Qt: show current calibration values (#20455)

* show current calibration

* read calibration from capnp

* use CalStatus

* cleanup calibrationd.py

* remove import capnp

* keep json writing,remove comment

* fix test error

* cleanup

* remove test_read_saved_params

* cleanup

* write out capnp

* restore test

* clean up

* get calibration from CalibrationParams

* cleanup

* update calibration when the description is visible

* cleanup

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>

selfdrive/locationd/calibrationd.py

@@ -80,7 +80,7 @@ class Calibrator():
         rpy_init = list(msg.liveCalibration.rpyCalib)
         valid_blocks = msg.liveCalibration.validBlocks
       except (ValueError, capnp.lib.capnp.KjException):
-        # TODO: remove this when offroad can read capnp
+        # TODO: remove this after next release
         calibration_params = json.loads(calibration_params)
         rpy_init = calibration_params["calib_radians"]
         valid_blocks = calibration_params['valid_blocks']
@@ -134,10 +134,7 @@ class Calibrator():
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      # TODO: change to raw bytes when offroad can read capnp
+      put_nonblocking("CalibrationParams", self.get_msg().to_bytes())
-      cal_params = {"calib_radians": list(self.rpy),
-                    "valid_blocks": int(self.valid_blocks)}
-      put_nonblocking("CalibrationParams", json.dumps(cal_params).encode('utf8'))
 
   def handle_v_ego(self, v_ego):
     self.v_ego = v_ego

selfdrive/ui/qt/offroad/settings.cc

@@ -93,12 +93,34 @@ DevicePanel::DevicePanel(QWidget* parent) : QWidget(parent) {
                                       GLWindow::ui_state.scene.driver_view = true; }
                                     ));
 
-  offroad_btns.append(new ButtonControl("Reset Calibration", "RESET",
+  QString resetCalibDesc = "openpilot requires the device to be mounted within 4° left or right and within 5° up or down. openpilot is continuously calibrating, resetting is rarely required.";
-                                   "openpilot requires the device to be mounted within 4° left or right and within 5° up or down. openpilot is continuously calibrating, resetting is rarely required.", [=]() {
+  ButtonControl *resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", resetCalibDesc, [=]() {
     if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?")) {
       Params().remove("CalibrationParams");
     }
-  }));
+  });
+  connect(resetCalibBtn, &ButtonControl::showDescription, [=]() {
+    QString desc = resetCalibDesc;
+    std::string calib_bytes = Params().get("CalibrationParams");
+    if (!calib_bytes.empty()) {
+      try {
+        AlignedBuffer aligned_buf;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
+        auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
+        if (calib.getCalStatus() != 0) {
+          double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
+          double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
+          desc += QString(" Your device is pointed %1° %2 and %3° %4.")
+                                .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "up" : "down",
+                                     QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "right" : "left");
+        }
+      } catch (kj::Exception) {
+        qInfo() << "invalid CalibrationParams";
+      }
+    }
+    resetCalibBtn->setDescription(desc);
+  });
+  offroad_btns.append(resetCalibBtn);
 
   offroad_btns.append(new ButtonControl("Review Training Guide", "REVIEW",
                                         "Review the rules, features, and limitations of openpilot", [=]() {

selfdrive/ui/qt/widgets/controls.cc

@@ -48,6 +48,9 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
     vlayout->addWidget(description);
 
     connect(title_label, &QPushButton::clicked, [=]() {
+      if (!description->isVisible()) {
+        emit showDescription();
+      }
       description->setVisible(!description->isVisible());
     });
   }

selfdrive/ui/qt/widgets/controls.hpp

@@ -14,6 +14,14 @@ QFrame *horizontal_line(QWidget *parent = nullptr);
 class AbstractControl : public QFrame {
   Q_OBJECT
 
+public:
+  void setDescription(const QString &desc) {
+    if(description) description->setText(desc);
+  }
+
+signals:
+  void showDescription();
+
 protected:
   AbstractControl(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);