wip

openpilot/clearpilot_devqueue_amain.txt

@@ -1,10 +1,13 @@
 
+
 - test that lkas button crashes controlsd, it should
 - test that lkas button creates an alert, it should
 
 - hyundai clsc https://github.com/garrettpall/openpilot/commit/5528198aa73d3d017d16ec4ca38306b11e5da0a8
 
-- test tools/replay to get UI working offline
+- get ui to work on its own using no video feed, custom ui state inputs
+  - dress up ui
+
 - add debug elements to ui with a boolean at top of onroad.cc to enable/disable:
   - curviture
   - current speed limit
@@ -14,6 +17,9 @@
   - current distance to lead based on model draw distance
   - current speed of lead
 
+- when changing lanes and lateral disabled, draw a narrow single 'line' down center
+- of computed path, and don't show side lane boundaries
+
 - make side lanes 10% wider and the disengage mode 10% brighter
 - make 25% of side lanes 50% darker than base
 
@@ -86,11 +92,17 @@ Oscar -> OP
 
 behaviors:
 
+- getting head mode - turn off babysitter with an alert on the screen that it is off, suspend for 10 minutes
+  - in this mode it should be extra grouchy if a curve is detected, slowdown is detected, or lane lines are weak
+
 - lane change wrong way reenable lateral
 - blinker signal wheel angle minor enable lateral
 - wheel angle sharp only engage lateral if over lane edge unless hands not on wheel
 - no lateral on turn signal - only enforce if model curvature > 10 degrees, hands on wheel, or wheel override (maybe curve not necessary?)
 
+
+- basic lane keep - nudge wheel slightly if over line and still going straight and hands on wheel
+
 - debug mode activated bu lkas
 
 - See where disk free is going with NCDU and add smarter log rotation

selfdrive/ui/qt/home.cc

@@ -30,6 +30,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   sidebar = new Sidebar(this);
   main_layout->addWidget(sidebar);
   QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
+  QObject::connect(sidebar, &Sidebar::openOnroad, this, &HomeWindow::openOnroad);
 
   slayout = new QStackedLayout();
   main_layout->addLayout(slayout);
@@ -42,9 +43,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   QObject::connect(onroad, &OnroadWindow::mapPanelRequested, this, [=] { sidebar->hide(); });
   slayout->addWidget(onroad);
 
-  body = new BodyWindow(this);
-  slayout->addWidget(body);
-
   // CLEARPILOT
   ready = new ReadyWindow(this);
   slayout->addWidget(ready);
@@ -62,6 +60,11 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition);
 }
 
+// Debug function to activate onroad UI
+void HomeWindow::openOnroad() {
+  sidebar->setVisible(false);
+}
+
 void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
@@ -72,26 +75,15 @@ void HomeWindow::showMapPanel(bool show) {
 
 void HomeWindow::updateState(const UIState &s) {
   // const SubMaster &sm = *(s.sm);
-
-  // CLEARPILOT
-  // switch to the generic robot UI
-  // if (onroad->isVisible() && !body->isEnabled() && sm["carParams"].getCarParams().getNotCar()) {
-  //   body->setEnabled(true);
-  //   slayout->setCurrentWidget(body);
-  // }
-
   if (s.scene.started) {
     showDriverView(s.scene.driver_camera_timer >= 10, true);
   }
 }
 
 void HomeWindow::offroadTransition(bool offroad) {
-  body->setEnabled(false);
   if (offroad) {
     sidebar->setVisible(false);
     slayout->setCurrentWidget(ready);
-    // slayout->setCurrentWidget(home);
-    // this->showDriverView(true, true);  // Temp
   } else {
     sidebar->setVisible(false);
     slayout->setCurrentWidget(onroad);
@@ -119,13 +111,6 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // CLEARPILOT todo - tap on main goes straight to settings
   // Unless we click a debug widget.
 
-  // Handle sidebar collapsing
-  // if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
-  //   sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
-  //   uiState()->scene.map_open = onroad->isMapVisible();
-  //   params.putBool("Sidebar", sidebar->isVisible());
-  // }
-
   // CLEARPILOT - click ready shows home
   if (!onroad->isVisible() && ready->isVisible()) {
     sidebar->setVisible(true);
@@ -141,14 +126,6 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
   HomeWindow::mousePressEvent(e);
   const SubMaster &sm = *(uiState()->sm);
-  if (sm["carParams"].getCarParams().getNotCar()) {
-    if (onroad->isVisible()) {
-      slayout->setCurrentWidget(body);
-    } else if (body->isVisible()) {
-      slayout->setCurrentWidget(onroad);
-    }
-    showSidebar(false);
-  }
 }
 
 // OffroadHome: the offroad home page
@@ -250,8 +227,10 @@ void OffroadHome::refresh() {
   date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
   version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + model);
 
-  bool updateAvailable = update_widget->refresh();
+  // bool updateAvailable = update_widget->refresh();
+
   int alerts = alerts_widget->refresh();
+
   if (alerts > 0 && !alerts_widget->isVisible()) {
     alerts_widget->setVisible(true);
   } else if (alerts == 0 && alerts_widget->isVisible()) {
@@ -260,20 +239,19 @@ void OffroadHome::refresh() {
 
   // pop-up new notification
   // CLEARPILOT temp disabled update notifications
-  int idx = center_layout->currentIndex();
+  // int idx = center_layout->currentIndex();
-  if (!updateAvailable && !alerts && false) {
+  // if (!updateAvailable && !alerts && false) {
-    idx = 0;
+  //   idx = 0;
-  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
+  // } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
-    idx = 1;
+  //   idx = 1;
-  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
+  // } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
-    idx = 2;
+  //   idx = 2;
-  }
+  // }
-  center_layout->setCurrentIndex(idx);
+  // center_layout->setCurrentIndex(idx);
 
   // CLEARPILOT temp disabled update notifications
 //  update_notif->setVisible(updateAvailable);
 //  alert_notif->setVisible(alerts);
-  update_notif->setVisible(false);
   alert_notif->setVisible(false);
   if (alerts) {
     alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));

selfdrive/ui/qt/home.h

@@ -9,7 +9,6 @@
 
 #include "common/params.h"
 #include "selfdrive/ui/qt/offroad/driverview.h"
-#include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/ready.h"
 #include "selfdrive/ui/qt/onroad.h"
 #include "selfdrive/ui/qt/sidebar.h"
@@ -70,7 +69,6 @@ private:
   Sidebar *sidebar;
   OffroadHome *home;
   OnroadWindow *onroad;
-  BodyWindow *body;
   DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 

selfdrive/ui/qt/sidebar.cc

@@ -28,6 +28,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
   flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
   settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
+  currentColors = QColor(255, 255, 255);
 
   connect(this, &Sidebar::valueChanged, [=] { update(); });
 
@@ -49,52 +50,6 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   isStorageLeft = params.getBool("ShowStorageLeft");
   isStorageUsed = params.getBool("ShowStorageUsed");
 
-  holidayThemeConfiguration = {
-    {0, {"stock", {QColor(255, 255, 255)}}},
-    {1, {"april_fools", {QColor(255, 165, 0)}}},
-    {2, {"christmas", {QColor(0, 72, 255)}}},
-    {3, {"cinco_de_mayo", {QColor(0, 104, 71)}}},
-    {4, {"easter", {QColor(200, 150, 200)}}},
-    {5, {"fourth_of_july", {QColor(0, 72, 255)}}},
-    {6, {"halloween", {QColor(255, 0, 0)}}},
-    {7, {"new_years_day", {QColor(23, 134, 68)}}},
-    {8, {"st_patricks_day", {QColor(0, 128, 0)}}},
-    {9, {"thanksgiving", {QColor(255, 0, 0)}}},
-    {10, {"valentines_day", {QColor(23, 134, 68)}}},
-    {11, {"world_frog_day", {QColor(23, 134, 68)}}},
-  };
-
-  for (auto &[key, themeData] : holidayThemeConfiguration) {
-    QString &themeName = themeData.first;
-    QString base = themeName == "stock" ? "../assets/images" : QString("../frogpilot/assets/holiday_themes/%1/images").arg(themeName);
-    std::vector<QString> paths = {base + "/button_home.png", base + "/button_flag.png", base + "/button_settings.png"};
-
-    holiday_home_imgs[key] = loadPixmap(paths[0], home_btn.size());
-    holiday_flag_imgs[key] = loadPixmap(paths[1], home_btn.size());
-    holiday_settings_imgs[key] = loadPixmap(paths[2], settings_btn.size(), Qt::IgnoreAspectRatio);
-  }
-
-  themeConfiguration = {
-    {0, {"stock", {QColor(255, 255, 255)}}},
-    {1, {"frog_theme", {QColor(255, 255, 255)}}},
-    {2, {"tesla_theme", {QColor(255, 255, 255)}}},
-    {3, {"stalin_theme", {QColor(255, 255, 255)}}}
-  };
-
-  for (auto &[key, themeData] : themeConfiguration) {
-    QString &themeName = themeData.first;
-    QString base = themeName == "stock" ? "../assets/images" : QString("../frogpilot/assets/custom_themes/%1/images").arg(themeName);
-    std::vector<QString> paths = {base + "/button_home.png", base + "/button_flag.png", base + "/button_settings.png"};
-
-    home_imgs[key] = loadPixmap(paths[0], home_btn.size());
-    flag_imgs[key] = loadPixmap(paths[1], home_btn.size());
-    settings_imgs[key] = loadPixmap(paths[2], settings_btn.size(), Qt::IgnoreAspectRatio);
-  }
-
-  home_img = home_imgs[scene.custom_icons];
-  flag_img = flag_imgs[scene.custom_icons];
-  settings_img = settings_imgs[scene.custom_icons];
-  currentColors = themeConfiguration[scene.custom_colors].second;
 }
 
 void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -163,9 +118,14 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
     update();
   }
   if (home_btn.contains(event->pos())) {
+    
+    // ?? remove?
     MessageBuilder msg;
     msg.initEvent().initUserFlag();
     pm->send("userFlag", msg);
+
+    emit openOnroad();
+
   } else if (settings_btn.contains(event->pos())) {
     emit openSettings();
   }

selfdrive/ui/qt/sidebar.h

@@ -28,6 +28,7 @@ public:
 
 signals:
   void openSettings(int index = 0, const QString &param = "");
+  void openOnroad(int index = 0, const QString &param = "");
   void valueChanged();
 
 public slots:

selfdrive/ui/ui.h

@@ -30,6 +30,7 @@ typedef enum UIStatus {
   STATUS_TRAFFIC_MODE_ACTIVE,
   STATUS_EXPERIMENTAL_ACTIVE,
   CENTER_LANE_COLOR,
+  CHANGE_LANE_PATH_COLOR,
 } UIStatus;
 
 // Clearpilot new alpha constants
@@ -39,16 +40,18 @@ const float OTHER_LANE_ALPHA = 0.75;
 const int CENTER_LANE_WIDTH = 70;
 const int OTHER_LANE_WIDTH = 16;
 
+const ACTIVE_COLOR = QColor(189, 199, 252, 0xd1);
+
 // Clearpilot custom colors
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
-  [STATUS_OVERRIDE] = QColor(94, 112, 255, 0xd1), 
+  [STATUS_OVERRIDE] = ACTIVE_COLOR, 
-  [STATUS_ENGAGED] = QColor(76, 97, 255, 0xd1),
+  [STATUS_ENGAGED] = ACTIVE_COLOR,
-  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(209, 215, 250, 0xd1),
+  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = ACTIVE_COLOR,
-  // [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(184, 193, 255, 0xd1),
+  [STATUS_TRAFFIC_MODE_ACTIVE] = ACTIVE_COLOR, 
-  [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xd1), // ? unused? 
+  [STATUS_EXPERIMENTAL_ACTIVE] = QColor(201, 41, 204, 0xd1),
-  [STATUS_EXPERIMENTAL_ACTIVE] = QColor(201, 41, 204, 0xd1), // Magenta
+  [CENTER_LANE_COLOR] = QColor(150, 150, 150, 0xd1), 
-  [CENTER_LANE_COLOR] = QColor(150, 150, 150, 0xd1), // Gray
+  [CHANGE_LANE_PATH_COLOR] = QColor(245, 241, 93, 0xd1), 
 };
 
 static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {