openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/ui/qt/offroad/driverview.cc

@@ -0,0 +1,77 @@
+#include "selfdrive/ui/qt/offroad/driverview.h"
+
+#include <algorithm>
+#include <QPainter>
+
+#include "selfdrive/ui/qt/util.h"
+
+const int FACE_IMG_SIZE = 130;
+
+DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) {
+  face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
+  QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
+  QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
+    if (isVisible()) {
+      emit done();
+    }
+  });
+}
+
+void DriverViewWindow::showEvent(QShowEvent* event) {
+  params.putBool("IsDriverViewEnabled", true);
+  device()->resetInteractiveTimeout(60);
+  CameraWidget::showEvent(event);
+}
+
+void DriverViewWindow::hideEvent(QHideEvent* event) {
+  params.putBool("IsDriverViewEnabled", false);
+  stopVipcThread();
+  CameraWidget::hideEvent(event);
+}
+
+void DriverViewWindow::paintGL() {
+  CameraWidget::paintGL();
+
+  std::lock_guard lk(frame_lock);
+  QPainter p(this);
+  // startup msg
+  if (frames.empty()) {
+    p.setPen(Qt::white);
+    p.setRenderHint(QPainter::TextAntialiasing);
+    p.setFont(InterFont(100, QFont::Bold));
+    p.drawText(geometry(), Qt::AlignCenter, tr("camera starting"));
+    return;
+  }
+
+  const auto &sm = *(uiState()->sm);
+  cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
+  bool is_rhd = driver_state.getWheelOnRightProb() > 0.5;
+  auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
+
+  bool face_detected = driver_data.getFaceProb() > 0.7;
+  if (face_detected) {
+    auto fxy_list = driver_data.getFacePosition();
+    auto std_list = driver_data.getFaceOrientationStd();
+    float face_x = fxy_list[0];
+    float face_y = fxy_list[1];
+    float face_std = std::max(std_list[0], std_list[1]);
+
+    float alpha = 0.7;
+    if (face_std > 0.15) {
+      alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0);
+    }
+    const int box_size = 220;
+    // use approx instead of distort_points
+    int fbox_x = 1080.0 - 1714.0 * face_x;
+    int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y;
+    p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
+    p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
+  }
+
+  // icon
+  const int img_offset = 60;
+  const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset;
+  const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
+  p.setOpacity(face_detected ? 1.0 : 0.2);
+  p.drawPixmap(img_x, img_y, face_img);
+}