Compile FrogPilot
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FrogAi
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#pragma once
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#include <memory>
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#include <QMovie>
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#include <QLabel>
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#include <QPushButton>
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#include <QStackedLayout>
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#include <QWidget>
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#include "common/util.h"
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#include "selfdrive/ui/ui.h"
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#include "selfdrive/ui/qt/widgets/cameraview.h"
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#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h"
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const int btn_size = 192;
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const int img_size = (btn_size / 4) * 3;
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// FrogPilot global variables
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static double fps;
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// ***** onroad widgets *****
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class OnroadAlerts : public QWidget {
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Q_OBJECT
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public:
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OnroadAlerts(QWidget *parent = 0) : QWidget(parent), scene(uiState()->scene) {}
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void updateAlert(const Alert &a);
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protected:
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void paintEvent(QPaintEvent*) override;
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private:
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QColor bg;
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Alert alert = {};
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// FrogPilot variables
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UIScene &scene;
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};
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class Compass : public QWidget {
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public:
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explicit Compass(QWidget *parent = nullptr);
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void updateState(int bearing_deg);
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protected:
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void paintEvent(QPaintEvent *event) override;
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private:
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int bearingDeg;
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int circleOffset;
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int compassSize;
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int degreeLabelOffset;
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int innerCompass;
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int x;
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int y;
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QPixmap compassInnerImg;
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QPixmap staticElements;
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};
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class ExperimentalButton : public QPushButton {
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Q_OBJECT
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public:
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explicit ExperimentalButton(QWidget *parent = 0);
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void updateState(const UIState &s, bool leadInfo);
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private:
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void paintEvent(QPaintEvent *event) override;
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void changeMode();
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Params params;
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QPixmap engage_img;
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QPixmap experimental_img;
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bool experimental_mode;
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bool engageable;
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// FrogPilot variables
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UIScene &scene;
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QMap<int, QPixmap> wheelImages;
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QMap<int, QMovie*> wheelImagesGif;
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QMovie engage_gif;
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QLabel *gifLabel;
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bool firefoxRandomEventTriggered;
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bool rotatingWheel;
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bool treeFiddyRandomEventTriggered;
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bool weebRandomEventTriggered;
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int steeringAngleDeg;
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int wheelIcon;
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int wheelIconGif;
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int y_offset;
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};
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class MapSettingsButton : public QPushButton {
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Q_OBJECT
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public:
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explicit MapSettingsButton(QWidget *parent = 0);
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private:
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void paintEvent(QPaintEvent *event) override;
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QPixmap settings_img;
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};
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class PedalIcons : public QWidget {
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Q_OBJECT
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public:
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explicit PedalIcons(QWidget *parent = 0);
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void updateState();
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private:
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void paintEvent(QPaintEvent *event) override;
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QPixmap brake_pedal_img;
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QPixmap gas_pedal_img;
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UIScene &scene;
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bool accelerating;
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bool decelerating;
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float acceleration;
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};
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class PersonalityButton : public QPushButton {
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public:
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explicit PersonalityButton(QWidget *parent = 0);
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void checkUpdate();
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void handleClick();
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void updateState();
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private:
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void paintEvent(QPaintEvent *event) override;
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Params params;
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Params paramsMemory{"/dev/shm/params"};
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UIScene &scene;
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int personalityProfile = 0;
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QElapsedTimer transitionTimer;
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QVector<std::pair<QPixmap, QString>> profile_data;
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};
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// container window for the NVG UI
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class AnnotatedCameraWidget : public CameraWidget {
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Q_OBJECT
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public:
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explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
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void updateState(const UIState &s);
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MapSettingsButton *map_settings_btn;
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MapSettingsButton *map_settings_btn_bottom;
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private:
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void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
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QVBoxLayout *main_layout;
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ExperimentalButton *experimental_btn;
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QPixmap dm_img;
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float speed;
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QString speedUnit;
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float setSpeed;
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float speedLimit;
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bool is_cruise_set = false;
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bool is_metric = false;
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bool dmActive = false;
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bool hideBottomIcons = false;
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bool rightHandDM = false;
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float dm_fade_state = 1.0;
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bool has_us_speed_limit = false;
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bool has_eu_speed_limit = false;
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bool v_ego_cluster_seen = false;
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int status = STATUS_DISENGAGED;
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std::unique_ptr<PubMaster> pm;
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int skip_frame_count = 0;
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bool wide_cam_requested = false;
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// FrogPilot widgets
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void initializeFrogPilotWidgets();
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void updateFrogPilotWidgets(QPainter &p);
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void drawLeadInfo(QPainter &p);
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void drawSLCConfirmation(QPainter &p);
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void drawStatusBar(QPainter &p);
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void drawTurnSignals(QPainter &p);
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// FrogPilot variables
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Params paramsMemory{"/dev/shm/params"};
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UIScene &scene;
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Compass *compass_img;
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PedalIcons *pedal_icons;
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PersonalityButton *personality_btn;
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ScreenRecorder *recorder_btn;
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QHBoxLayout *bottom_layout;
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bool alwaysOnLateral;
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bool alwaysOnLateralActive;
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bool blindSpotLeft;
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bool blindSpotRight;
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bool compass;
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bool conditionalExperimental;
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bool experimentalMode;
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bool fullMapOpen;
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bool leadInfo;
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bool mapOpen;
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bool onroadAdjustableProfiles;
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bool pedalsOnUI;
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bool rightHandDrive;
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bool roadNameUI;
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bool showDriverCamera;
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bool showSLCOffset;
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bool slcOverridden;
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bool speedLimitController;
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bool trafficModeActive;
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bool turnSignalLeft;
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bool turnSignalRight;
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bool useViennaSLCSign;
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bool vtscControllingCurve;
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float cruiseAdjustment;
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float distanceConversion;
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float laneWidthLeft;
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float laneWidthRight;
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float slcSpeedLimit;
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float slcSpeedLimitOffset;
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float speedConversion;
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int availableImages;
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int cameraView;
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int conditionalSpeed;
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int conditionalSpeedLead;
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int conditionalStatus;
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int currentHolidayTheme;
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int customColors;
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int customSignals;
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int obstacleDistance;
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int obstacleDistanceStock;
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int totalFrames = 8;
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QString leadDistanceUnit;
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QString leadSpeedUnit;
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QString themePath;
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QStringList imagePaths;
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size_t animationFrameIndex;
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std::unordered_map<int, std::tuple<QString, int, QColor, std::map<double, QBrush>>> holidayThemeConfiguration;
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std::unordered_map<int, std::tuple<QString, int, QColor, std::map<double, QBrush>>> themeConfiguration;
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std::vector<QPixmap> signalImgVector;
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QTimer *animationTimer;
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inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
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protected:
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void paintGL() override;
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void initializeGL() override;
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void showEvent(QShowEvent *event) override;
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void updateFrameMat() override;
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void drawLaneLines(QPainter &painter, const UIState *s);
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void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
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void drawHud(QPainter &p);
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void drawDriverState(QPainter &painter, const UIState *s);
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void paintEvent(QPaintEvent *event) override;
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inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
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inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
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inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
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double prev_draw_t = 0;
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FirstOrderFilter fps_filter;
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};
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// container for all onroad widgets
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class OnroadWindow : public QWidget {
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Q_OBJECT
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public:
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OnroadWindow(QWidget* parent = 0);
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bool isMapVisible() const { return map && map->isVisible(); }
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void showMapPanel(bool show) { if (map) map->setVisible(show); }
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signals:
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void mapPanelRequested();
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private:
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void paintEvent(QPaintEvent *event);
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void mousePressEvent(QMouseEvent* e) override;
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OnroadAlerts *alerts;
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AnnotatedCameraWidget *nvg;
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QColor bg = bg_colors[STATUS_DISENGAGED];
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QWidget *map = nullptr;
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QHBoxLayout* split;
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// FrogPilot widgets
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void updateFPSCounter();
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// FrogPilot variables
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UIScene &scene;
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Params paramsMemory{"/dev/shm/params"};
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double avgFPS;
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double maxFPS = 0.0;
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double minFPS = 99.9;
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QPoint timeoutPoint = QPoint(420, 69);
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QTimer clickTimer;
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private slots:
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void offroadTransition(bool offroad);
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void primeChanged(bool prime);
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void updateState(const UIState &s);
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};
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