brianhansonxyz/clearpilot
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Switch personalities via steering wheel / onroad UI

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Added toggle to switch between the personalities via the steering wheel or an onroad UI button.

Co-Authored-By: henryccy <104284652+henryccy@users.noreply.github.com>
Co-Authored-By: Jason Jackrel <23621790+thinkpad4by3@users.noreply.github.com>
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
Co-Authored-By: Kevin Robert Keegan <3046315+krkeegan@users.noreply.github.com>
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 71eecd224c
commit 437ecc73ca
38 changed files with 406 additions and 36 deletions
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85
selfdrive/ui/qt/onroad.cc
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@@ -952,6 +952,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
int offset = UI_BORDER_SIZE + btn_size / 2;
offset += alwaysOnLateral || conditionalExperimental || roadNameUI ? 25 : 0;
int x = rightHandDM ? width() - offset : offset;
x += onroadAdjustableProfiles ? 250 : 0;
int y = height() - offset;
float opacity = dmActive ? 0.65 : 0.2;
drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
@@ -1164,6 +1165,9 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
bottom_layout = new QHBoxLayout();
personality_btn = new PersonalityButton(this);
bottom_layout->addWidget(personality_btn);
QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
bottom_layout->addItem(spacer);
@@ -1274,6 +1278,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
mapOpen = scene.map_open;
fullMapOpen = mapOpen && scene.full_map;
onroadAdjustableProfiles = scene.personalities_via_screen;
pedalsOnUI = scene.pedals_on_ui;
rightHandDrive = scene.right_hand_drive;
@@ -1328,6 +1334,15 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
pedal_icons->updateState();
}
bool enablePersonalityButton = onroadAdjustableProfiles && !hideBottomIcons;
personality_btn->setVisible(enablePersonalityButton);
if (enablePersonalityButton) {
if (paramsMemory.getBool("PersonalityChangedViaWheel")) {
personality_btn->checkUpdate();
}
bottom_layout->setAlignment(personality_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft));
}
map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
if (map_settings_btn_bottom->isEnabled()) {
map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass && !scene.hide_map_icon);
@@ -1677,6 +1692,76 @@ void AnnotatedCameraWidget::drawSLCConfirmation(QPainter &p) {
p.restore();
}
PersonalityButton::PersonalityButton(QWidget *parent) : QPushButton(parent), scene(uiState()->scene) {
setFixedSize(btn_size * 1.5, btn_size * 1.5);
// Configure the profile vector
profile_data = {
{QPixmap("../frogpilot/assets/other_images/aggressive.png"), "Aggressive"},
{QPixmap("../frogpilot/assets/other_images/standard.png"), "Standard"},
{QPixmap("../frogpilot/assets/other_images/relaxed.png"), "Relaxed"}
};
personalityProfile = params.getInt("LongitudinalPersonality");
transitionTimer.start();
connect(this, &QPushButton::clicked, this, &PersonalityButton::handleClick);
}
void PersonalityButton::checkUpdate() {
// Sync with the steering wheel button
personalityProfile = params.getInt("LongitudinalPersonality");
updateState();
paramsMemory.putBool("PersonalityChangedViaWheel", false);
}
void PersonalityButton::handleClick() {
int mapping[] = {2, 0, 1};
personalityProfile = mapping[personalityProfile];
params.putInt("LongitudinalPersonality", personalityProfile);
paramsMemory.putBool("PersonalityChangedViaUI", true);
updateState();
}
void PersonalityButton::updateState() {
// Start the transition
transitionTimer.restart();
}
void PersonalityButton::paintEvent(QPaintEvent *) {
// Declare the constants
constexpr qreal fadeDuration = 1000.0; // 1 second
constexpr qreal textDuration = 3000.0; // 3 seconds
QPainter p(this);
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);
// Enable Antialiasing
p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
// Configure the button
auto &[profile_image, profile_text] = profile_data[personalityProfile];
QRect rect(0, 0, width(), height() + 95);
// Draw the profile text with the calculated opacity
if (textOpacity > 0.0) {
p.setOpacity(textOpacity);
p.setFont(InterFont(40, QFont::Bold));
p.setPen(Qt::white);
p.drawText(rect, Qt::AlignCenter, profile_text);
}
// Draw the profile image with the calculated opacity
if (imageOpacity > 0.0) {
drawIcon(p, QPoint((btn_size / 2) * 1.25, btn_size / 2 + 95), profile_image, Qt::transparent, imageOpacity);
}
}
void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
p.save();