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Driver camera view when in reverse

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Added toggle to show the driver camera when in the reverse gear.
This commit is contained in:
FrogAi
2024-03-11 18:27:44 -07:00
parent 0a675d40aa
commit 73734fee8c
7 changed files with 112 additions and 87 deletions
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185
selfdrive/ui/qt/onroad.cc
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@@ -163,7 +163,7 @@ void OnroadAlerts::updateAlert(const Alert &a) {
}
void OnroadAlerts::paintEvent(QPaintEvent *event) {
if (alert.size == cereal::ControlsState::AlertSize::NONE) {
if (alert.size == cereal::ControlsState::AlertSize::NONE || scene.show_driver_camera && alert.status != cereal::ControlsState::AlertStatus::CRITICAL) {
return;
}
static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
@@ -256,7 +256,10 @@ void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
void ExperimentalButton::paintEvent(QPaintEvent *event) {
QPainter p(this);
QPixmap img = experimental_mode ? experimental_img : engage_img;
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 (!scene.show_driver_camera) {
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);
}
}
@@ -328,7 +331,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
is_metric = s.scene.is_metric;
speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph");
hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight));
hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight)) || showDriverCamera;
status = s.status;
// update engageability/experimental mode button
@@ -361,87 +364,91 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
QString speedStr = QString::number(std::nearbyint(speed));
QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
// Draw outer box + border to contain set speed and speed limit
const int sign_margin = 12;
const int us_sign_height = 186;
const int eu_sign_size = 176;
if (!showDriverCamera) {
// Draw outer box + border to contain set speed and speed limit
const int sign_margin = 12;
const int us_sign_height = 186;
const int eu_sign_size = 176;
const QSize default_size = {172, 204};
QSize set_speed_size = default_size;
if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
const QSize default_size = {172, 204};
QSize set_speed_size = default_size;
if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
int top_radius = 32;
int bottom_radius = has_eu_speed_limit ? 100 : 32;
int top_radius = 32;
int bottom_radius = has_eu_speed_limit ? 100 : 32;
QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
p.setPen(QPen(whiteColor(75), 6));
p.setBrush(blackColor(166));
drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
p.setPen(QPen(whiteColor(75), 6));
p.setBrush(blackColor(166));
drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
// Draw MAX
QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
QColor set_speed_color = whiteColor();
if (is_cruise_set) {
if (status == STATUS_DISENGAGED) {
max_color = whiteColor();
} else if (status == STATUS_OVERRIDE) {
max_color = QColor(0x91, 0x9b, 0x95, 0xff);
} else if (speedLimit > 0) {
auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
};
max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
// Draw MAX
QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
QColor set_speed_color = whiteColor();
if (is_cruise_set) {
if (status == STATUS_DISENGAGED) {
max_color = whiteColor();
} else if (status == STATUS_OVERRIDE) {
max_color = QColor(0x91, 0x9b, 0x95, 0xff);
} else if (speedLimit > 0) {
auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
};
max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
}
} else {
max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
}
} else {
max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
}
p.setFont(InterFont(40, QFont::DemiBold));
p.setPen(max_color);
p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
p.setFont(InterFont(90, QFont::Bold));
p.setPen(set_speed_color);
p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
p.setFont(InterFont(40, QFont::DemiBold));
p.setPen(max_color);
p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
p.setFont(InterFont(90, QFont::Bold));
p.setPen(set_speed_color);
p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
// US/Canada (MUTCD style) sign
if (has_us_speed_limit) {
p.setPen(Qt::NoPen);
p.setBrush(whiteColor());
p.drawRoundedRect(sign_rect, 24, 24);
p.setPen(QPen(blackColor(), 6));
p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
// US/Canada (MUTCD style) sign
if (has_us_speed_limit) {
p.setPen(Qt::NoPen);
p.setBrush(whiteColor());
p.drawRoundedRect(sign_rect, 24, 24);
p.setPen(QPen(blackColor(), 6));
p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
p.setFont(InterFont(28, QFont::DemiBold));
p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
p.setFont(InterFont(70, QFont::Bold));
p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
}
p.setFont(InterFont(28, QFont::DemiBold));
p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
p.setFont(InterFont(70, QFont::Bold));
p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
}
// EU (Vienna style) sign
if (has_eu_speed_limit) {
p.setPen(Qt::NoPen);
p.setBrush(whiteColor());
p.drawEllipse(sign_rect);
p.setPen(QPen(Qt::red, 20));
p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
// EU (Vienna style) sign
if (has_eu_speed_limit) {
p.setPen(Qt::NoPen);
p.setBrush(whiteColor());
p.drawEllipse(sign_rect);
p.setPen(QPen(Qt::red, 20));
p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
p.setPen(blackColor());
p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
p.setPen(blackColor());
p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
}
}
// current speed
p.setFont(InterFont(176, QFont::Bold));
drawText(p, rect().center().x(), 210, speedStr);
p.setFont(InterFont(66));
drawText(p, rect().center().x(), 290, speedUnit, 200);
if (!showDriverCamera) {
p.setFont(InterFont(176, QFont::Bold));
drawText(p, rect().center().x(), 210, speedStr);
p.setFont(InterFont(66));
drawText(p, rect().center().x(), 290, speedUnit, 200);
}
p.restore();
}
@@ -807,7 +814,7 @@ void AnnotatedCameraWidget::paintGL() {
// for replay of old routes, never go to widecam
wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
}
CameraWidget::setStreamType(cameraView == 3 ? VISION_STREAM_DRIVER :
CameraWidget::setStreamType(cameraView == 3 || showDriverCamera ? VISION_STREAM_DRIVER :
cameraView == 2 || wide_cam_requested ? VISION_STREAM_WIDE_ROAD :
VISION_STREAM_ROAD);
@@ -826,7 +833,7 @@ void AnnotatedCameraWidget::paintGL() {
painter.setRenderHint(QPainter::Antialiasing);
painter.setPen(Qt::NoPen);
if (s->scene.world_objects_visible) {
if (s->scene.world_objects_visible && !showDriverCamera) {
update_model(s, model, sm["uiPlan"].getUiPlan());
drawLaneLines(painter, s);
@@ -936,24 +943,28 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
mapOpen = scene.map_open;
showDriverCamera = scene.show_driver_camera;
turnSignalLeft = scene.turn_signal_left;
turnSignalRight = scene.turn_signal_right;
if (leadInfo) {
drawLeadInfo(p);
}
if (alwaysOnLateral || conditionalExperimental) {
drawStatusBar(p);
}
if (customSignals && (turnSignalLeft || turnSignalRight)) {
if (!animationTimer->isActive()) {
animationTimer->start(totalFrames * 11); // 440 milliseconds per loop; syncs up perfectly with my 2019 Lexus ES 350 turn signal clicks
if (!showDriverCamera) {
if (leadInfo) {
drawLeadInfo(p);
}
if (alwaysOnLateral || conditionalExperimental) {
drawStatusBar(p);
}
if (customSignals && (turnSignalLeft || turnSignalRight)) {
if (!animationTimer->isActive()) {
animationTimer->start(totalFrames * 11); // 440 milliseconds per loop; syncs up perfectly with my 2019 Lexus ES 350 turn signal clicks
}
drawTurnSignals(p);
} else if (animationTimer->isActive()) {
animationTimer->stop();
}
drawTurnSignals(p);
} else if (animationTimer->isActive()) {
animationTimer->stop();
}
map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());