layout->addItem(spacer);
@@ -983,8 +978,6 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
obstacleDistance = scene.obstacle_distance;
obstacleDistanceStock = scene.obstacle_distance_stock;
onroadDistanceButton = scene.onroad_distance_button;
roadNameUI = scene.road_name_ui;
speedLimitController = scene.speed_limit_controller;
@@ -1042,91 +1035,10 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
drawSLCConfirmation(p);
}
// bool enableDistanceButton = onroadDistanceButton && !hideBottomIcons;
// distance_btn->setVisible(enableDistanceButton);
// if (enableDistanceButton) {
// distance_btn->updateState();
// bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft));
// }
// bool enablePedalIcons = scene.pedals_on_ui && !bigMapOpen;
// pedal_icons->setVisible(enablePedalIcons);
// if (enablePedalIcons) {
// pedal_icons->updateState();
// }
// recorder_btn->setVisible(scene.screen_recorder && !mapOpen);
recorder_btn->setVisible(false);
}
DistanceButton::DistanceButton(QWidget *parent) : QPushButton(parent), scene(uiState()->scene) {
// setFixedSize(btn_size * 1.5, btn_size * 1.5);
// profile_data = {
// {QPixmap("../frogpilot/assets/other_images/traffic.png"), "Traffic"},
// {QPixmap("../frogpilot/assets/other_images/aggressive.png"), "Aggressive"},
// {QPixmap("../frogpilot/assets/other_images/standard.png"), "Standard"},
// {QPixmap("../frogpilot/assets/other_images/relaxed.png"), "Relaxed"}
// };
// profile_data_kaofui = {
// {QPixmap("../frogpilot/assets/other_images/traffic_kaofui.png"), "Traffic"},
// {QPixmap("../frogpilot/assets/other_images/aggressive_kaofui.png"), "Aggressive"},
// {QPixmap("../frogpilot/assets/other_images/standard_kaofui.png"), "Standard"},
// {QPixmap("../frogpilot/assets/other_images/relaxed_kaofui.png"), "Relaxed"}
// };
// transitionTimer.start();
// connect(this, &QPushButton::pressed, this, &DistanceButton::buttonPressed);
// connect(this, &QPushButton::released, this, &DistanceButton::buttonReleased);
}
void DistanceButton::buttonPressed() {
// paramsMemory.putBool("OnroadDistanceButtonPressed", true);
}
void DistanceButton::buttonReleased() {
// paramsMemory.putBool("OnroadDistanceButtonPressed", false);
}
void DistanceButton::updateState() {
// if (trafficModeActive != scene.traffic_mode_active || personality != static_cast<int>(scene.personality) && !trafficModeActive) {
// transitionTimer.restart();
// }
// personality = static_cast<int>(scene.personality);
trafficModeActive = scene.traffic_mode_active;
}
void DistanceButton::paintEvent(QPaintEvent *event) {
// QPainter p(this);
// p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
// constexpr qreal fadeDuration = 1000.0;
// constexpr qreal textDuration = 3000.0;
// int elapsed = transitionTimer.elapsed();
// qreal textOpacity = qBound(0.0, 1.0 - ((elapsed - textDuration) / fadeDuration), 1.0);
// qreal imageOpacity = qBound(0.0, (elapsed - textDuration) / fadeDuration, 1.0);
// int profile = trafficModeActive ? 0 : personality + 1;
// auto &[profileImage, profileText] = scene.use_kaofui_icons ? profile_data_kaofui[profile] : profile_data[profile];
// if (textOpacity != 0.0) {
// p.setOpacity(textOpacity);
// p.setFont(InterFont(40, QFont::Bold));
// p.setPen(Qt::white);
// QRect textRect(-25, 0, width(), height() + 95);
// p.drawText(textRect, Qt::AlignCenter, profileText);
// }
// if (imageOpacity != 0.0) {
// drawIcon(p, QPoint((btn_size / 2) * 1.25, btn_size / 2 + 95), profileImage, Qt::transparent, imageOpacity);
// }
}
void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
static QElapsedTimer timer;
static bool isFiveSecondsPassed = false;
@@ -1241,43 +1153,6 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
p.restore();
}
PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
setFixedSize(btn_size, btn_size);
brake_pedal_img = loadPixmap("../frogpilot/assets/other_images/brake_pedal.png", QSize(img_size, img_size));
gas_pedal_img = loadPixmap("../frogpilot/assets/other_images/gas_pedal.png", QSize(img_size, img_size));
}
void PedalIcons::updateState() {
// acceleration = scene.acceleration;
// accelerating = acceleration > 0.25;
// decelerating = acceleration < -0.25;
// if (accelerating || decelerating) {
// update();
// }
}
void PedalIcons::paintEvent(QPaintEvent *event) {
// QPainter p(this);
// p.setRenderHint(QPainter::Antialiasing);
// int totalWidth = 2 * img_size;
// int startX = (width() - totalWidth) / 2;
// int brakeX = startX + img_size / 2;
// int gasX = startX + img_size;
// float brakeOpacity = scene.standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f;
// float gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f;
// p.setOpacity(brakeOpacity);
// p.drawPixmap(brakeX, (height() - img_size) / 2, brake_pedal_img);
// p.setOpacity(gasOpacity);
// p.drawPixmap(gasX, (height() - img_size) / 2, gas_pedal_img);
}
void AnnotatedCameraWidget::drawSLCConfirmation(QPainter &p) {
p.save();

52
selfdrive/ui/qt/onroad.h
View File

@@ -38,53 +38,6 @@ private:
UIScene &scene;
};
class DistanceButton : public QPushButton {
public:
explicit DistanceButton(QWidget *parent = nullptr);
void buttonPressed();
void buttonReleased();
void updateState();
protected:
void paintEvent(QPaintEvent *event) override;
private:
Params paramsMemory{"/dev/shm/params"};
UIScene &scene;
bool trafficModeActive;
// int personality;
QElapsedTimer transitionTimer;
QVector<std::pair<QPixmap, QString>> profile_data;
QVector<std::pair<QPixmap, QString>> profile_data_kaofui;
};
class PedalIcons : public QWidget {
Q_OBJECT
public:
explicit PedalIcons(QWidget *parent = 0);
void updateState();
private:
void paintEvent(QPaintEvent *event) override;
QPixmap brake_pedal_img;
QPixmap gas_pedal_img;
UIScene &scene;
bool accelerating;
bool decelerating;
float acceleration;
};
// container window for the NVG UI
class AnnotatedCameraWidget : public CameraWidget {
@@ -97,7 +50,7 @@ public:
private:
void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed);
void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 172);
QVBoxLayout *main_layout;
QPixmap dm_img;
@@ -135,8 +88,6 @@ private:
Params paramsMemory{"/dev/shm/params"};
UIScene &scene;
DistanceButton *distance_btn;
PedalIcons *pedal_icons;
ScreenRecorder *recorder_btn;
QHBoxLayout *bottom_layout;
@@ -146,7 +97,6 @@ private:
bool blindSpotRight;
bool experimentalMode;
bool leadInfo;
bool onroadDistanceButton;
bool roadNameUI;
bool showAlwaysOnLateralStatusBar;
bool showConditionalExperimentalStatusBar;

2
selfdrive/ui/ui.cc
View File

@@ -116,7 +116,7 @@ void update_model(UIState *s,
// update path
float path;
if (paramsMemory.getInt("no_lat_lane_change")) {
if (paramsMemory.getBool("no_lat_lane_change")) {
path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20; // Release: better calc for EU users
} else {
path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users