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

Custom UI

Browse Source 
Added toggles to customize the lane lines, path, road edges, path edges, show the acceleration/deceleration on the path, lead info, driving logics, adjacent lanes, blind spot path, fps tracker, and an "Unlimited Length" mode that extends the road UI out as far as the model can see.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent fb8103b646
commit d6e17df710
16 changed files with 705 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

46
selfdrive/ui/ui.cc
View File

@@ -89,7 +89,8 @@ void update_model(UIState *s,
if (plan_position.getX().size() < model.getPosition().getX().size()) {
plan_position = model.getPosition();
}
float max_distance = std::clamp(*(plan_position.getX().end() - 1),
float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
std::clamp(*(plan_position.getX().end() - 1),
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
// update lane lines
@@ -98,7 +99,7 @@ void update_model(UIState *s,
int max_idx = get_path_length_idx(lane_lines[0], max_distance);
for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
scene.lane_line_probs[i] = lane_line_probs[i];
update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
update_line_data(s, lane_lines[i], scene.model_ui ? scene.lane_line_width * scene.lane_line_probs[i] : 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
}
// update road edges
@@ -106,7 +107,7 @@ void update_model(UIState *s,
const auto road_edge_stds = model.getRoadEdgeStds();
for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
scene.road_edge_stds[i] = road_edge_stds[i];
update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
update_line_data(s, road_edges[i], scene.model_ui ? scene.road_edge_width : 0.025, 0, &scene.road_edge_vertices[i], max_idx);
}
// update path
@@ -116,7 +117,15 @@ void update_model(UIState *s,
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
}
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_line_data(s, plan_position, scene.model_ui ? scene.path_width * (1 - scene.path_edge_width / 100) : 0.9, 1.22, &scene.track_vertices, max_idx, false);
// update path edges
update_line_data(s, plan_position, scene.model_ui ? scene.path_width : 0, 1.22, &scene.track_edge_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) {
@@ -205,6 +214,10 @@ 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();
@@ -219,9 +232,19 @@ static void update_state(UIState *s) {
}
if (sm.updated("frogpilotLateralPlan")) {
auto frogpilotLateralPlan = sm["frogpilotLateralPlan"].getFrogpilotLateralPlan();
if (scene.blind_spot_path) {
scene.lane_width_left = frogpilotLateralPlan.getLaneWidthLeft();
scene.lane_width_right = frogpilotLateralPlan.getLaneWidthRight();
}
}
if (sm.updated("frogpilotLongitudinalPlan")) {
auto frogpilotLongitudinalPlan = sm["frogpilotLongitudinalPlan"].getFrogpilotLongitudinalPlan();
if (scene.lead_info) {
scene.desired_follow = frogpilotLongitudinalPlan.getDesiredFollowDistance();
scene.obstacle_distance = frogpilotLongitudinalPlan.getSafeObstacleDistance();
scene.obstacle_distance_stock = frogpilotLongitudinalPlan.getSafeObstacleDistanceStock();
scene.stopped_equivalence = frogpilotLongitudinalPlan.getStoppedEquivalenceFactor();
}
}
if (sm.updated("liveLocationKalman")) {
auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
@@ -254,6 +277,21 @@ void ui_update_params(UIState *s) {
scene.conditional_experimental = params.getBool("ConditionalExperimental");
scene.conditional_speed = params.getInt("CESpeed");
scene.conditional_speed_lead = params.getInt("CESpeedLead");
scene.custom_onroad_ui = params.getBool("CustomUI");
scene.adjacent_path = scene.custom_onroad_ui && params.getBool("AdjacentPath");
scene.blind_spot_path = scene.custom_onroad_ui && params.getBool("BlindSpotPath");
scene.lead_info = scene.custom_onroad_ui && params.getBool("LeadInfo");
scene.show_fps = scene.custom_onroad_ui && params.getBool("ShowFPS");
scene.use_si = scene.custom_onroad_ui && params.getBool("UseSI");
scene.model_ui = params.getBool("ModelUI");
scene.acceleration_path = scene.model_ui && params.getBool("AccelerationPath");
scene.lane_line_width = params.getInt("LaneLinesWidth") * (scene.is_metric ? 1 : INCH_TO_CM) / 200;
scene.path_edge_width = params.getInt("PathEdgeWidth");
scene.path_width = params.getInt("PathWidth") / 10.0 * (scene.is_metric ? 1 : FOOT_TO_METER) / 2;
scene.road_edge_width = params.getInt("RoadEdgesWidth") * (scene.is_metric ? 1 : INCH_TO_CM) / 200;
scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength");
}
void UIState::updateStatus() {