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FrogAi
2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
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49
selfdrive/ui/qt/onroad.cc
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@@ -136,29 +136,29 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
if (isMaxSpeedClicked || isSpeedClicked || isSpeedLimitClicked) {
// Check if the click was within the max speed area
if (isMaxSpeedClicked) {
reverseCruise = !params.getBool("ReverseCruise");
params.putBoolNonBlocking("ReverseCruise", reverseCruise);
bool currentReverseCruise = !params.getBool("ReverseCruise");
params.putBoolNonBlocking("ReverseCruise", currentReverseCruise);
if (!params.getBool("QOLControls")) {
params.putBoolNonBlocking("QOLControls", true);
}
paramsMemory.putBoolNonBlocking("FrogPilotTogglesUpdated", true);
// Check if the click was within the speed text area
} else if (isSpeedClicked) {
hideSpeed = !params.getBool("HideSpeed");
params.putBoolNonBlocking("HideSpeed", hideSpeed);
bool currentHideSpeed = !params.getBool("HideSpeed");
params.putBoolNonBlocking("HideSpeed", currentHideSpeed);
if (!params.getBool("QOLVisuals")) {
params.putBoolNonBlocking("QOLVisuals", true);
}
} else {
showSLCOffset = !params.getBool("ShowSLCOffset");
params.putBoolNonBlocking("ShowSLCOffset", showSLCOffset);
bool currentShowSLCOffset = !params.getBool("ShowSLCOffset");
params.putBoolNonBlocking("ShowSLCOffset", currentShowSLCOffset);
if (!params.getBool("QOLVisuals")) {
params.putBoolNonBlocking("QOLVisuals", true);
}
}
widgetClicked = true;
paramsMemory.putBoolNonBlocking("FrogPilotTogglesUpdated", true);
// If the click wasn't for anything specific, change the value of "ExperimentalMode"
} else if (scene.experimental_mode_via_press && e->pos() != timeoutPoint) {
} else if (scene.experimental_mode_via_screen && e->pos() != timeoutPoint) {
if (clickTimer.isActive()) {
clickTimer.stop();
if (scene.conditional_experimental) {
@@ -179,7 +179,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
// Switch between map and sidebar when using navigate on openpilot
bool sidebarVisible = geometry().x() > 0;
bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
if (!scene.experimental_mode_via_press || map->isVisible()) {
if (!scene.experimental_mode_via_screen || map->isVisible()) {
map->setVisible(show_map && !map->isVisible());
}
}
@@ -385,7 +385,7 @@ void ExperimentalButton::changeMode() {
Params paramsMemory = Params("/dev/shm/params");
const auto cp = (*uiState()->sm)["carParams"].getCarParams();
bool can_change = hasLongitudinalControl(cp) && (params.getBool("ExperimentalModeConfirmed") || scene.experimental_mode_via_press);
bool can_change = hasLongitudinalControl(cp) && (params.getBool("ExperimentalModeConfirmed") || scene.experimental_mode_via_screen);
if (can_change) {
if (scene.conditional_experimental) {
int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 4) ? 0 : scene.conditional_status >= 5 ? 3 : 4;
@@ -432,11 +432,11 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
QPixmap img = wheelIcon ? engage_img : (experimental_mode ? experimental_img : engage_img);
QColor background_color = wheelIcon && !isDown() && engageable ?
(scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
(scene.conditional_status == 1 ? QColor(255, 246, 0, 255) :
(experimental_mode ? QColor(218, 111, 37, 241) :
(scene.navigate_on_openpilot ? QColor(49, 161, 238, 255) : QColor(0, 0, 0, 166)))) :
(scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
QColor(0, 0, 0, 166));
(scene.navigate_on_openpilot ? QColor(49, 161, 238, 255) : QColor(0, 0, 0, 166))))) :
QColor(0, 0, 0, 166);
if (!scene.show_driver_camera) {
if (rotatingWheel || firefoxRandomEventTriggered) {
@@ -524,8 +524,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
speedLimit = speedLimit - (showSLCOffset ? slcSpeedLimitOffset : 0);
}
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);
has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || (slcSpeedLimit && !useViennaSLCSign);
has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) || (slcSpeedLimit && useViennaSLCSign);
is_metric = s.scene.is_metric;
speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph");
hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight)) || showDriverCamera;
@@ -581,7 +581,8 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
if (is_cruise_set && cruiseAdjustment) {
float transition = qBound(0.0f, 4.0f * (cruiseAdjustment / setSpeed), 1.0f);
QColor min = whiteColor(75), max = redColor(75);
QColor min = whiteColor(75);
QColor max = redColor(75);
p.setPen(QPen(QColor::fromRgbF(
min.redF() + transition * (max.redF() - min.redF()),
@@ -1122,7 +1123,8 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
CameraWidget::showEvent(event);
ui_update_params(uiState());
std::thread updateFrogPilotParams(ui_update_params, uiState());
updateFrogPilotParams.detach();
prev_draw_t = millis_since_boot();
}
@@ -1146,15 +1148,6 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
main_layout->addLayout(bottom_layout);
if (params.getBool("QOLControls")) {
reverseCruise = params.getBool("ReverseCruise");
}
if (params.getBool("QOLVisuals")) {
hideSpeed = params.getBool("HideSpeed");
showSLCOffset = params.getBool("ShowSLCOffset");
}
// 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))},
@@ -1200,6 +1193,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
customColors = scene.custom_colors;
desiredFollow = scene.desired_follow;
experimentalMode = scene.experimental_mode;
hideSpeed = scene.hide_speed;
laneWidthLeft = scene.lane_width_left;
laneWidthRight = scene.lane_width_right;
leadInfo = scene.lead_info;
@@ -1208,8 +1202,10 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
obstacleDistance = scene.obstacle_distance;
obstacleDistanceStock = scene.obstacle_distance_stock;
onroadAdjustableProfiles = scene.personalities_via_screen;
reverseCruise = scene.reverse_cruise;
roadNameUI = scene.road_name_ui;
showDriverCamera = scene.show_driver_camera;
showSLCOffset = scene.show_slc_offset;
slcOverridden = scene.speed_limit_overridden;
slcOverriddenSpeed = scene.speed_limit_overridden_speed;
slcSpeedLimit = scene.speed_limit;
@@ -1218,6 +1214,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
turnSignalLeft = scene.turn_signal_left;
turnSignalRight = scene.turn_signal_right;
useSI = scene.use_si;
useViennaSLCSign = scene.use_vienna_slc_sign;
if (!showDriverCamera) {
if (leadInfo) {