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Customize the model visuals in the onroad UI

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Added toggles to customize the lane lines, path, road edges, path edges, and an "Unlimited Length" mode that extends the road UI out as far as the model can see.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 786e52880d
commit b11db103c8
6 changed files with 126 additions and 6 deletions
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7
common/params.cc
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@@ -242,20 +242,27 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DecelerationProfile", PERSISTENT},
{"DisengageVolume", PERSISTENT},
{"DriveStats", PERSISTENT},
{"DynamicPathWidth", PERSISTENT},
{"EngageVolume", PERSISTENT},
{"FrogPilotTogglesUpdated", PERSISTENT},
{"FrogsGoMoo", PERSISTENT},
{"GoatScream", PERSISTENT},
{"LaneLinesWidth", PERSISTENT},
{"LateralTune", PERSISTENT},
{"LongitudinalTune", PERSISTENT},
{"ManualUpdateInitiated", CLEAR_ON_MANAGER_START},
{"ModelUI", PERSISTENT},
{"PathEdgeWidth", PERSISTENT},
{"PathWidth", PERSISTENT},
{"PromptVolume", PERSISTENT},
{"PromptDistractedVolume", PERSISTENT},
{"QOLControls", PERSISTENT},
{"QOLVisuals", PERSISTENT},
{"RefuseVolume", PERSISTENT},
{"RoadEdgesWidth", PERSISTENT},
{"SilentMode", PERSISTENT},
{"StockTune", PERSISTENT},
{"UnlimitedLength", PERSISTENT},
{"UpdateSchedule", PERSISTENT},
{"UpdateTime", PERSISTENT},
{"WarningSoftVolume", PERSISTENT},

46
selfdrive/frogpilot/ui/visual_settings.cc
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@@ -25,6 +25,14 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
{"AccelerationPath", "Acceleration Path", "Visualize the car's intended acceleration or deceleration with a color-coded path.", ""},
{"BlindSpotPath", "Blind Spot Path", "Visualize your blind spots with a red path when another vehicle is detected nearby.", ""},
{"ModelUI", "Model UI", "Personalize how the model's visualizations appear on your screen.", "../assets/offroad/icon_calibration.png"},
{"DynamicPathWidth", "Dynamic Path Width", "Have the path width dynamically adjust based on the current engagement state of openpilot.", ""},
{"LaneLinesWidth", "Lane Lines", "Adjust the visual thickness of lane lines on your display.\n\nDefault matches the MUTCD average of 4 inches.", ""},
{"PathEdgeWidth", "Path Edges", "Adjust the width of the path edges shown on your UI to represent different driving modes and statuses.\n\nDefault is 20% of the total path.\n\nBlue = Navigation\nLight Blue = Always On Lateral\nGreen = Default with 'FrogPilot Colors'\nLight Green = Default with stock colors\nOrange = Experimental Mode Active\nYellow = Conditional Overriden", ""},
{"PathWidth", "Path Width", "Customize the width of the driving path shown on your UI.\n\nDefault matches the width of a 2019 Lexus ES 350.", ""},
{"RoadEdgesWidth", "Road Edges", "Adjust the visual thickness of road edges on your display.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.", ""},
{"UnlimitedLength", "'Unlimited' Road UI Length", "Extend the display of the path, lane lines, and road edges as far as the system can detect, providing a more expansive view of the road ahead.", ""},
{"QOLVisuals", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
{"DriveStats", "Drive Stats In Home Screen", "Display your device's drive stats in the home screen.", ""},
};
@@ -99,6 +107,22 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
});
toggle = customUIToggle;
} else if (param == "ModelUI") {
FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
parentToggleClicked();
for (auto &[key, toggle] : toggles) {
toggle->setVisible(modelUIKeys.find(key.c_str()) != modelUIKeys.end());
}
});
toggle = modelUIToggle;
} else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, std::map<int, QString>(), this, false, " inches");
} else if (param == "PathEdgeWidth") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, "%");
} else if (param == "PathWidth") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, " feet", 10);
} else if (param == "QOLVisuals") {
FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -177,12 +201,34 @@ void FrogPilotVisualsPanel::updateMetric() {
if (isMetric != previousIsMetric) {
double distanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
double speedConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
params.putIntNonBlocking("LaneLinesWidth", std::nearbyint(params.getInt("LaneLinesWidth") * distanceConversion));
params.putIntNonBlocking("RoadEdgesWidth", std::nearbyint(params.getInt("RoadEdgesWidth") * distanceConversion));
params.putIntNonBlocking("PathWidth", std::nearbyint(params.getInt("PathWidth") * speedConversion));
}
FrogPilotParamValueControl *laneLinesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneLinesWidth"]);
FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["RoadEdgesWidth"]);
FrogPilotParamValueControl *pathWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["PathWidth"]);
if (isMetric) {
laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the Vienna average of 10 centimeters.");
roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the Vienna average lane line width of 10 centimeters.");
laneLinesWidthToggle->updateControl(0, 60, " centimeters");
roadEdgesWidthToggle->updateControl(0, 60, " centimeters");
pathWidthToggle->updateControl(0, 30, " meters", 10);
} else {
laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the MUTCD average of 4 inches.");
roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.");
laneLinesWidthToggle->updateControl(0, 24, " inches");
roadEdgesWidthToggle->updateControl(0, 24, " inches");
pathWidthToggle->updateControl(0, 100, " feet", 10);
}
laneLinesWidthToggle->refresh();
roadEdgesWidthToggle->refresh();
previousIsMetric = isMetric;
}

2
selfdrive/frogpilot/ui/visual_settings.h
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@@ -32,7 +32,7 @@ private:
std::set<QString> customAlertsKeys = {};
std::set<QString> customOnroadUIKeys = {"AccelerationPath", "BlindSpotPath"};
std::set<QString> customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
std::set<QString> modelUIKeys = {};
std::set<QString> modelUIKeys = {"DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
std::set<QString> qolKeys = {"DriveStats"};
std::map<std::string, ParamControl*> toggles;

38
selfdrive/ui/qt/onroad.cc
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@@ -564,6 +564,44 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.setBrush(bg);
painter.drawPolygon(scene.track_vertices);
// Create new path with track vertices and track edge vertices
QPainterPath path;
path.addPolygon(scene.track_vertices);
path.addPolygon(scene.track_edge_vertices);
// Paint path edges
QLinearGradient pe(0, height(), 0, 0);
if (alwaysOnLateralActive) {
pe.setColorAt(0.0, QColor::fromHslF(178 / 360., 0.90, 0.38, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(178 / 360., 0.90, 0.38, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(178 / 360., 0.90, 0.38, 0.1));
} else if (conditionalStatus == 1 || conditionalStatus == 3) {
pe.setColorAt(0.0, QColor::fromHslF(58 / 360., 1.00, 0.50, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(58 / 360., 1.00, 0.50, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(58 / 360., 1.00, 0.50, 0.1));
} else if (experimentalMode) {
pe.setColorAt(0.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.1));
} else if (scene.navigate_on_openpilot) {
pe.setColorAt(0.0, QColor::fromHslF(205 / 360., 0.85, 0.56, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.1));
} else if (customColors != 0) {
const auto &colorMap = std::get<3>(themeConfiguration[customColors]);
for (const auto &[position, brush] : colorMap) {
QColor darkerColor = brush.color().darker(120);
pe.setColorAt(position, darkerColor);
}
} else {
pe.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 1.0));
pe.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.5));
pe.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.1));
}
painter.setBrush(pe);
painter.drawPath(path);
// Paint blindspot path
if (scene.blind_spot_path) {
QLinearGradient bs(0, height(), 0, 0);

31
selfdrive/ui/ui.cc
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@@ -86,7 +86,8 @@ void update_model(UIState *s,
if (plan_position.getX().size() < model.getPosition().getX().size()) {
plan_position = model.getPosition();
}
float max_distance = std::clamp(*(plan_position.getX().end() - 1),
float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
std::clamp(*(plan_position.getX().end() - 1),
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
// update lane lines
@@ -95,7 +96,7 @@ void update_model(UIState *s,
int max_idx = get_path_length_idx(lane_lines[0], max_distance);
for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
scene.lane_line_probs[i] = lane_line_probs[i];
update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
update_line_data(s, lane_lines[i], scene.model_ui ? scene.lane_line_width * scene.lane_line_probs[i] : 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
}
// update road edges
@@ -103,21 +104,33 @@ void update_model(UIState *s,
const auto road_edge_stds = model.getRoadEdgeStds();
for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
scene.road_edge_stds[i] = road_edge_stds[i];
update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
update_line_data(s, road_edges[i], scene.model_ui ? scene.road_edge_width : 0.025, 0, &scene.road_edge_vertices[i], max_idx);
}
// update path
float path;
if (scene.dynamic_path_width) {
float multiplier = scene.enabled ? 1.0f : scene.always_on_lateral_active ? 0.75f : 0.50f;
path = scene.path_width * multiplier;
} else {
path = scene.path_width;
}
auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
if (lead_one.getStatus()) {
const float lead_d = lead_one.getDRel() * 2.;
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
}
max_idx = get_path_length_idx(plan_position, max_distance);
update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
update_line_data(s, plan_position, scene.model_ui ? path * (1 - scene.path_edge_width / 100) : 0.9, 1.22, &scene.track_vertices, max_idx, false);
// Update path edges
update_line_data(s, plan_position, scene.model_ui ? path : 0, 1.22, &scene.track_edge_vertices, max_idx, false);
// Update adjacent paths
for (int i = 4; i <= 5; i++) {
update_line_data(s, lane_lines[i], scene.blind_spot_path ? (i == 4 ? scene.lane_width_left : scene.lane_width_right) / 2 : 0, 0, &scene.track_adjacent_vertices[i], max_idx);
update_line_data(s, lane_lines[i], scene.blind_spot_path ? (i == 4 ? scene.lane_width_left : scene.lane_width_right) / 2.0f : 0, 0, &scene.track_adjacent_vertices[i], max_idx);
}
}
@@ -279,6 +292,14 @@ void ui_update_frogpilot_params(UIState *s) {
scene.custom_icons = custom_theme ? params.getInt("CustomIcons") : 0;
scene.custom_signals = custom_theme ? params.getInt("CustomSignals") : 0;
scene.model_ui = params.getBool("ModelUI");
scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth");
scene.lane_line_width = params.getInt("LaneLinesWidth") * (scene.is_metric ? 1.0f : INCH_TO_CM) / 200.0f;
scene.path_edge_width = params.getInt("PathEdgeWidth");
scene.path_width = params.getInt("PathWidth") / 10.0f * (scene.is_metric ? 1.0f : FOOT_TO_METER) / 2.0f;
scene.road_edge_width = params.getInt("RoadEdgesWidth") * (scene.is_metric ? 1.0f : INCH_TO_CM) / 200.0f;
scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength");
bool quality_of_life_controls = params.getBool("QOLControls");
bool quality_of_life_visuals = params.getBool("QOLVisuals");

8
selfdrive/ui/ui.h
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@@ -176,13 +176,20 @@ typedef struct UIScene {
bool blind_spot_path;
bool blind_spot_right;
bool conditional_experimental;
bool dynamic_path_width;
bool enabled;
bool experimental_mode;
bool model_ui;
bool turn_signal_left;
bool turn_signal_right;
bool unlimited_road_ui_length;
float lane_line_width;
float lane_width_left;
float lane_width_right;
float path_edge_width;
float path_width;
float road_edge_width;
int camera_view;
int conditional_speed;
@@ -193,6 +200,7 @@ typedef struct UIScene {
int custom_signals;
QPolygonF track_adjacent_vertices[6];
QPolygonF track_edge_vertices;
} UIScene;