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2024-05-03 22:22:00 -05:00
parent 3cb41446ba
commit d6a01bfe9b
2 changed files with 17 additions and 10 deletions
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7
selfdrive/manager/manager.py
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@@ -366,8 +366,11 @@ def manager_cleanup() -> None:
cloudlog.info("everything is dead") cloudlog.info("everything is dead")
last_running = ""
def manager_thread(frogpilot_functions) -> None: def manager_thread(frogpilot_functions) -> None:
global last_running
cloudlog.bind(daemon="manager") cloudlog.bind(daemon="manager")
cloudlog.info("manager start") cloudlog.info("manager start")
cloudlog.info({"environ": os.environ}) 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) 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) for p in managed_processes.values() if p.proc)
# clearpilot
if (running != last_running):
print(running) print(running)
cloudlog.debug(running) cloudlog.debug(running)
last_running = running
# send managerState # send managerState
msg = messaging.new_message('managerState', valid=True) msg = messaging.new_message('managerState', valid=True)

16
selfdrive/ui/qt/onroad.cc
View File

@@ -856,7 +856,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
acceleration.push_back(acceleration_const[i]); acceleration.push_back(acceleration_const[i]);
} }
try { // try {
for (int i = 0; i < max_len; ++i) { for (int i = 0; i < max_len; ++i) {
// Rewrote to generate color based off of bg_colors[CENTER_LANE_COLOR] constant // 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; 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 i += (i + 2) < max_len ? 1 : 0; // Skipping a point to optimize rendering
} }
} catch (const std::exception& e) { // } catch (const std::exception& e) {
// Default shading if for some reason the above code fails // // Default shading if for some reason the above code fails
path_gradient = QLinearGradient(0, height(), 0, 0); // 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<int>(CENTER_LANE_ALPHA * 255 * 0.5))); // path_gradient.setColorAt(0.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(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<int>(CENTER_LANE_ALPHA * 255 * 0.4))); // path_gradient.setColorAt(0.5, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(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<int>(OTHER_LANE_ALPHA * 255 * 0.0))); // path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.0)));
} // }
} else { } else {
path_gradient.setColorAt(0.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.5))); path_gradient.setColorAt(0.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(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<int>(CENTER_LANE_ALPHA * 255 * 0.4))); path_gradient.setColorAt(0.5, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.4)));