brianhansonxyz/oscarpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Speed limit controller

Browse Source 
Added toggle to control the cruise set speed according to speed limit supplied by OSM, NOO, or the vehicle itself.

Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: Efini <19368997+efini@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 6fa4b545a8
commit 22bfc8d9b7
16 changed files with 440 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
selfdrive/ui/qt/onroad.cc
View File

@@ -129,16 +129,23 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
QRect speedRect(rect().center().x() - 175, 50, 350, 350);
bool isSpeedClicked = speedRect.contains(e->pos());
if (isMaxSpeedClicked || isSpeedClicked) {
// Speed limit offset button
const QRect speedLimitRect(7, 250, 225, 225);
const bool isSpeedLimitClicked = speedLimitRect.contains(e->pos());
if (isMaxSpeedClicked || isSpeedClicked || isSpeedLimitClicked) {
// Check if the click was within the max speed area
if (isMaxSpeedClicked) {
reverseCruise = !params.getBool("ReverseCruise");
params.putBoolNonBlocking("ReverseCruise", reverseCruise);
paramsMemory.putBoolNonBlocking("FrogPilotTogglesUpdated", true);
// Check if the click was within the speed text area
} else {
} else if (isSpeedClicked) {
speedHidden = !params.getBool("HideSpeed");
params.putBoolNonBlocking("HideSpeed", speedHidden);
} else {
showSLCOffset = !params.getBool("ShowSLCOffset");
params.putBoolNonBlocking("ShowSLCOffset", showSLCOffset);
}
widgetClicked = true;
// If the click wasn't for anything specific, change the value of "ExperimentalMode"
@@ -490,10 +497,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
speedLimit = slcOverridden ? slcOverriddenSpeed : slcSpeedLimit ? slcSpeedLimit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
if (slcSpeedLimit && !slcOverridden) {
speedLimit = speedLimit - (showSLCOffset ? slcSpeedLimitOffset : 0);
}
has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || slcSpeedLimit;
has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
is_metric = s.scene.is_metric;
speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph");
@@ -527,6 +537,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
QString speedLimitOffsetStr = (showSLCOffset) ? "+" + QString::number(std::nearbyint(slcSpeedLimitOffset)) : "–";
QString speedStr = QString::number(std::nearbyint(speed));
QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
@@ -599,11 +610,23 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
p.setPen(QPen(blackColor(), 6));
p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
p.setFont(InterFont(28, QFont::DemiBold));
p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
p.setFont(InterFont(70, QFont::Bold));
p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
p.save();
p.setOpacity(slcOverridden ? 0.25 : 1.0);
if (showSLCOffset) {
p.setFont(InterFont(28, QFont::DemiBold));
p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
p.setFont(InterFont(70, QFont::Bold));
p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
p.setFont(InterFont(50, QFont::DemiBold));
p.drawText(sign_rect.adjusted(0, 120, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr);
} else {
p.setFont(InterFont(28, QFont::DemiBold));
p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
p.setFont(InterFont(70, QFont::Bold));
p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
}
p.restore();
}
// EU (Vienna style) sign
@@ -1106,6 +1129,10 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
reverseCruise = true;
}
if (params.getBool("ShowSLCOffset")) {
showSLCOffset = true;
}
// Custom themes configuration
themeConfiguration = {
{1, {QString("frog_theme"), {QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},
@@ -1160,6 +1187,10 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
obstacleDistanceStock = scene.obstacle_distance_stock;
roadNameUI = scene.road_name_ui;
showDriverCamera = scene.show_driver_camera;
slcOverridden = scene.speed_limit_overridden;
slcOverriddenSpeed = scene.speed_limit_overridden_speed;
slcSpeedLimit = scene.speed_limit;
slcSpeedLimitOffset = scene.speed_limit_offset * (is_metric ? MS_TO_KPH : MS_TO_MPH);
stoppedEquivalence = scene.stopped_equivalence;
turnSignalLeft = scene.turn_signal_left;
turnSignalRight = scene.turn_signal_right;