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FrogPilot Setup

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This commit is contained in:
FrogAi
2024-03-01 09:26:59 -07:00
parent 505ad1fbfe
commit 6c946fc97a
106 changed files with 2349 additions and 185 deletions
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116
selfdrive/ui/qt/onroad.cc
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@@ -28,7 +28,7 @@ static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, cons
p.setOpacity(1.0);
}
OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setMargin(UI_BORDER_SIZE);
QStackedLayout *stacked_layout = new QStackedLayout;
@@ -93,8 +93,13 @@ void OnroadWindow::updateState(const UIState &s) {
}
void OnroadWindow::mousePressEvent(QMouseEvent* e) {
Params params = Params();
// FrogPilot clickable widgets
bool widgetClicked = false;
#ifdef ENABLE_MAPS
if (map != nullptr) {
if (map != nullptr && !widgetClicked) {
// Switch between map and sidebar when using navigate on openpilot
bool sidebarVisible = geometry().x() > 0;
bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
@@ -102,7 +107,9 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
}
#endif
// propagation event to parent(HomeWindow)
QWidget::mousePressEvent(e);
if (!widgetClicked) {
QWidget::mousePressEvent(e);
}
}
void OnroadWindow::offroadTransition(bool offroad) {
@@ -114,6 +121,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
QObject::connect(nvg->map_settings_btn_bottom, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
nvg->map_settings_btn->setEnabled(true);
m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
@@ -167,11 +175,13 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
int margin = 40;
int radius = 30;
int offset = true ? 25 : 0;
if (alert.size == cereal::ControlsState::AlertSize::FULL) {
margin = 0;
radius = 0;
offset = 0;
}
QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
QRect r = QRect(0 + margin, height() - h + margin - offset, width() - margin*2, h - margin*2);
QPainter p(this);
@@ -212,7 +222,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
}
// ExperimentalButton
ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent), scene(uiState()->scene) {
setFixedSize(btn_size, btn_size);
engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
@@ -221,6 +231,8 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
}
void ExperimentalButton::changeMode() {
Params paramsMemory = Params("/dev/shm/params");
const auto cp = (*uiState()->sm)["carParams"].getCarParams();
bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
if (can_change) {
@@ -236,6 +248,8 @@ void ExperimentalButton::updateState(const UIState &s) {
experimental_mode = cs.getExperimentalMode();
update();
}
// FrogPilot variables
}
void ExperimentalButton::paintEvent(QPaintEvent *event) {
@@ -247,7 +261,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
// MapSettingsButton
MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
setFixedSize(btn_size, btn_size);
setFixedSize(btn_size, btn_size + 20);
settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
// hidden by default, made visible if map is created (has prime or mapbox token)
@@ -262,7 +276,7 @@ void MapSettingsButton::paintEvent(QPaintEvent *event) {
// Window that shows camera view and variety of info drawn on top
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent), scene(uiState()->scene) {
pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
main_layout = new QVBoxLayout(this);
@@ -276,6 +290,9 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
// Initialize FrogPilot widgets
initializeFrogPilotWidgets();
}
void AnnotatedCameraWidget::updateState(const UIState &s) {
@@ -468,7 +485,6 @@ void AnnotatedCameraWidget::updateFrameMat() {
void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.save();
const UIScene &scene = s->scene;
SubMaster &sm = *(s->sm);
// lanelines
@@ -525,12 +541,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
}
void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) {
const UIScene &scene = s->scene;
painter.save();
// base icon
int offset = UI_BORDER_SIZE + btn_size / 2;
offset += true ? 25 : 0;
int x = rightHandDM ? width() - offset : offset;
int y = height() - offset;
float opacity = dmActive ? 0.65 : 0.2;
@@ -693,6 +708,9 @@ void AnnotatedCameraWidget::paintGL() {
auto m = msg.initEvent().initUiDebug();
m.setDrawTimeMillis(cur_draw_t - start_draw_t);
pm->send("uiDebug", msg);
// Update FrogPilot widgets
updateFrogPilotWidgets(painter);
}
void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
@@ -701,3 +719,81 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
ui_update_params(uiState());
prev_draw_t = millis_since_boot();
}
// FrogPilot widgets
void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
bottom_layout = new QHBoxLayout();
QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
bottom_layout->addItem(spacer);
map_settings_btn_bottom = new MapSettingsButton(this);
bottom_layout->addWidget(map_settings_btn_bottom);
main_layout->addLayout(bottom_layout);
}
void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
experimentalMode = scene.experimental_mode;
if (true) {
drawStatusBar(p);
}
map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
if (map_settings_btn_bottom->isEnabled()) {
map_settings_btn_bottom->setVisible(!hideBottomIcons);
bottom_layout->setAlignment(map_settings_btn_bottom, rightHandDM ? Qt::AlignLeft : Qt::AlignRight);
}
}
void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
p.save();
// Variable declarations
static QElapsedTimer timer;
static QString lastShownStatus;
QString newStatus;
static bool displayStatusText = false;
constexpr qreal fadeDuration = 1500.0;
constexpr qreal textDuration = 5000.0;
// Draw status bar
QRect currentRect = rect();
QRect statusBarRect(currentRect.left() - 1, currentRect.bottom() - 50, currentRect.width() + 2, 100);
p.setBrush(QColor(0, 0, 0, 150));
p.setOpacity(1.0);
p.drawRoundedRect(statusBarRect, 30, 30);
// Check if status has changed
if (newStatus != lastShownStatus) {
displayStatusText = true;
lastShownStatus = newStatus;
timer.restart();
} else if (displayStatusText && timer.hasExpired(textDuration + fadeDuration)) {
displayStatusText = false;
}
// Configure the text
p.setFont(InterFont(40, QFont::Bold));
p.setPen(Qt::white);
p.setRenderHint(QPainter::TextAntialiasing);
// Calculate text opacity
static qreal statusTextOpacity;
int elapsed = timer.elapsed();
if (displayStatusText) {
statusTextOpacity = qBound(0.0, 1.0 - (elapsed - textDuration) / fadeDuration, 1.0);
}
// Draw the status text
p.setOpacity(statusTextOpacity);
QRect textRect = p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
textRect.moveBottom(statusBarRect.bottom() - 50);
p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
p.restore();
}