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2024-05-04 16:40:14 -05:00
parent e67e80d5c2
commit 2b6ba5dae6
3 changed files with 8 additions and 8 deletions
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2
selfdrive/car/hyundai/hyundaicanfd.py
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@@ -133,7 +133,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
def create_lfahda_cluster(packer, CAN, enabled, lat_active): def create_lfahda_cluster(packer, CAN, enabled, lat_active):
values = { values = {
"HDA_ICON": 0, "HDA_ICON": 0,
"LFA_ICON": 0 "LFA_ICON": 2 if enabled else 1 if lat_active else 0
} }
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values) return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)

12
selfdrive/ui/qt/onroad.cc
View File

@@ -641,8 +641,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
} }
void AnnotatedCameraWidget::updateLaneEdgeColor(QColor &bgColor) { void AnnotatedCameraWidget::updateLaneEdgeColor(QColor &bgColor) {
if (bg != bgColor) { if (edgeColor != bgColor) {
bg = bgColor; edgeColor = bgColor;
} }
} }
@@ -904,11 +904,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.drawPolygon(scene.track_vertices); painter.drawPolygon(scene.track_vertices);
// Paint path edges ,Use current background color // Paint path edges ,Use current background color
if (bg != bg_colors[STATUS_DISENGAGED]) { if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
QLinearGradient edge_gradient; QLinearGradient edge_gradient;
edge_gradient.setColorAt(0.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255))); edge_gradient.setColorAt(0.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255)));
edge_gradient.setColorAt(0.5, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255 * 0.7) )); edge_gradient.setColorAt(0.5, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.7) ));
edge_gradient.setColorAt(1.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255 * 0.5))); edge_gradient.setColorAt(1.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.5)));
QPainterPath path; QPainterPath path;
path.addPolygon(scene.track_vertices); path.addPolygon(scene.track_vertices);

2
selfdrive/ui/qt/onroad.h
View File

@@ -308,7 +308,7 @@ private:
void mousePressEvent(QMouseEvent* e) override; void mousePressEvent(QMouseEvent* e) override;
OnroadAlerts *alerts; OnroadAlerts *alerts;
AnnotatedCameraWidget *nvg; AnnotatedCameraWidget *nvg;
QColor bg = bg_colors[STATUS_DISENGAGED]; QColor edgeColor = bg_colors[STATUS_DISENGAGED];
QWidget *map = nullptr; QWidget *map = nullptr;
QHBoxLayout* split; QHBoxLayout* split;