wip

selfdrive/car/hyundai/hyundaicanfd.py

@@ -38,11 +38,15 @@ class CanBus(CanBusBase):
 
 def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
+  # Im sure there is a better way to do this
+  params_memory = Params("/dev/shm/params")
+  no_lat_lane_change = params_memory.get_int("no_lat_lane_change", 1)
+
   ret = []
 
   values = {
     "LKA_MODE": 2,  
-    "LKA_ICON": 2 if enabled else 1 if lat_active else 0, # right mode icon
+    "LKA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0, # right mode icon
     "TORQUE_REQUEST": apply_steer,
     "LKA_ASSIST": 0,
     "STEER_REQ": 1 if lat_active else 0,
@@ -127,18 +131,9 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
 # CLEARPILOT changed HDA icons
 # This doesn't appear to do anything on my tucson
 def create_lfahda_cluster(packer, CAN, enabled, lat_active):
-  
-  # Im sure there is a better way to do this
-  params = Params()
-  params_memory = Params("/dev/shm/params")
-  no_lat_lane_change = params_memory.get_int("no_lat_lane_change", 1)
-  
   values = {
-    # 0 off, 1 gray, 2 green, 3 blinking (wheel icon)
-    # CP: Is this actually the wheel?  Might this be the HDA2 thing?
-    "HDA_ICON": 0,  # Intention is to have this represent stock HDA mode
-    "LFA_ICON": 0,
-    # "LFA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0,   
+    "HDA_ICON": 0, 
+    "LFA_ICON": 0
   }
 
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)

selfdrive/ui/qt/onroad.cc

@@ -46,7 +46,6 @@ static void drawIconGif(QPainter &p, const QPoint &center, const QMovie &img, co
 }
 
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
-  bg = QColor(255, 0x33, 0x49, 0xc8);  // init to a default color
   QVBoxLayout *main_layout  = new QVBoxLayout(this);
   main_layout->setMargin(UI_BORDER_SIZE);
   QStackedLayout *stacked_layout = new QStackedLayout;
@@ -97,11 +96,6 @@ void OnroadWindow::updateState(const UIState &s) {
     return;
   }
 
-  QColor bgColor = bg_colors[s.status];
-  // Clearpilot
-  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
-    bg = bg_colors[STATUS_DISENGAGED];
-  } 
 
   Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
   alerts->updateAlert(alert);
@@ -114,8 +108,12 @@ void OnroadWindow::updateState(const UIState &s) {
 
   nvg->updateState(s);
 
+  QColor bgColor = bg_colors[s.status];
+  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
+    bgColor = bg_colors[STATUS_DISENGAGED];
+  } 
+
   if (bg != bgColor) {
-    // repaint border
     bg = bgColor;
     update();
   }
@@ -639,6 +637,16 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignTop);
   }
 
+  QColor bgColor = bg_colors[s.status];
+  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
+    bgColor = bg_colors[STATUS_DISENGAGED];
+  } 
+
+  if (bg != bgColor) {
+    bg = bgColor;
+    update();
+  }
+  
   updateFrogPilotWidgets();
 }
 
@@ -900,16 +908,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.drawPolygon(scene.track_vertices);
 
   // Paint path edges ,Use current background color
-  QColor bgColor = bg_colors[uiState()->status];
-  // Clearpilot
-  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
-    bgColor = bg_colors[STATUS_DISENGAGED];
-  } 
-  if (bgColor != bg_colors[STATUS_DISENGAGED]) {
+  if (bg != bg_colors[STATUS_DISENGAGED]) {
     QLinearGradient edge_gradient;
-    edge_gradient.setColorAt(0.0, QColor(bgColor.red(), bgColor.green(), bgColor.blue(), static_cast<int>(255)));  
-    edge_gradient.setColorAt(0.5, QColor(bgColor.red(), bgColor.green(), bgColor.blue(), static_cast<int>(255 * 0.7) ));  
-    edge_gradient.setColorAt(1.0, QColor(bgColor.red(), bgColor.green(), bg.blue(), static_cast<int>(255 * 0.5)));  
+    edge_gradient.setColorAt(0.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255)));  
+    edge_gradient.setColorAt(0.5, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255 * 0.7) ));  
+    edge_gradient.setColorAt(1.0, QColor(bgr.red(), bg.green(), bg.blue(), static_cast<int>(255 * 0.5)));  
 
     QPainterPath path;
     path.addPolygon(scene.track_vertices);

selfdrive/ui/qt/onroad.h

@@ -193,6 +193,7 @@ private:
   bool v_ego_cluster_seen = false;
   int status = STATUS_DISENGAGED;
   std::unique_ptr<PubMaster> pm;
+  QColor bg = bg_colors[STATUS_DISENGAGED];
 
   int skip_frame_count = 0;
   bool wide_cam_requested = false;

selfdrive/ui/ui.h

@@ -33,7 +33,7 @@ typedef enum UIStatus {
 } UIStatus;
 
 // Clearpilot new alpha constants
-const float CENTER_LANE_ALPHA = 0.40;
+const float CENTER_LANE_ALPHA = 0.55;
 const float OTHER_LANE_ALPHA = 0.75;
 
 const int CENTER_LANE_WIDTH = 50;