brianhansonxyz/oscarpilot
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Custom UI

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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
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23
system/camerad/cameras/camera_qcom2.cc
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@@ -935,6 +935,10 @@ void cameras_run(MultiCameraState *s) {
// FrogPilot variables
Params paramsMemory{"/dev/shm/params"};
bool wide_camera_displayed = paramsMemory.getBool("WideCamera");
static int frame_count = 0;
static int fps = 0.0;
LOG("-- Starting threads");
std::vector<std::thread> threads;
if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
@@ -947,9 +951,22 @@ void cameras_run(MultiCameraState *s) {
s->road_cam.sensors_start();
s->wide_road_cam.sensors_start();
auto prev_time_point = std::chrono::high_resolution_clock::now();
// poll events
LOG("-- Dequeueing Video events");
while (!do_exit) {
auto current_time_point = std::chrono::high_resolution_clock::now();
double elapsed_time = std::chrono::duration<double>(current_time_point - prev_time_point).count();
if (elapsed_time > 1.0) {
fps = frame_count / elapsed_time;
paramsMemory.putIntNonBlocking("CameraFPS", fps);
frame_count = 0;
prev_time_point = current_time_point;
}
struct pollfd fds[1] = {{0}};
fds[0].fd = s->video0_fd;
@@ -979,8 +996,14 @@ void cameras_run(MultiCameraState *s) {
if (event_data->session_hdl == s->road_cam.session_handle) {
s->road_cam.handle_camera_event(event_data);
if (!wide_camera_displayed) {
frame_count++;
}
} else if (event_data->session_hdl == s->wide_road_cam.session_handle) {
s->wide_road_cam.handle_camera_event(event_data);
if (wide_camera_displayed) {
frame_count++;
}
} else if (event_data->session_hdl == s->driver_cam.session_handle) {
s->driver_cam.handle_camera_event(event_data);
} else {