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UI/AnnotatedCameraWidget: cleanup drawHud (#28167)

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Co-authored-by: Cameron Clough <cameronjclough@gmail.com>

old-commit-hash: 070bdcdf89
beeps
Dean Lee 2 years ago committed by GitHub
parent 9bd006f551
commit 458190081c
1 changed files with 39 additions and 95 deletions
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  1. 134
      selfdrive/ui/qt/onroad.cc

134
selfdrive/ui/qt/onroad.cc
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@ -223,6 +223,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
}
// Window that shows camera view and variety of info drawn on top
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
@ -305,131 +306,79 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
// Draw outer box + border to contain set speed and speed limit
int default_rect_width = 172;
int rect_width = default_rect_width;
if (is_metric || has_eu_speed_limit) rect_width = 200;
if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223;
const int sign_margin = 12;
const int us_sign_height = 186;
const int eu_sign_size = 176;
int rect_height = 204;
if (has_us_speed_limit) rect_height = 402;
else if (has_eu_speed_limit) rect_height = 392;
const QSize default_size = {172, 204};
QSize set_speed_size = default_size;
if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
int top_radius = 32;
int bottom_radius = has_eu_speed_limit ? 100 : 32;
QRect set_speed_rect(60 + default_rect_width / 2 - rect_width / 2, 45, rect_width, rect_height);
QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
p.setPen(QPen(whiteColor(75), 6));
p.setBrush(blackColor(166));
drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
// Draw MAX
QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
QColor set_speed_color = whiteColor();
if (is_cruise_set) {
if (status == STATUS_DISENGAGED) {
p.setPen(whiteColor());
max_color = whiteColor();
} else if (status == STATUS_OVERRIDE) {
p.setPen(QColor(0x91, 0x9b, 0x95, 0xff));
max_color = QColor(0x91, 0x9b, 0x95, 0xff);
} else if (speedLimit > 0) {
p.setPen(interpColor(
setSpeed,
{speedLimit + 5, speedLimit + 15, speedLimit + 25},
{QColor(0x80, 0xd8, 0xa6, 0xff), QColor(0xff, 0xe4, 0xbf, 0xff), QColor(0xff, 0xbf, 0xbf, 0xff)}
));
} else {
p.setPen(QColor(0x80, 0xd8, 0xa6, 0xff));
auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
};
max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
}
} else {
p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
}
configFont(p, "Inter", 40, "SemiBold");
QRect max_rect = getTextRect(p, Qt::AlignCenter, tr("MAX"));
max_rect.moveCenter({set_speed_rect.center().x(), 0});
max_rect.moveTop(set_speed_rect.top() + 27);
p.drawText(max_rect, Qt::AlignCenter, tr("MAX"));
// Draw set speed
if (is_cruise_set) {
if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) {
p.setPen(interpColor(
setSpeed,
{speedLimit + 5, speedLimit + 15, speedLimit + 25},
{whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)}
));
} else {
p.setPen(whiteColor());
}
} else {
p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
}
p.setPen(max_color);
p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
configFont(p, "Inter", 90, "Bold");
QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
speed_rect.moveCenter({set_speed_rect.center().x(), 0});
speed_rect.moveTop(set_speed_rect.top() + 77);
p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
p.setPen(set_speed_color);
p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
// US/Canada (MUTCD style) sign
if (has_us_speed_limit) {
const int border_width = 6;
const int sign_width = rect_width - 24;
const int sign_height = 186;
// White outer square
QRect sign_rect_outer(set_speed_rect.left() + 12, set_speed_rect.bottom() - 11 - sign_height, sign_width, sign_height);
p.setPen(Qt::NoPen);
p.setBrush(whiteColor());
p.drawRoundedRect(sign_rect_outer, 24, 24);
p.drawRoundedRect(sign_rect, 24, 24);
p.setPen(QPen(blackColor(), 6));
p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
// Smaller white square with black border
QRect sign_rect(sign_rect_outer.left() + 1.5 * border_width, sign_rect_outer.top() + 1.5 * border_width, sign_width - 3 * border_width, sign_height - 3 * border_width);
p.setPen(QPen(blackColor(), border_width));
p.setBrush(whiteColor());
p.drawRoundedRect(sign_rect, 16, 16);
// "SPEED"
configFont(p, "Inter", 28, "SemiBold");
QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, tr("SPEED"));
text_speed_rect.moveCenter({sign_rect.center().x(), 0});
text_speed_rect.moveTop(sign_rect_outer.top() + 22);
p.drawText(text_speed_rect, Qt::AlignCenter, tr("SPEED"));
// "LIMIT"
QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, tr("LIMIT"));
text_limit_rect.moveCenter({sign_rect.center().x(), 0});
text_limit_rect.moveTop(sign_rect_outer.top() + 51);
p.drawText(text_limit_rect, Qt::AlignCenter, tr("LIMIT"));
// Speed limit value
p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
configFont(p, "Inter", 70, "Bold");
QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
speed_limit_rect.moveCenter({sign_rect.center().x(), 0});
speed_limit_rect.moveTop(sign_rect_outer.top() + 85);
p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
}
// EU (Vienna style) sign
if (has_eu_speed_limit) {
int outer_radius = 176 / 2;
int inner_radius_1 = outer_radius - 6; // White outer border
int inner_radius_2 = inner_radius_1 - 20; // Red circle
// Draw white circle with red border
QPoint center(set_speed_rect.center().x() + 1, set_speed_rect.top() + 204 + outer_radius);
p.setPen(Qt::NoPen);
p.setBrush(whiteColor());
p.drawEllipse(center, outer_radius, outer_radius);
p.setBrush(QColor(255, 0, 0, 255));
p.drawEllipse(center, inner_radius_1, inner_radius_1);
p.setBrush(whiteColor());
p.drawEllipse(center, inner_radius_2, inner_radius_2);
p.drawEllipse(sign_rect);
p.setPen(QPen(Qt::red, 20));
p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
// Speed limit value
int font_size = (speedLimitStr.size() >= 3) ? 60 : 70;
configFont(p, "Inter", font_size, "Bold");
QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
speed_limit_rect.moveCenter(center);
configFont(p, "Inter", (speedLimitStr.size() >= 3) ? 60 : 70, "Bold");
p.setPen(blackColor());
p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
}
// current speed
@ -441,10 +390,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
p.restore();
}
// Window that shows camera view and variety of
// info drawn on top
void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
QRect real_rect = getTextRect(p, 0, text);
real_rect.moveCenter({x, y - real_rect.height() / 2});
@ -463,7 +408,6 @@ void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QB
p.setOpacity(1.0);
}
void AnnotatedCameraWidget::initializeGL() {
CameraWidget::initializeGL();
qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));

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