ui: refactor hud updating and rendering into HudRenderer class (#33458)
refactor hud updating and rendering into DriverMonitorRenderer classfix-notebooks
Dean Lee
1 year ago
committed by
GitHub
parent
900c2c83bd
commit
caa33c3193
16 changed files with 302 additions and 269 deletions
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#include "selfdrive/ui/qt/onroad/hud.h" |
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#include <cmath> |
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#include "selfdrive/ui/qt/util.h" |
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constexpr int SET_SPEED_NA = 255; |
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HudRenderer::HudRenderer() {} |
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void HudRenderer::updateState(const UIState &s) { |
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is_metric = s.scene.is_metric; |
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status = s.status; |
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const SubMaster &sm = *(s.sm); |
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if (!sm.alive("carState")) { |
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is_cruise_set = false; |
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set_speed = SET_SPEED_NA; |
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speed = 0.0; |
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return; |
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} |
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const auto &controls_state = sm["controlsState"].getControlsState(); |
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const auto &car_state = sm["carState"].getCarState(); |
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// Handle older routes where vCruiseCluster is not set
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set_speed = car_state.getVCruiseCluster() == 0.0 ? controls_state.getVCruiseDEPRECATED() : car_state.getVCruiseCluster(); |
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is_cruise_set = set_speed > 0 && set_speed != SET_SPEED_NA; |
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if (is_cruise_set && !is_metric) { |
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set_speed *= KM_TO_MILE; |
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} |
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// Handle older routes where vEgoCluster is not set
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v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; |
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float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); |
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speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH)); |
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} |
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void HudRenderer::draw(QPainter &p, const QRect &surface_rect) { |
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p.save(); |
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// Draw header gradient
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QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT); |
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bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45)); |
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bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); |
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p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg); |
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drawSetSpeed(p, surface_rect); |
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drawCurrentSpeed(p, surface_rect); |
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p.restore(); |
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} |
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void HudRenderer::drawSetSpeed(QPainter &p, const QRect &surface_rect) { |
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// Draw outer box + border to contain set speed
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const QSize default_size = {172, 204}; |
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QSize set_speed_size = is_metric ? QSize(200, 204) : default_size; |
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QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size); |
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// Draw set speed box
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p.setPen(QPen(QColor(255, 255, 255, 75), 6)); |
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p.setBrush(QColor(0, 0, 0, 166)); |
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p.drawRoundedRect(set_speed_rect, 32, 32); |
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// Colors based on status
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QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff); |
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QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff); |
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if (is_cruise_set) { |
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if (status == STATUS_DISENGAGED) { |
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max_color = QColor(255, 255, 255); |
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} else if (status == STATUS_OVERRIDE) { |
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max_color = QColor(0x91, 0x9b, 0x95, 0xff); |
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} else { |
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max_color = QColor(0x80, 0xd8, 0xa6, 0xff); |
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set_speed_color = QColor(255, 255, 255); |
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} |
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} |
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// Draw "MAX" text
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p.setFont(InterFont(40, QFont::DemiBold)); |
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p.setPen(max_color); |
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p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX")); |
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// Draw set speed
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QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–"; |
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p.setFont(InterFont(90, QFont::Bold)); |
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p.setPen(set_speed_color); |
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p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr); |
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} |
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void HudRenderer::drawCurrentSpeed(QPainter &p, const QRect &surface_rect) { |
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QString speedStr = QString::number(std::nearbyint(speed)); |
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p.setFont(InterFont(176, QFont::Bold)); |
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drawText(p, surface_rect.center().x(), 210, speedStr); |
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p.setFont(InterFont(66)); |
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drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200); |
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} |
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void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { |
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QRect real_rect = p.fontMetrics().boundingRect(text); |
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real_rect.moveCenter({x, y - real_rect.height() / 2}); |
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p.setPen(QColor(0xff, 0xff, 0xff, alpha)); |
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p.drawText(real_rect.x(), real_rect.bottom(), text); |
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} |
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@ -0,0 +1,23 @@ |
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#pragma once |
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#include <QPainter> |
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#include "selfdrive/ui/ui.h" |
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class HudRenderer : public QObject { |
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public: |
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HudRenderer(); |
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void updateState(const UIState &s); |
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void draw(QPainter &p, const QRect &surface_rect); |
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private: |
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void drawSetSpeed(QPainter &p, const QRect &surface_rect); |
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void drawCurrentSpeed(QPainter &p, const QRect &surface_rect); |
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void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); |
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float speed = 0; |
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float set_speed = 0; |
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bool is_cruise_set = false; |
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bool is_metric = false; |
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bool v_ego_cluster_seen = false; |
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int status = STATUS_DISENGAGED; |
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}; |
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