brianhansonxyz/clearpilot
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Blind spot path

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Added toggle to display a red path in the adjacent lane when a vehicle is detected in the blind spot.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 0cd83a9021
commit e20aaf75e5
10 changed files with 78 additions and 1 deletions
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14
selfdrive/ui/ui.cc
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@@ -114,6 +114,11 @@ void update_model(UIState *s,
}
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 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);
}
}
void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
@@ -202,6 +207,10 @@ static void update_state(UIState *s) {
}
if (sm.updated("carState")) {
auto carState = sm["carState"].getCarState();
if (scene.blind_spot_path) {
scene.blind_spot_left = carState.getLeftBlindspot();
scene.blind_spot_right = carState.getRightBlindspot();
}
}
if (sm.updated("controlsState")) {
auto controlsState = sm["controlsState"].getControlsState();
@@ -216,6 +225,10 @@ static void update_state(UIState *s) {
}
if (sm.updated("frogpilotPlan")) {
auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan();
if (scene.blind_spot_path) {
scene.lane_width_left = frogpilotPlan.getLaneWidthLeft();
scene.lane_width_right = frogpilotPlan.getLaneWidthRight();
}
}
if (sm.updated("liveLocationKalman")) {
auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
@@ -250,6 +263,7 @@ void ui_update_frogpilot_params(UIState *s) {
bool custom_onroad_ui = params.getBool("CustomUI");
scene.acceleration_path = custom_onroad_ui && params.getBool("AccelerationPath");
scene.blind_spot_path = custom_onroad_ui && params.getBool("BlindSpotPath");
bool quality_of_life_controls = params.getBool("QOLControls");