brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Onroad compass

Browse Source 
Added toggle for a compass in the onroad UI.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 55313e6206
commit ac00687b24
8 changed files with 178 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

147
selfdrive/ui/qt/onroad.cc
View File

@@ -459,8 +459,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
// hide map settings button for alerts and flip for right hand DM
if (map_settings_btn->isEnabled()) {
map_settings_btn->setVisible(!hideBottomIcons);
main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
map_settings_btn->setVisible(!hideBottomIcons && compass);
main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | (compass ? Qt::AlignTop : Qt::AlignBottom));
}
}
@@ -1039,6 +1039,9 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
bottom_layout->addItem(spacer);
compass_img = new Compass(this);
bottom_layout->addWidget(compass_img);
map_settings_btn_bottom = new MapSettingsButton(this);
bottom_layout->addWidget(map_settings_btn_bottom);
@@ -1110,6 +1113,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
cameraView = scene.camera_view;
compass = scene.compass;
conditionalExperimental = scene.conditional_experimental;
conditionalSpeed = scene.conditional_speed;
conditionalSpeedLead = scene.conditional_speed_lead;
@@ -1156,9 +1161,16 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
}
}
bool enableCompass = compass && !hideBottomIcons;
compass_img->setVisible(enableCompass);
if (enableCompass) {
compass_img->updateState(scene.bearing_deg);
bottom_layout->setAlignment(compass_img, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight));
}
map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
if (map_settings_btn_bottom->isEnabled()) {
map_settings_btn_bottom->setVisible(!hideBottomIcons);
map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass);
bottom_layout->setAlignment(map_settings_btn_bottom, rightHandDM ? Qt::AlignLeft : Qt::AlignRight);
}
@@ -1198,6 +1210,133 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
}
}
Compass::Compass(QWidget *parent) : QWidget(parent) {
setFixedSize(btn_size * 1.5, btn_size * 1.5);
compassSize = btn_size;
circleOffset = compassSize / 2;
degreeLabelOffset = circleOffset + 25;
innerCompass = compassSize / 2;
x = (btn_size * 1.5) / 2 + 20;
y = (btn_size * 1.5) / 2;
compassInnerImg = loadPixmap("../frogpilot/assets/other_images/compass_inner.png", QSize(compassSize / 1.75, compassSize / 1.75));
staticElements = QPixmap(size());
staticElements.fill(Qt::transparent);
QPainter p(&staticElements);
p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
// Configure the circles
QPen whitePen(Qt::white, 2);
p.setPen(whitePen);
// Draw the circle background and white inner circle
p.setOpacity(1.0);
p.setBrush(QColor(0, 0, 0, 100));
p.drawEllipse(x - circleOffset, y - circleOffset, circleOffset * 2, circleOffset * 2);
// Draw the white circles
p.setBrush(Qt::NoBrush);
p.drawEllipse(x - (innerCompass + 5), y - (innerCompass + 5), (innerCompass + 5) * 2, (innerCompass + 5) * 2);
p.drawEllipse(x - degreeLabelOffset, y - degreeLabelOffset, degreeLabelOffset * 2, degreeLabelOffset * 2);
// Draw the black background for the bearing degrees
QPainterPath outerCircle, innerCircle;
outerCircle.addEllipse(x - degreeLabelOffset, y - degreeLabelOffset, degreeLabelOffset * 2, degreeLabelOffset * 2);
innerCircle.addEllipse(x - circleOffset, y - circleOffset, compassSize, compassSize);
p.fillPath(outerCircle.subtracted(innerCircle), Qt::black);
// Draw the static degree lines
for (int i = 0; i < 360; i += 15) {
bool isCardinalDirection = i % 90 == 0;
int lineLength = isCardinalDirection ? 15 : 10;
p.setPen(QPen(Qt::white, isCardinalDirection ? 3 : 1));
p.save();
p.translate(x, y);
p.rotate(i);
p.drawLine(0, -(compassSize / 2 - lineLength), 0, -(compassSize / 2));
p.restore();
}
}
void Compass::updateState(int bearing_deg) {
if (bearingDeg != bearing_deg) {
update();
bearingDeg = bearing_deg;
}
}
void Compass::paintEvent(QPaintEvent *event) {
QPainter p(this);
p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
// Normalize bearingDeg to be in the range [0, 360)
bearingDeg = fmod(bearingDeg, 360);
if (bearingDeg < 0) {
bearingDeg += 360;
}
// Draw static elements
p.drawPixmap(0, 0, staticElements);
// Rotate and draw the compassInnerImg image
p.translate(x, y);
p.rotate(bearingDeg);
p.drawPixmap(-compassInnerImg.width() / 2, -compassInnerImg.height() / 2, compassInnerImg);
p.rotate(-bearingDeg);
p.translate(-x, -y);
// Draw the bearing degree numbers
QFont font = InterFont(10, QFont::Normal);
for (int i = 0; i < 360; i += 15) {
bool isBold = abs(i - bearingDeg) <= 7;
font.setWeight(isBold ? QFont::Bold : QFont::Normal);
p.setFont(font);
p.setPen(QPen(Qt::white, i % 90 == 0 ? 2 : 1));
p.save();
p.translate(x, y);
p.rotate(i);
p.drawLine(0, -(compassSize / 2 - (i % 90 == 0 ? 12 : 8)), 0, -(compassSize / 2));
p.translate(0, -(compassSize / 2 + 12));
p.rotate(-i);
p.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter, QString::number(i));
p.restore();
}
// Draw cardinal directions
p.setFont(InterFont(20, QFont::Bold));
std::map<QString, std::tuple<QPair<float, float>, int, QColor>> directionInfo = {
{"N", {{292.5, 67.5}, Qt::AlignTop | Qt::AlignHCenter, Qt::white}},
{"E", {{22.5, 157.5}, Qt::AlignRight | Qt::AlignVCenter, Qt::white}},
{"S", {{112.5, 247.5}, Qt::AlignBottom | Qt::AlignHCenter, Qt::white}},
{"W", {{202.5, 337.5}, Qt::AlignLeft | Qt::AlignVCenter, Qt::white}}
};
int directionOffset = 20;
for (auto &item : directionInfo) {
QString direction = item.first;
auto &[range, alignmentFlag, color] = item.second;
auto &[minRange, maxRange] = range;
QRect textRect(x - innerCompass + directionOffset, y - innerCompass + directionOffset, innerCompass * 2 - 2 * directionOffset, innerCompass * 2 - 2 * directionOffset);
bool isInRange = false;
if (minRange > maxRange) {
isInRange = bearingDeg >= minRange || bearingDeg <= maxRange;
} else {
isInRange = bearingDeg >= minRange && bearingDeg <= maxRange;
}
p.setOpacity(isInRange ? 1.0 : 0.2);
p.setPen(QPen(color));
p.drawText(textRect, alignmentFlag, direction);
}
}
void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
// Declare the variables
static QElapsedTimer timer;
@@ -1357,7 +1496,7 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
QString lkasSuffix = ". Double press the \"LKAS\" button to revert";
QString screenSuffix = ". Double tap the screen to revert";
if (!alwaysOnLateral && !mapOpen && status != STATUS_DISENGAGED && !newStatus.isEmpty()) {
if (!alwaysOnLateralActive && !mapOpen && status != STATUS_DISENGAGED && !newStatus.isEmpty()) {
if (conditionalStatus == 1 || conditionalStatus == 2) {
newStatus += screenSuffix;
} else if (conditionalStatus == 3 || conditionalStatus == 4) {