From d6a01bfe9bfe5ef92c9fa7c72713019cf10778e8 Mon Sep 17 00:00:00 2001 From: Your Name Date: Fri, 3 May 2024 22:22:00 -0500 Subject: [PATCH] wip --- selfdrive/manager/manager.py | 11 +++++++++-- selfdrive/ui/qt/onroad.cc | 16 ++++++++-------- 2 files changed, 17 insertions(+), 10 deletions(-) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 1cf58f7..d7f736d 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -366,8 +366,11 @@ def manager_cleanup() -> None: cloudlog.info("everything is dead") +last_running = "" def manager_thread(frogpilot_functions) -> None: + global last_running + cloudlog.bind(daemon="manager") cloudlog.info("manager start") cloudlog.info({"environ": os.environ}) @@ -419,8 +422,12 @@ def manager_thread(frogpilot_functions) -> None: running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) for p in managed_processes.values() if p.proc) - print(running) - cloudlog.debug(running) + + # clearpilot + if (running != last_running): + print(running) + cloudlog.debug(running) + last_running = running # send managerState msg = messaging.new_message('managerState', valid=True) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 0e53f7e..6eb1957 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -856,7 +856,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { acceleration.push_back(acceleration_const[i]); } - try { + // try { for (int i = 0; i < max_len; ++i) { // Rewrote to generate color based off of bg_colors[CENTER_LANE_COLOR] constant if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue; @@ -878,13 +878,13 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { i += (i + 2) < max_len ? 1 : 0; // Skipping a point to optimize rendering } - } catch (const std::exception& e) { - // Default shading if for some reason the above code fails - path_gradient = QLinearGradient(0, height(), 0, 0); - path_gradient.setColorAt(0.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast(CENTER_LANE_ALPHA * 255 * 0.5))); - path_gradient.setColorAt(0.5, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast(CENTER_LANE_ALPHA * 255 * 0.4))); - path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast(OTHER_LANE_ALPHA * 255 * 0.0))); - } + // } catch (const std::exception& e) { + // // Default shading if for some reason the above code fails + // path_gradient = QLinearGradient(0, height(), 0, 0); + // path_gradient.setColorAt(0.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast(CENTER_LANE_ALPHA * 255 * 0.5))); + // path_gradient.setColorAt(0.5, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast(CENTER_LANE_ALPHA * 255 * 0.4))); + // path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast(OTHER_LANE_ALPHA * 255 * 0.0))); + // } } else { path_gradient.setColorAt(0.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast(CENTER_LANE_ALPHA * 255 * 0.5))); path_gradient.setColorAt(0.5, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast(CENTER_LANE_ALPHA * 255 * 0.4)));