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Code Issues Packages Projects Releases Wiki Activity

UI cleanup + startup time improvement (#2295)

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old-commit-hash: 671183184b
commatwo_master
Adeeb Shihadeh 5 years ago committed by GitHub
parent 9589d518a2
commit 51d59aefca
4 changed files with 39 additions and 51 deletions
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  1. 13
      common/apk.py
  2. 3
      selfdrive/assets/img_comma.png
  3. 57
      selfdrive/ui/paint.cc
  4. 17
      selfdrive/ui/ui.hpp

13
common/apk.py
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@ -3,6 +3,7 @@ import subprocess
import glob
import hashlib
import shutil
import threading
from common.basedir import BASEDIR
from selfdrive.swaglog import cloudlog
@ -27,8 +28,10 @@ def install_apk(path):
return ret == 0
def start_offroad():
set_package_permissions()
system("am start -n ai.comma.plus.offroad/.MainActivity")
def f():
set_package_permissions()
system("am start -n ai.comma.plus.offroad/.MainActivity")
threading.Thread(target=f).start()
def set_package_permissions():
pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
@ -90,8 +93,10 @@ def update_apks():
assert success
def pm_apply_packages(cmd):
for p in android_packages:
system("pm %s %s" % (cmd, p))
def f():
for p in android_packages:
system("pm %s %s" % (cmd, p))
threading.Thread(target=f).start()
if __name__ == "__main__":
update_apks()

3
selfdrive/assets/img_comma.png
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@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:bc951a4f1e65bf2eab8cfb7e6c25a193520e6fe860bcca973fbc792a6b7a544d
size 11250

57
selfdrive/ui/paint.cc
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@ -18,12 +18,12 @@ extern "C"{
// TODO: this is also hardcoded in common/transformations/camera.py
// TODO: choose based on frame input size
#ifdef QCOM2
const mat3 intrinsic_matrix = (mat3){{
2648.0, 0.0, 1928.0/2,
0.0, 2648.0, 1208.0/2,
0.0, 0.0, 1.0
}};
#ifdef QCOM2
const mat3 intrinsic_matrix = (mat3){{
2648.0, 0.0, 1928.0/2,
0.0, 2648.0, 1208.0/2,
0.0, 0.0, 1.0
}};
#else
const mat3 intrinsic_matrix = (mat3){{
910., 0., 582.,
@ -32,14 +32,6 @@ const mat3 intrinsic_matrix = (mat3){{
}};
#endif
const uint8_t alert_colors[][4] = {
[STATUS_OFFROAD] = {0x07, 0x23, 0x39, 0xf1},
[STATUS_DISENGAGED] = {0x17, 0x33, 0x49, 0xc8},
[STATUS_ENGAGED] = {0x17, 0x86, 0x44, 0xf1},
[STATUS_WARNING] = {0xDA, 0x6F, 0x25, 0xf1},
[STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xf1},
};
// Projects a point in car to space to the corresponding point in full frame
// image space.
vec3 car_space_to_full_frame(const UIState *s, vec4 car_space_projective) {
@ -233,13 +225,13 @@ static void ui_draw_track(UIState *s, bool is_mpc, track_vertices_data *pvd) {
NVGpaint track_bg;
if (is_mpc) {
// Draw colored MPC track
const Color clr = bg_colors[s->status];
const NVGcolor clr = bg_colors[s->status];
track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h*.4,
nvgRGBA(clr.r, clr.g, clr.b, 255), nvgRGBA(clr.r, clr.g, clr.b, 255/2));
nvgRGBA(clr.r, clr.g, clr.b, 255), nvgRGBA(clr.r, clr.g, clr.b, 255/2));
} else {
// Draw white vision track
track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h*.4,
COLOR_WHITE, COLOR_WHITE_ALPHA(0));
COLOR_WHITE, COLOR_WHITE_ALPHA(0));
}
nvgFillPaint(s->vg, track_bg);
nvgFill(s->vg);
@ -443,23 +435,14 @@ static void ui_draw_vision_event(UIState *s) {
// draw winding road sign
const int img_turn_size = 160*1.5;
ui_draw_image(s->vg, viz_event_x - (img_turn_size / 4), viz_event_y + bdr_s - 25, img_turn_size, img_turn_size, s->img_turn, 1.0f);
} else {
} else if (s->scene.controls_state.getEngageable()) {
// draw steering wheel
const int bg_wheel_size = 96;
const int bg_wheel_x = viz_event_x + (viz_event_w-bg_wheel_size);
const int bg_wheel_y = viz_event_y + (bg_wheel_size/2);
NVGcolor color = COLOR_BLACK_ALPHA(0);
if (s->status == STATUS_ENGAGED) {
color = nvgRGBA(23, 134, 68, 255);
} else if (s->status == STATUS_WARNING) {
color = COLOR_OCHRE;
} else {
color = nvgRGBA(23, 51, 73, 255);
}
const NVGcolor color = bg_colors[s->status];
if (s->scene.controls_state.getEngageable()){
ui_draw_circle_image(s->vg, bg_wheel_x, bg_wheel_y, bg_wheel_size, s->img_wheel, color, 1.0f, bg_wheel_y - 25);
}
ui_draw_circle_image(s->vg, bg_wheel_x, bg_wheel_y, bg_wheel_size, s->img_wheel, color, 1.0f, bg_wheel_y - 25);
}
}
@ -541,7 +524,7 @@ static void ui_draw_vision_footer(UIState *s) {
ui_draw_vision_face(s);
}
void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size, int va_color,
void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size, UIStatus va_color,
const char* va_text1, const char* va_text2) {
static std::map<cereal::ControlsState::AlertSize, const int> alert_size_map = {
{cereal::ControlsState::AlertSize::NONE, 0},
@ -552,7 +535,8 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
const UIScene *scene = &s->scene;
bool longAlert1 = strlen(va_text1) > 15;
const uint8_t *color = alert_colors[va_color];
NVGcolor color = bg_colors[va_color];
color.a *= s->alert_blinking_alpha;
int alr_s = alert_size_map[va_size];
const int alr_x = scene->viz_rect.x - bdr_s;
@ -560,10 +544,10 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
const int alr_h = alr_s+(va_size==cereal::ControlsState::AlertSize::NONE?0:bdr_s);
const int alr_y = s->fb_h-alr_h;
ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, nvgRGBA(color[0],color[1],color[2],(color[3]*s->alert_blinking_alpha)));
ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, color);
NVGpaint gradient = nvgLinearGradient(s->vg, alr_x, alr_y, alr_x, alr_y+alr_h,
nvgRGBAf(0.0,0.0,0.0,0.05), nvgRGBAf(0.0,0.0,0.0,0.35));
nvgRGBAf(0.0,0.0,0.0,0.05), nvgRGBAf(0.0,0.0,0.0,0.35));
ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, gradient);
nvgFillColor(s->vg, COLOR_WHITE);
@ -589,6 +573,7 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
static void ui_draw_vision(UIState *s) {
const UIScene *scene = &s->scene;
const Rect &viz_rect = scene->viz_rect;
// Draw video frames
glEnable(GL_SCISSOR_TEST);
glViewport(viz_rect.x+scene->ui_viz_ro, viz_rect.y, s->fb_w - bdr_s*2, viz_rect.h);
@ -618,8 +603,8 @@ static void ui_draw_vision(UIState *s) {
}
static void ui_draw_background(UIState *s) {
const Color color = bg_colors[s->status];
glClearColor(color.r/256.0, color.g/256.0, color.b/256.0, 1.0);
const NVGcolor color = bg_colors[s->status];
glClearColor(color.r, color.g, color.b, 1.0);
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
}
@ -656,7 +641,7 @@ void ui_draw_image(NVGcontext *vg, float x, float y, float w, float h, int image
void ui_draw_rect(NVGcontext *vg, float x, float y, float w, float h, NVGcolor color, float r, int width) {
nvgBeginPath(vg);
r > 0? nvgRoundedRect(vg, x, y, w, h, r) : nvgRect(vg, x, y, w, h);
r > 0 ? nvgRoundedRect(vg, x, y, w, h, r) : nvgRect(vg, x, y, w, h);
if (width) {
nvgStrokeColor(vg, color);
nvgStrokeWidth(vg, width);

17
selfdrive/ui/ui.hpp
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@ -33,7 +33,6 @@
#define COLOR_WHITE_ALPHA(x) nvgRGBA(255, 255, 255, x)
#define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
#define COLOR_RED nvgRGBA(201, 34, 49, 255)
#define COLOR_OCHRE nvgRGBA(218, 111, 37, 255)
#define UI_BUF_COUNT 4
@ -62,10 +61,6 @@ const int TRACK_POINTS_MAX_CNT = 50 * 2;
const int SET_SPEED_NA = 255;
typedef struct Color {
uint8_t r, g, b;
} Color;
typedef enum NetStatus {
NET_CONNECTED,
NET_DISCONNECTED,
@ -80,12 +75,12 @@ typedef enum UIStatus {
STATUS_ALERT,
} UIStatus;
static std::map<UIStatus, Color> bg_colors = {
{STATUS_OFFROAD, {0x07, 0x23, 0x39}},
{STATUS_DISENGAGED, {0x17, 0x33, 0x49}},
{STATUS_ENGAGED, {0x17, 0x86, 0x44}},
{STATUS_WARNING, {0xDA, 0x6F, 0x25}},
{STATUS_ALERT, {0xC9, 0x22, 0x31}},
static std::map<UIStatus, NVGcolor> bg_colors = {
{STATUS_OFFROAD, nvgRGBA(0x07, 0x23, 0x39, 0xf1)},
{STATUS_DISENGAGED, nvgRGBA(0x17, 0x33, 0x49, 0xc8)},
{STATUS_ENGAGED, nvgRGBA(0x17, 0x86, 0x44, 0xf1)},
{STATUS_WARNING, nvgRGBA(0xDA, 0x6F, 0x25, 0xf1)},
{STATUS_ALERT, nvgRGBA(0xC9, 0x22, 0x31, 0xf1)},
};
typedef struct UIScene {

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