|
|
|
|
@ -1,17 +1,179 @@ |
|
|
|
|
#include <iostream> |
|
|
|
|
|
|
|
|
|
#include "common/timing.h" |
|
|
|
|
#include "common/swaglog.h" |
|
|
|
|
#include "selfdrive/common/timing.h" |
|
|
|
|
#include "selfdrive/common/swaglog.h" |
|
|
|
|
#include "selfdrive/ui/qt/onroad.h" |
|
|
|
|
#include "selfdrive/ui/paint.h" |
|
|
|
|
#include "selfdrive/ui/qt/qt_window.h" |
|
|
|
|
|
|
|
|
|
#include "onroad.h" |
|
|
|
|
#include "paint.h" |
|
|
|
|
OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { |
|
|
|
|
layout = new QStackedLayout(); |
|
|
|
|
layout->setStackingMode(QStackedLayout::StackAll); |
|
|
|
|
|
|
|
|
|
OnroadWindow::~OnroadWindow() { |
|
|
|
|
// old UI on bottom
|
|
|
|
|
nvg = new NvgWindow(this); |
|
|
|
|
layout->addWidget(nvg); |
|
|
|
|
QObject::connect(this, &OnroadWindow::update, nvg, &NvgWindow::update); |
|
|
|
|
|
|
|
|
|
alerts = new OnroadAlerts(this); |
|
|
|
|
QObject::connect(this, &OnroadWindow::update, alerts, &OnroadAlerts::update); |
|
|
|
|
QObject::connect(this, &OnroadWindow::offroadTransition, alerts, &OnroadAlerts::offroadTransition); |
|
|
|
|
|
|
|
|
|
// hack to align the onroad alerts, better way to do this?
|
|
|
|
|
QVBoxLayout *alerts_container = new QVBoxLayout(this); |
|
|
|
|
alerts_container->setMargin(0); |
|
|
|
|
alerts_container->addStretch(1); |
|
|
|
|
alerts_container->addWidget(alerts, 0, Qt::AlignBottom); |
|
|
|
|
QWidget *w = new QWidget(this); |
|
|
|
|
w->setLayout(alerts_container); |
|
|
|
|
|
|
|
|
|
layout->addWidget(w); |
|
|
|
|
|
|
|
|
|
// alerts on top
|
|
|
|
|
layout->setCurrentWidget(w); |
|
|
|
|
|
|
|
|
|
setLayout(layout); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
// ***** onroad widgets *****
|
|
|
|
|
|
|
|
|
|
OnroadAlerts::OnroadAlerts(QWidget *parent) : QFrame(parent) { |
|
|
|
|
layout = new QVBoxLayout(this); |
|
|
|
|
layout->setSpacing(40); |
|
|
|
|
layout->setMargin(20); |
|
|
|
|
|
|
|
|
|
title = new QLabel(); |
|
|
|
|
title->setWordWrap(true); |
|
|
|
|
title->setAlignment(Qt::AlignCenter); |
|
|
|
|
layout->addWidget(title); |
|
|
|
|
|
|
|
|
|
msg = new QLabel(); |
|
|
|
|
msg->setWordWrap(true); |
|
|
|
|
msg->setAlignment(Qt::AlignCenter); |
|
|
|
|
layout->addWidget(msg); |
|
|
|
|
|
|
|
|
|
layout->addStretch(1); |
|
|
|
|
layout->insertStretch(0, 1); |
|
|
|
|
|
|
|
|
|
setLayout(layout); |
|
|
|
|
setStyleSheet("color: white;"); |
|
|
|
|
setVisible(false); |
|
|
|
|
|
|
|
|
|
// setup sounds
|
|
|
|
|
for (auto &kv : sound_map) { |
|
|
|
|
auto path = QUrl::fromLocalFile(kv.second.first); |
|
|
|
|
sounds[kv.first].setSource(path); |
|
|
|
|
} |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
void OnroadAlerts::update(const UIState &s) { |
|
|
|
|
SubMaster &sm = *(s.sm); |
|
|
|
|
if (sm.updated("carState")) { |
|
|
|
|
// scale volume with speed
|
|
|
|
|
volume = util::map_val(sm["carState"].getCarState().getVEgo(), 0.f, 20.f, |
|
|
|
|
Hardware::MIN_VOLUME, Hardware::MAX_VOLUME); |
|
|
|
|
} |
|
|
|
|
if (sm.updated("controlsState")) { |
|
|
|
|
const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState(); |
|
|
|
|
updateAlert(QString::fromStdString(cs.getAlertText1()), QString::fromStdString(cs.getAlertText2()), |
|
|
|
|
cs.getAlertBlinkingRate(), cs.getAlertType(), cs.getAlertSize(), cs.getAlertSound()); |
|
|
|
|
} else { |
|
|
|
|
// Handle controls timeout
|
|
|
|
|
if (s.scene.deviceState.getStarted() && (sm.frame - s.scene.started_frame) > 10 * UI_FREQ) { |
|
|
|
|
const uint64_t cs_frame = sm.rcv_frame("controlsState"); |
|
|
|
|
if (cs_frame < s.scene.started_frame) { |
|
|
|
|
// car is started, but controlsState hasn't been seen at all
|
|
|
|
|
updateAlert("openpilot Unavailable", "Waiting for controls to start", 0, |
|
|
|
|
"controlsWaiting", cereal::ControlsState::AlertSize::MID, AudibleAlert::NONE); |
|
|
|
|
} else if ((sm.frame - cs_frame) > 5 * UI_FREQ) { |
|
|
|
|
// car is started, but controls is lagging or died
|
|
|
|
|
updateAlert("TAKE CONTROL IMMEDIATELY", "Controls Unresponsive", 0, |
|
|
|
|
"controlsUnresponsive", cereal::ControlsState::AlertSize::FULL, AudibleAlert::CHIME_WARNING_REPEAT); |
|
|
|
|
|
|
|
|
|
// TODO: clean this up once Qt handles the border
|
|
|
|
|
QUIState::ui_state.status = STATUS_ALERT; |
|
|
|
|
} |
|
|
|
|
} |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
if (isVisible()) { |
|
|
|
|
auto c = bg_colors[s.status]; |
|
|
|
|
float alpha = 0.375 * cos((millis_since_boot() / 1000) * 2 * M_PI * blinking_rate) + 0.625; |
|
|
|
|
bg.setRgb(c.r*255, c.g*255, c.b*255, c.a*alpha*255); |
|
|
|
|
} |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
void OnroadAlerts::offroadTransition(bool offroad) { |
|
|
|
|
stopSounds(); |
|
|
|
|
setVisible(false); |
|
|
|
|
alert_type = ""; |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
void OnroadAlerts::updateAlert(const QString &text1, const QString &text2, float blink_rate, |
|
|
|
|
const std::string &type, cereal::ControlsState::AlertSize size, AudibleAlert sound) { |
|
|
|
|
|
|
|
|
|
if (alert_type.compare(type) == 0) { |
|
|
|
|
return; |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
stopSounds(); |
|
|
|
|
if (sound != AudibleAlert::NONE) { |
|
|
|
|
playSound(sound); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
alert_type = type; |
|
|
|
|
blinking_rate = blink_rate; |
|
|
|
|
title->setText(text1); |
|
|
|
|
msg->setText(text2); |
|
|
|
|
msg->setVisible(!msg->text().isEmpty()); |
|
|
|
|
|
|
|
|
|
if (size == cereal::ControlsState::AlertSize::SMALL) { |
|
|
|
|
setFixedHeight(241); |
|
|
|
|
title->setStyleSheet("font-size: 70px; font-weight: 500;"); |
|
|
|
|
} else if (size == cereal::ControlsState::AlertSize::MID) { |
|
|
|
|
setFixedHeight(390); |
|
|
|
|
msg->setStyleSheet("font-size: 65px; font-weight: 400;"); |
|
|
|
|
title->setStyleSheet("font-size: 80px; font-weight: 500;"); |
|
|
|
|
} else if (size == cereal::ControlsState::AlertSize::FULL) { |
|
|
|
|
setFixedHeight(vwp_h); |
|
|
|
|
int title_size = (title->text().size() > 15) ? 130 : 110; |
|
|
|
|
title->setStyleSheet(QString("font-size: %1px; font-weight: 500;").arg(title_size)); |
|
|
|
|
msg->setStyleSheet("font-size: 90px; font-weight: 400;"); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
setVisible(size != cereal::ControlsState::AlertSize::NONE); |
|
|
|
|
repaint(); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
void OnroadAlerts::playSound(AudibleAlert alert) { |
|
|
|
|
int loops = sound_map[alert].second ? QSoundEffect::Infinite : 0; |
|
|
|
|
sounds[alert].setLoopCount(loops); |
|
|
|
|
sounds[alert].setVolume(volume); |
|
|
|
|
sounds[alert].play(); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
void OnroadAlerts::stopSounds() { |
|
|
|
|
for (auto &kv : sounds) { |
|
|
|
|
// Only stop repeating sounds
|
|
|
|
|
if (kv.second.loopsRemaining() == QSoundEffect::Infinite) { |
|
|
|
|
kv.second.stop(); |
|
|
|
|
} |
|
|
|
|
} |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
void OnroadAlerts::paintEvent(QPaintEvent *event) { |
|
|
|
|
QPainter p(this); |
|
|
|
|
p.setBrush(QBrush(bg)); |
|
|
|
|
p.setPen(Qt::NoPen); |
|
|
|
|
p.drawRect(rect()); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
NvgWindow::~NvgWindow() { |
|
|
|
|
makeCurrent(); |
|
|
|
|
doneCurrent(); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
void OnroadWindow::initializeGL() { |
|
|
|
|
void NvgWindow::initializeGL() { |
|
|
|
|
initializeOpenGLFunctions(); |
|
|
|
|
std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl; |
|
|
|
|
std::cout << "OpenGL vendor: " << glGetString(GL_VENDOR) << std::endl; |
|
|
|
|
@ -22,22 +184,20 @@ void OnroadWindow::initializeGL() { |
|
|
|
|
prev_draw_t = millis_since_boot(); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
void OnroadWindow::update(const UIState &s) { |
|
|
|
|
void NvgWindow::update(const UIState &s) { |
|
|
|
|
// Connecting to visionIPC requires opengl to be current
|
|
|
|
|
if (s.vipc_client->connected){ |
|
|
|
|
makeCurrent(); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
repaint(); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
void OnroadWindow::paintGL() { |
|
|
|
|
void NvgWindow::paintGL() { |
|
|
|
|
ui_draw(&QUIState::ui_state, width(), height()); |
|
|
|
|
|
|
|
|
|
double cur_draw_t = millis_since_boot(); |
|
|
|
|
double dt = cur_draw_t - prev_draw_t; |
|
|
|
|
// TODO: check if onroad
|
|
|
|
|
if (dt > 66 && QUIState::ui_state.scene.started && !QUIState::ui_state.scene.driver_view) { |
|
|
|
|
if (dt > 66 && !QUIState::ui_state.scene.driver_view) { |
|
|
|
|
// warn on sub 15fps
|
|
|
|
|
LOGW("slow frame time: %.2f", dt); |
|
|
|
|
} |
|
|
|
|
|
Adeeb Shihadeh
5 years ago
committed by
GitHub