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251 lines
8.1 KiB
251 lines
8.1 KiB
#pragma once
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#include <map>
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#include <memory>
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#include <string>
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#include <QObject>
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#include <QTimer>
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#include <QColor>
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#include <QFuture>
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#include <QPolygonF>
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#include <QTransform>
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#include "cereal/messaging/messaging.h"
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#include "common/mat.h"
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#include "common/params.h"
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#include "common/timing.h"
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#include "system/hardware/hw.h"
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const int UI_BORDER_SIZE = 30;
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const int UI_HEADER_HEIGHT = 420;
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const int UI_FREQ = 20; // Hz
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const int BACKLIGHT_OFFROAD = 50;
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typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
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const float MIN_DRAW_DISTANCE = 10.0;
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const float MAX_DRAW_DISTANCE = 100.0;
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constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
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constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
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0.0, 2648.0, 1208.0 / 2,
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0.0, 0.0, 1.0}};
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// tici ecam focal probably wrong? magnification is not consistent across frame
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// Need to retrain model before this can be changed
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constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
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0.0, 567.0, 1208.0 / 2,
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0.0, 0.0, 1.0}};
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constexpr vec3 default_face_kpts_3d[] = {
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{-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00},
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{-34.10, -32.00, 8.00}, {-36.16, -21.03, 8.00}, {-36.16, 6.40, 8.00}, {-35.47, 10.51, 8.00}, {-32.73, 19.43, 8.00},
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{-29.30, 26.29, 8.00}, {-24.50, 33.83, 8.00}, {-19.01, 41.37, 8.00}, {-14.21, 46.17, 8.00}, {-12.16, 47.54, 8.00},
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{-4.61, 49.60, 8.00}, {4.99, 49.60, 8.00}, {12.53, 47.54, 8.00}, {14.59, 46.17, 8.00}, {19.39, 41.37, 8.00},
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{24.87, 33.83, 8.00}, {29.67, 26.29, 8.00}, {33.10, 19.43, 8.00}, {35.84, 10.51, 8.00}, {36.53, 6.40, 8.00},
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{36.53, -21.03, 8.00}, {34.47, -32.00, 8.00}, {32.42, -37.49, 8.00}, {30.36, -40.91, 8.00}, {24.19, -46.40, 8.00},
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{18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00},
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};
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struct Alert {
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QString text1;
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QString text2;
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QString type;
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cereal::ControlsState::AlertSize size;
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cereal::ControlsState::AlertStatus status;
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AudibleAlert sound;
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bool equal(const Alert &a2) {
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return text1 == a2.text1 && text2 == a2.text2 && type == a2.type && sound == a2.sound;
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}
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static Alert get(const SubMaster &sm, uint64_t started_frame) {
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const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
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const uint64_t controls_frame = sm.rcv_frame("controlsState");
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Alert alert = {};
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if (controls_frame >= started_frame) { // Don't get old alert.
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alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
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cs.getAlertType().cStr(), cs.getAlertSize(),
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cs.getAlertStatus(),
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cs.getAlertSound()};
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}
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if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
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const int CONTROLS_TIMEOUT = 5;
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const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
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// Handle controls timeout
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if (controls_frame < started_frame) {
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// car is started, but controlsState hasn't been seen at all
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alert = {"openpilot Unavailable", "Waiting for controls to start",
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"controlsWaiting", cereal::ControlsState::AlertSize::MID,
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cereal::ControlsState::AlertStatus::NORMAL,
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AudibleAlert::NONE};
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} else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
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// car is started, but controls is lagging or died
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if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
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alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
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"controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
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cereal::ControlsState::AlertStatus::CRITICAL,
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AudibleAlert::WARNING_IMMEDIATE};
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} else {
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alert = {"Controls Unresponsive", "Reboot Device",
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"controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
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cereal::ControlsState::AlertStatus::NORMAL,
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AudibleAlert::NONE};
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}
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}
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}
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return alert;
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}
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};
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typedef enum UIStatus {
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STATUS_DISENGAGED,
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STATUS_OVERRIDE,
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STATUS_ENGAGED,
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} UIStatus;
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enum PrimeType {
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UNKNOWN = -1,
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NONE = 0,
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MAGENTA = 1,
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LITE = 2,
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BLUE = 3,
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MAGENTA_NEW = 4,
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PURPLE = 5,
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};
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const QColor bg_colors [] = {
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[STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
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[STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
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[STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
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};
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static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
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{cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
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{cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
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{cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
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};
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typedef struct UIScene {
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bool calibration_valid = false;
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bool calibration_wide_valid = false;
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bool wide_cam = true;
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mat3 view_from_calib = DEFAULT_CALIBRATION;
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mat3 view_from_wide_calib = DEFAULT_CALIBRATION;
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cereal::PandaState::PandaType pandaType;
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// modelV2
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float lane_line_probs[4];
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float road_edge_stds[2];
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QPolygonF track_vertices;
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QPolygonF lane_line_vertices[4];
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QPolygonF road_edge_vertices[2];
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// lead
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QPointF lead_vertices[2];
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// DMoji state
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float driver_pose_vals[3];
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float driver_pose_diff[3];
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float driver_pose_sins[3];
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float driver_pose_coss[3];
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vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
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bool navigate_on_openpilot = false;
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float light_sensor;
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bool started, ignition, is_metric, map_on_left, longitudinal_control;
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bool world_objects_visible = false;
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uint64_t started_frame;
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} UIScene;
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class UIState : public QObject {
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Q_OBJECT
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public:
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UIState(QObject* parent = 0);
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void updateStatus();
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inline bool engaged() const {
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return scene.started && (*sm)["controlsState"].getControlsState().getEnabled();
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}
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void setPrimeType(PrimeType type);
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inline PrimeType primeType() const { return prime_type; }
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inline bool hasPrime() const { return prime_type != PrimeType::UNKNOWN && prime_type != PrimeType::NONE; }
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int fb_w = 0, fb_h = 0;
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std::unique_ptr<SubMaster> sm;
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UIStatus status;
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UIScene scene = {};
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QString language;
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QTransform car_space_transform;
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signals:
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void uiUpdate(const UIState &s);
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void offroadTransition(bool offroad);
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void primeChanged(bool prime);
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void primeTypeChanged(PrimeType prime_type);
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private slots:
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void update();
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private:
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QTimer *timer;
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bool started_prev = false;
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PrimeType prime_type = PrimeType::UNKNOWN;
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};
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UIState *uiState();
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// device management class
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class Device : public QObject {
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Q_OBJECT
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public:
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Device(QObject *parent = 0);
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bool isAwake() { return awake; }
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void setOffroadBrightness(int brightness) {
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offroad_brightness = std::clamp(brightness, 0, 100);
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}
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private:
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bool awake = false;
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int interactive_timeout = 0;
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bool ignition_on = false;
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int offroad_brightness = BACKLIGHT_OFFROAD;
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int last_brightness = 0;
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FirstOrderFilter brightness_filter;
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QFuture<void> brightness_future;
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void updateBrightness(const UIState &s);
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void updateWakefulness(const UIState &s);
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void setAwake(bool on);
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signals:
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void displayPowerChanged(bool on);
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void interactiveTimeout();
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public slots:
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void resetInteractiveTimeout(int timeout = -1);
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void update(const UIState &s);
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};
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Device *device();
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void ui_update_params(UIState *s);
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int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
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void update_model(UIState *s,
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const cereal::ModelDataV2::Reader &model,
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const cereal::UiPlan::Reader &plan);
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void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd);
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void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
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void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
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float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);
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