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Rotating steering wheel in onroad UI

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Added toggle to rotate the steering wheel in the top right corner of the onroad UI.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 6661c4dd89
commit 6d1cf97da4
6 changed files with 38 additions and 1 deletions
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29
selfdrive/ui/qt/onroad.cc
View File

@@ -29,6 +29,21 @@ static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, cons
p.setOpacity(1.0);
}
static void drawIconRotate(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity, const int angle) {
p.setRenderHint(QPainter::Antialiasing);
p.setOpacity(1.0); // bg dictates opacity of ellipse
p.setPen(Qt::NoPen);
p.setBrush(bg);
p.drawEllipse(center, btn_size / 2, btn_size / 2);
p.save();
p.translate(center);
p.rotate(-angle);
p.setOpacity(opacity);
p.drawPixmap(-QPoint(img.width() / 2, img.height() / 2), img);
p.setOpacity(1.0);
p.restore();
}
OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setMargin(UI_BORDER_SIZE);
@@ -363,7 +378,15 @@ void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
}
// FrogPilot variables
rotatingWheel = scene.rotating_wheel;
y_offset = leadInfo ? 10 : 0;
// Update the icon so the steering wheel rotates in real time
if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
steeringAngleDeg = scene.steering_angle_deg;
update();
}
}
void ExperimentalButton::paintEvent(QPaintEvent *event) {
@@ -371,7 +394,11 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
QPixmap img = experimental_mode ? experimental_img : engage_img;
if (!(scene.show_driver_camera || scene.map_open && scene.full_map)) {
drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || !(engageable || scene.always_on_lateral_active)) ? 0.6 : 1.0);
if (rotatingWheel) {
drawIconRotate(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || !(engageable || scene.always_on_lateral_active)) ? 0.6 : 1.0, steeringAngleDeg);
} else {
drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || !(engageable || scene.always_on_lateral_active)) ? 0.6 : 1.0);
}
}
}

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

@@ -77,6 +77,8 @@ private:
// FrogPilot variables
UIScene &scene;
bool rotatingWheel;
int steeringAngleDeg;
int y_offset;
};