Merge remote-tracking branch 'upstream/master' into long-man

.gitmodules

@@ -15,4 +15,4 @@
   url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
+  url = https://github.com/commaai/tinygrad.git

cereal/car.capnp

@@ -115,6 +115,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     actuatorsApiUnavailable @120;
     espActive @121;
     personalityChanged @122;
+    aeb @123;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;

cereal/services.py

@@ -76,7 +76,6 @@ _services: dict[str, tuple] = {
   # debug
   "uiDebug": (True, 0., 1),
   "alertDebug": (True, 0.),
-  "testJoystick": (True, 0.),
   "roadEncodeData": (False, 20.),
   "driverEncodeData": (False, 20.),
   "wideRoadEncodeData": (False, 20.),

selfdrive/selfdrived/events.py

@@ -388,6 +388,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                                        priority=Priority.LOWEST),
   },
 
+  EventName.aeb: {
+    ET.PERMANENT: Alert(
+      "BRAKE!",
+      "Emergency Braking: Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("AEB: Risk of Collision"),
+  },
+
   EventName.stockAeb: {
     ET.PERMANENT: Alert(
       "BRAKE!",

selfdrive/ui/SConscript

@@ -16,7 +16,7 @@ if arch == "Darwin":
 qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
 qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
-widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
+widgets_src = ["qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/prime_state.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
@@ -26,7 +26,7 @@ widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
 
-qt_src = ["main.cc", "qt/sidebar.cc", "qt/body.cc",
+qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",

selfdrive/ui/qt/home.cc

@@ -150,9 +150,8 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     left_widget->addWidget(new PrimeAdWidget);
     left_widget->setStyleSheet("border-radius: 10px;");
 
-    left_widget->setCurrentIndex(uiState()->hasPrime() ? 0 : 1);
+    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
-    connect(uiState(), &UIState::primeChanged, [=](bool prime) {
+      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
-      left_widget->setCurrentIndex(prime ? 0 : 1);
     });
 
     home_layout->addWidget(left_widget, 1);

selfdrive/ui/qt/network/networking.cc

@@ -6,7 +6,6 @@
 #include <QScrollBar>
 #include <QStyle>
 
-#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
@@ -73,6 +72,11 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
   main_layout->setCurrentWidget(wifiScreen);
 }
 
+void Networking::setPrimeType(PrimeState::Type type) {
+  an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
+  wifi->ipv4_forward = (type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
+}
+
 void Networking::refresh() {
   wifiWidget->refresh();
   an->refresh();
@@ -204,17 +208,16 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   // Set initial config
   wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered);
 
-  connect(uiState(), &UIState::primeTypeChanged, this, [=](PrimeType prime_type) {
-    bool gsmVisible = prime_type == PrimeType::PRIME_TYPE_NONE || prime_type == PrimeType::PRIME_TYPE_LITE;
-    roamingToggle->setVisible(gsmVisible);
-    editApnButton->setVisible(gsmVisible);
-    meteredToggle->setVisible(gsmVisible);
-  });
-
   main_layout->addWidget(new ScrollView(list, this));
   main_layout->addStretch(1);
 }
 
+void AdvancedNetworking::setGsmVisible(bool visible) {
+  roamingToggle->setVisible(visible);
+  editApnButton->setVisible(visible);
+  meteredToggle->setVisible(visible);
+}
+
 void AdvancedNetworking::refresh() {
   ipLabel->setText(wifi->ipv4_address);
   tetheringToggle->setEnabled(true);

selfdrive/ui/qt/network/networking.h

@@ -3,6 +3,7 @@
 #include <vector>
 
 #include "selfdrive/ui/qt/network/wifi_manager.h"
+#include "selfdrive/ui/qt/prime_state.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/toggle.h"
@@ -56,6 +57,7 @@ class AdvancedNetworking : public QWidget {
   Q_OBJECT
 public:
   explicit AdvancedNetworking(QWidget* parent = 0, WifiManager* wifi = 0);
+  void setGsmVisible(bool visible);
 
 private:
   LabelControl* ipLabel;
@@ -81,6 +83,7 @@ class Networking : public QFrame {
 
 public:
   explicit Networking(QWidget* parent = 0, bool show_advanced = true);
+  void setPrimeType(PrimeState::Type type);
   WifiManager* wifi = nullptr;
 
 private:

selfdrive/ui/qt/network/wifi_manager.cc

@@ -2,10 +2,6 @@
 
 #include <utility>
 
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
-
-#include "common/params.h"
 #include "common/swaglog.h"
 #include "selfdrive/ui/qt/util.h"
 
@@ -445,9 +441,6 @@ void WifiManager::addTetheringConnection() {
 }
 
 void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
-  int prime_type = uiState()->primeType();
-  int ipv4_forward = (prime_type == PrimeType::PRIME_TYPE_NONE || prime_type == PrimeType::PRIME_TYPE_LITE);
-
   if (!ipv4_forward) {
     QTimer::singleShot(5000, this, [=] {
       qWarning() << "net.ipv4.ip_forward = 0";

selfdrive/ui/qt/network/wifi_manager.h

@@ -42,6 +42,7 @@ public:
   QMap<QString, Network> seenNetworks;
   QMap<QDBusObjectPath, QString> knownConnections;
   QString ipv4_address;
+  bool ipv4_forward = false;
 
   explicit WifiManager(QObject* parent);
   void start();

selfdrive/ui/qt/offroad/driverview.cc

@@ -7,7 +7,7 @@
 
 const int FACE_IMG_SIZE = 130;
 
-DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) {
+DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
   face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
   QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
   QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
@@ -75,3 +75,15 @@ void DriverViewWindow::paintGL() {
   p.setOpacity(face_detected ? 1.0 : 0.2);
   p.drawPixmap(img_x, img_y, face_img);
 }
+
+mat4 DriverViewWindow::calcFrameMatrix() {
+  const float driver_view_ratio = 2.0;
+  const float yscale = stream_height * driver_view_ratio / stream_width;
+  const float xscale = yscale * glHeight() / glWidth() * stream_width / stream_height;
+  return mat4{{
+    xscale,  0.0, 0.0, 0.0,
+    0.0,  yscale, 0.0, 0.0,
+    0.0,  0.0, 1.0, 0.0,
+    0.0,  0.0, 0.0, 1.0,
+  }};
+}

selfdrive/ui/qt/offroad/driverview.h

@@ -12,6 +12,7 @@ signals:
   void done();
 
 protected:
+  mat4 calcFrameMatrix() override;
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
   void paintGL() override;

selfdrive/ui/qt/offroad/settings.cc

@@ -247,8 +247,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(translateBtn);
 
-  QObject::connect(uiState(), &UIState::primeTypeChanged, [this] (PrimeType type) {
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, [this] (PrimeState::Type type) {
-    pair_device->setVisible(type == PrimeType::PRIME_TYPE_UNPAIRED);
+    pair_device->setVisible(type == PrimeState::PRIME_TYPE_UNPAIRED);
   });
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
@@ -335,11 +335,6 @@ void DevicePanel::poweroff() {
   }
 }
 
-void DevicePanel::showEvent(QShowEvent *event) {
-  pair_device->setVisible(uiState()->primeType() == PrimeType::PRIME_TYPE_UNPAIRED);
-  ListWidget::showEvent(event);
-}
-
 void SettingsWindow::showEvent(QShowEvent *event) {
   setCurrentPanel(0);
 }
@@ -386,9 +381,12 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   TogglesPanel *toggles = new TogglesPanel(this);
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
 
+  auto networking = new Networking(this);
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
+
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
-    {tr("Network"), new Networking(this)},
+    {tr("Network"), networking},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
   };

selfdrive/ui/qt/offroad/settings.h

@@ -42,7 +42,6 @@ class DevicePanel : public ListWidget {
   Q_OBJECT
 public:
   explicit DevicePanel(SettingsWindow *parent);
-  void showEvent(QShowEvent *event) override;
 
 signals:
   void reviewTrainingGuide();

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -10,7 +10,8 @@
 #include "selfdrive/ui/qt/util.h"
 
 // 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) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent)
+    : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, parent) {
   pm = std::make_unique<PubMaster>(std::vector<const char*>{"uiDebug"});
 
   main_layout = new QVBoxLayout(this);
@@ -125,22 +126,54 @@ void AnnotatedCameraWidget::initializeGL() {
   setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }
 
-void AnnotatedCameraWidget::updateFrameMat() {
+mat4 AnnotatedCameraWidget::calcFrameMatrix() {
-  CameraWidget::updateFrameMat();
+  // Project point at "infinity" to compute x and y offsets
-  UIState *s = uiState();
+  // to ensure this ends up in the middle of the screen
+  // for narrow come and a little lower for wide cam.
+  // TODO: use proper perspective transform?
+
+  // Select intrinsic matrix and calibration based on camera type
+  auto *s = uiState();
+  bool wide_cam = active_stream_type == VISION_STREAM_WIDE_ROAD;
+  const auto &intrinsic_matrix = wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX;
+  const auto &calibration = wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
+
+   // Compute the calibration transformation matrix
+  const auto calib_transform = intrinsic_matrix * calibration;
+
+  float zoom = wide_cam ? 2.0 : 1.1;
+  Eigen::Vector3f inf(1000., 0., 0.);
+  auto Kep = calib_transform * inf;
+
   int w = width(), h = height();
+  float center_x = intrinsic_matrix(0, 2);
+  float center_y = intrinsic_matrix(1, 2);
 
-  s->fb_w = w;
+  float max_x_offset = center_x * zoom - w / 2 - 5;
-  s->fb_h = h;
+  float max_y_offset = center_y * zoom - h / 2 - 5;
+  float x_offset = std::clamp<float>((Kep.x() / Kep.z() - center_x) * zoom, -max_x_offset, max_x_offset);
+  float y_offset = std::clamp<float>((Kep.y() / Kep.z() - center_y) * zoom, -max_y_offset, max_y_offset);
 
   // Apply transformation such that video pixel coordinates match video
   // 1) Put (0, 0) in the middle of the video
   // 2) Apply same scaling as video
   // 3) Put (0, 0) in top left corner of video
-  s->car_space_transform.reset();
+  Eigen::Matrix3f video_transform =(Eigen::Matrix3f() <<
-  s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset)
+    zoom, 0.0f, (w / 2 - x_offset) - (center_x * zoom),
-      .scale(zoom, zoom)
+    0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
-      .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
+    0.0f, 0.0f, 1.0f).finished();
+
+  s->car_space_transform = video_transform * calib_transform;
+  s->clip_region = rect().adjusted(-500, -500, 500, 500);
+
+  float zx = zoom * 2 * center_x / w;
+  float zy = zoom * 2 * center_y / h;
+  return mat4{{
+    zx, 0.0, 0.0, -x_offset / w * 2,
+    0.0, zy, 0.0, y_offset / h * 2,
+    0.0, 0.0, 1.0, 0.0,
+    0.0, 0.0, 0.0, 1.0,
+  }};
 }
 
 void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
@@ -271,18 +304,8 @@ void AnnotatedCameraWidget::paintGL() {
         wide_cam_requested = false;
       }
       wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-      // for replay of old routes, never go to widecam
-      wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
-
-    s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
-    if (s->scene.calibration_valid) {
-      auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
-      CameraWidget::updateCalibration(calib);
-    } else {
-      CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
-    }
     CameraWidget::setFrameId(model.getFrameId());
     CameraWidget::paintGL();
   }

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -36,7 +36,7 @@ protected:
   void paintGL() override;
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
-  void updateFrameMat() override;
+  mat4 calcFrameMatrix() override;
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
   void drawHud(QPainter &p);

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -21,7 +21,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   split->addWidget(nvg);
 
   if (getenv("DUAL_CAMERA_VIEW")) {
-    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
+    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, this);
     split->insertWidget(0, arCam);
   }
 

selfdrive/ui/qt/prime_state.cc

@@ -0,0 +1,48 @@
+#include "selfdrive/ui/qt/prime_state.h"
+
+#include <QJsonDocument>
+
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/request_repeater.h"
+#include "selfdrive/ui/qt/util.h"
+
+PrimeState::PrimeState(QObject* parent) : QObject(parent) {
+  const char *env_prime_type = std::getenv("PRIME_TYPE");
+  auto type = env_prime_type ? env_prime_type : Params().get("PrimeType");
+
+  if (!type.empty()) {
+    prime_type = static_cast<PrimeState::Type>(std::atoi(type.c_str()));
+  }
+
+  if (auto dongleId = getDongleId()) {
+    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/";
+    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5);
+    QObject::connect(repeater, &RequestRepeater::requestDone, this, &PrimeState::handleReply);
+  }
+
+  // Emit the initial state change
+  QTimer::singleShot(1, [this]() { emit changed(prime_type); });
+}
+
+void PrimeState::handleReply(const QString& response, bool success) {
+  if (!success) return;
+
+  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
+  if (doc.isNull()) {
+    qDebug() << "JSON Parse failed on getting pairing and PrimeState status";
+    return;
+  }
+
+  QJsonObject json = doc.object();
+  bool is_paired = json["is_paired"].toBool();
+  auto type = static_cast<PrimeState::Type>(json["prime_type"].toInt());
+  setType(is_paired ? type : PrimeState::PRIME_TYPE_UNPAIRED);
+}
+
+void PrimeState::setType(PrimeState::Type type) {
+  if (type != prime_type) {
+    prime_type = type;
+    Params().put("PrimeType", std::to_string(prime_type));
+    emit changed(prime_type);
+  }
+}

selfdrive/ui/qt/prime_state.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include <QObject>
+
+class PrimeState : public QObject {
+  Q_OBJECT
+
+public:
+
+ enum Type {
+   PRIME_TYPE_UNKNOWN = -2,
+   PRIME_TYPE_UNPAIRED = -1,
+   PRIME_TYPE_NONE = 0,
+   PRIME_TYPE_MAGENTA = 1,
+   PRIME_TYPE_LITE = 2,
+   PRIME_TYPE_BLUE = 3,
+   PRIME_TYPE_MAGENTA_NEW = 4,
+   PRIME_TYPE_PURPLE = 5,
+ };
+
+ PrimeState(QObject *parent);
+ void setType(PrimeState::Type type);
+ inline PrimeState::Type currentType() const { return prime_type; }
+ inline bool isSubscribed() const { return prime_type > PrimeState::PRIME_TYPE_NONE; }
+
+signals:
+  void changed(PrimeState::Type prime_type);
+
+private:
+  void handleReply(const QString &response, bool success);
+
+  PrimeState::Type prime_type = PrimeState::PRIME_TYPE_UNKNOWN;
+};

selfdrive/ui/qt/widgets/cameraview.cc

@@ -7,13 +7,7 @@
 #endif
 
 #include <cmath>
-#include <set>
-#include <string>
-#include <utility>
-
 #include <QApplication>
-#include <QOpenGLBuffer>
-#include <QOffscreenSurface>
 
 namespace {
 
@@ -66,40 +60,10 @@ const char frame_fragment_shader[] =
   "}\n";
 #endif
 
-mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
-  const float driver_view_ratio = 2.0;
-  const float yscale = stream_height * driver_view_ratio / stream_width;
-  const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
-  mat4 transform = (mat4){{
-    xscale,  0.0, 0.0, 0.0,
-    0.0,  yscale, 0.0, 0.0,
-    0.0,  0.0, 1.0, 0.0,
-    0.0,  0.0, 0.0, 1.0,
-  }};
-  return transform;
-}
-
-mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) {
-  float zx = 1, zy = 1;
-  if (frame_aspect_ratio > widget_aspect_ratio) {
-    zy = widget_aspect_ratio / frame_aspect_ratio;
-  } else {
-    zx = frame_aspect_ratio / widget_aspect_ratio;
-  }
-
-  const mat4 frame_transform = {{
-    zx, 0.0, 0.0, 0.0,
-    0.0, zy, 0.0, 0.0,
-    0.0, 0.0, 1.0, 0.0,
-    0.0, 0.0, 0.0, 1.0,
-  }};
-  return frame_transform;
-}
-
 } // namespace
 
-CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
+CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
-                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
+                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
   QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
@@ -214,59 +178,19 @@ void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
   available_streams = streams;
 }
 
-void CameraWidget::updateFrameMat() {
+mat4 CameraWidget::calcFrameMatrix() {
-  int w = glWidth(), h = glHeight();
+  // Scale the frame to fit the widget while maintaining the aspect ratio.
-
+  float widget_aspect_ratio = (float)width() / height();
-  if (zoomed_view) {
+  float frame_aspect_ratio = (float)stream_width / stream_height;
-    if (active_stream_type == VISION_STREAM_DRIVER) {
+  float zx = std::min(frame_aspect_ratio / widget_aspect_ratio, 1.0f);
-      if (stream_width > 0 && stream_height > 0) {
+  float zy = std::min(widget_aspect_ratio / frame_aspect_ratio, 1.0f);
-        frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
-      }
-    } else {
-      // Project point at "infinity" to compute x and y offsets
-      // to ensure this ends up in the middle of the screen
-      // for narrow come and a little lower for wide cam.
-      // TODO: use proper perspective transform?
-      if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
-        intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
-        zoom = 2.0;
-      } else {
-        intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
-        zoom = 1.1;
-      }
-      const vec3 inf = {{1000., 0., 0.}};
-      const vec3 Ep = matvecmul3(calibration, inf);
-      const vec3 Kep = matvecmul3(intrinsic_matrix, Ep);
-
-      float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom;
-      float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom;
-
-      float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5;
-      float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5;
-
-      x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset);
-      y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset);
 
-      float zx = zoom * 2 * intrinsic_matrix.v[2] / w;
+  return mat4{{
-      float zy = zoom * 2 * intrinsic_matrix.v[5] / h;
+    zx, 0.0, 0.0, 0.0,
-      const mat4 frame_transform = {{
+    0.0, zy, 0.0, 0.0,
-        zx, 0.0, 0.0, -x_offset / w * 2,
-        0.0, zy, 0.0, y_offset / h * 2,
     0.0, 0.0, 1.0, 0.0,
     0.0, 0.0, 0.0, 1.0,
   }};
-      frame_mat = frame_transform;
-    }
-  } else if (stream_width > 0 && stream_height > 0) {
-    // fit frame to widget size
-    float widget_aspect_ratio = (float)w / h;
-    float frame_aspect_ratio = (float)stream_width  / stream_height;
-    frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio);
-  }
-}
-
-void CameraWidget::updateCalibration(const mat3 &calib) {
-  calibration = calib;
 }
 
 void CameraWidget::paintGL() {
@@ -293,7 +217,7 @@ void CameraWidget::paintGL() {
   VisionBuf *frame = frames[frame_idx].second;
   assert(frame != nullptr);
 
-  updateFrameMat();
+  auto frame_mat = calcFrameMatrix();
 
   glViewport(0, 0, glWidth(), glHeight());
   glBindVertexArray(frame_vao);

selfdrive/ui/qt/widgets/cameraview.h

@@ -34,7 +34,7 @@ class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
 
 public:
   using QOpenGLWidget::QOpenGLWidget;
-  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
+  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
   ~CameraWidget();
   void setBackgroundColor(const QColor &color) { bg = color; }
   void setFrameId(int frame_id) { draw_frame_id = frame_id; }
@@ -51,21 +51,17 @@ signals:
 protected:
   void paintGL() override;
   void initializeGL() override;
-  void resizeGL(int w, int h) override { updateFrameMat(); }
   void showEvent(QShowEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
-  virtual void updateFrameMat();
+  virtual mat4 calcFrameMatrix();
-  void updateCalibration(const mat3 &calib);
   void vipcThread();
   void clearFrames();
 
   int glWidth();
   int glHeight();
 
-  bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
   GLuint textures[2];
-  mat4 frame_mat = {};
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
 
@@ -81,14 +77,6 @@ protected:
   std::atomic<VisionStreamType> requested_stream_type;
   std::set<VisionStreamType> available_streams;
   QThread *vipc_thread = nullptr;
-
-  // Calibration
-  float x_offset = 0;
-  float y_offset = 0;
-  float zoom = 1.0;
-  mat3 calibration = DEFAULT_CALIBRATION;
-  mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
-
   std::recursive_mutex frame_lock;
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;

selfdrive/ui/qt/widgets/keyboard.cc

@@ -11,7 +11,7 @@
 const QString BACKSPACE_KEY = "⌫";
 const QString ENTER_KEY = "→";
 
-const QMap<QString, int> KEY_STRETCH = {{"  ", 5}, {ENTER_KEY, 2}};
+const QMap<QString, int> KEY_STRETCH = {{"  ", 3}, {ENTER_KEY, 2}};
 
 const QStringList CONTROL_BUTTONS = {"↑", "↓", "ABC", "#+=", "123", BACKSPACE_KEY, ENTER_KEY};
 
@@ -107,7 +107,7 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) {
     {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"},
     {"a", "s", "d", "f", "g", "h", "j", "k", "l"},
     {"↑", "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY},
-    {"123", "  ", ".", ENTER_KEY},
+    {"123", "/", "-", "  ", ".", ENTER_KEY},
   };
   main_layout->addWidget(new KeyboardLayout(this, lowercase));
 

selfdrive/ui/qt/widgets/prime.cc

@@ -246,33 +246,12 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   sp_retain.setRetainSizeWhenHidden(true);
   setSizePolicy(sp_retain);
 
-  // set up API requests
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, [this](PrimeState::Type type) {
-  if (auto dongleId = getDongleId()) {
+    if (type == PrimeState::PRIME_TYPE_UNPAIRED) {
-    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/";
+      mainLayout->setCurrentIndex(0);  // Display "Pair your device" widget
-    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5);
-
-    QObject::connect(repeater, &RequestRepeater::requestDone, this, &SetupWidget::replyFinished);
-  }
-}
-
-void SetupWidget::replyFinished(const QString &response, bool success) {
-  if (!success) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on getting pairing and prime status";
-    return;
-  }
-
-  QJsonObject json = doc.object();
-  bool is_paired = json["is_paired"].toBool();
-  PrimeType prime_type = static_cast<PrimeType>(json["prime_type"].toInt());
-  uiState()->setPrimeType(is_paired ? prime_type : PrimeType::PRIME_TYPE_UNPAIRED);
-
-  if (!is_paired) {
-    mainLayout->setCurrentIndex(0);
     } else {
       popup->reject();
-    mainLayout->setCurrentIndex(1);
+      mainLayout->setCurrentIndex(1);  // Display Wi-Fi prompt widget
     }
+  });
 }

selfdrive/ui/qt/widgets/prime.h

@@ -66,7 +66,4 @@ signals:
 private:
   PairingPopup *popup;
   QStackedWidget *mainLayout;
-
-private slots:
-  void replyFinished(const QString &response, bool success);
 };

selfdrive/ui/tests/test_ui/run.py

@@ -169,6 +169,7 @@ class TestUI:
   def setup(self):
     self.pm = PubMaster(list(DATA.keys()))
     DATA['deviceState'].deviceState.networkType = log.DeviceState.NetworkType.wifi
+    DATA['deviceState'].deviceState.lastAthenaPingTime = 0
     for _ in range(10):
       self.pm.send('deviceState', DATA['deviceState'])
       DATA['deviceState'].clear_write_flag()

selfdrive/ui/translations/main_zh-CHS.ts

@@ -419,11 +419,11 @@
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>等待开始</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>系统无响应</translation>
     </message>
 </context>
 <context>
@@ -476,7 +476,7 @@
     </message>
     <message>
         <source>24/7 LTE connectivity</source>
-        <translation>全天候 LTE 連線</translation>
+        <translation>全天候 LTE 连接</translation>
     </message>
     <message>
         <source>1 year of drive storage</source>
@@ -484,7 +484,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>远程快照</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -419,11 +419,11 @@
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>等待開始</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>系統無回應</translation>
     </message>
 </context>
 <context>
@@ -484,7 +484,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>遠端快照</translation>
     </message>
 </context>
 <context>

selfdrive/ui/ui.cc

@@ -1,13 +1,11 @@
 #include "selfdrive/ui/ui.h"
 
 #include <algorithm>
-#include <cassert>
 #include <cmath>
 
 #include <QtConcurrent>
 
 #include "common/transformations/orientation.hpp"
-#include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
@@ -19,20 +17,10 @@
 // Projects a point in car to space to the corresponding point in full frame
 // image space.
 static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) {
-  const float margin = 500.0f;
+  Eigen::Vector3f input(in_x, in_y, in_z);
-  const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin};
+  auto transformed = s->car_space_transform * input;
-
+  *out = QPointF(transformed.x() / transformed.z(), transformed.y() / transformed.z());
-  const vec3 pt = (vec3){{in_x, in_y, in_z}};
+  return s->clip_region.contains(*out);
-  const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt);
-  const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep);
-
-  // Project.
-  QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]});
-  if (clip_region.contains(point)) {
-    *out = point;
-    return true;
-  }
-  return false;
 }
 
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
@@ -119,29 +107,19 @@ static void update_state(UIState *s) {
   UIScene &scene = s->scene;
 
   if (sm.updated("liveCalibration")) {
+    auto list2rot = [](const capnp::List<float>::Reader &rpy_list) ->Eigen::Matrix3f {
+      return euler2rot({rpy_list[0], rpy_list[1], rpy_list[2]}).cast<float>();
+    };
+
     auto live_calib = sm["liveCalibration"].getLiveCalibration();
-    auto rpy_list = live_calib.getRpyCalib();
+    if (live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED) {
-    auto wfde_list = live_calib.getWideFromDeviceEuler();
+      auto device_from_calib = list2rot(live_calib.getRpyCalib());
-    Eigen::Vector3d rpy;
+      auto wide_from_device = list2rot(live_calib.getWideFromDeviceEuler());
-    Eigen::Vector3d wfde;
+      s->scene.view_from_calib = VIEW_FROM_DEVICE * device_from_calib;
-    if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2];
+      s->scene.view_from_wide_calib = VIEW_FROM_DEVICE * wide_from_device * device_from_calib;
-    if (wfde_list.size() == 3) wfde << wfde_list[0], wfde_list[1], wfde_list[2];
+    } else {
-    Eigen::Matrix3d device_from_calib = euler2rot(rpy);
+      s->scene.view_from_calib = s->scene.view_from_wide_calib = VIEW_FROM_DEVICE;
-    Eigen::Matrix3d wide_from_device = euler2rot(wfde);
+    }
-    Eigen::Matrix3d view_from_device;
-    view_from_device << 0, 1, 0,
-                        0, 0, 1,
-                        1, 0, 0;
-    Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib;
-    Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib;
-    for (int i = 0; i < 3; i++) {
-      for (int j = 0; j < 3; j++) {
-        scene.view_from_calib.v[i*3 + j] = view_from_calib(i, j);
-        scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i, j);
-      }
-    }
-    scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
-    scene.calibration_wide_valid = wfde_list.size() == 3;
   }
   if (sm.updated("pandaStates")) {
     auto pandaStates = sm["pandaStates"].getPandaStates();
@@ -210,13 +188,8 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState",
   });
-
+  prime_state = new PrimeState(this);
-  Params params;
+  language = QString::fromStdString(Params().get("LanguageSetting"));
-  language = QString::fromStdString(params.get("LanguageSetting"));
-  auto prime_value = params.get("PrimeType");
-  if (!prime_value.empty()) {
-    prime_type = static_cast<PrimeType>(std::atoi(prime_value.c_str()));
-  }
 
   // update timer
   timer = new QTimer(this);
@@ -229,31 +202,12 @@ void UIState::update() {
   update_state(this);
   updateStatus();
 
-  if (std::getenv("PRIME_TYPE")) {
-      setPrimeType((PrimeType)atoi(std::getenv("PRIME_TYPE")));
-  }
-
   if (sm->frame % UI_FREQ == 0) {
     watchdog_kick(nanos_since_boot());
   }
   emit uiUpdate(*this);
 }
 
-void UIState::setPrimeType(PrimeType type) {
-  if (type != prime_type) {
-    bool prev_prime = hasPrime();
-
-    prime_type = type;
-    Params().put("PrimeType", std::to_string(prime_type));
-    emit primeTypeChanged(prime_type);
-
-    bool prime = hasPrime();
-    if (prev_prime != prime) {
-      emit primeChanged(prime);
-    }
-  }
-}
-
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
   resetInteractiveTimeout();

selfdrive/ui/ui.h

@@ -1,20 +1,20 @@
 #pragma once
 
+#include <eigen3/Eigen/Dense>
 #include <memory>
 #include <string>
 
-#include <QObject>
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
 #include <QPolygonF>
-#include <QTransform>
 
 #include "cereal/messaging/messaging.h"
 #include "common/mat.h"
 #include "common/params.h"
-#include "common/timing.h"
+#include "common/util.h"
 #include "system/hardware/hw.h"
+#include "selfdrive/ui/qt/prime_state.h"
 
 const int UI_BORDER_SIZE = 30;
 const int UI_HEADER_HEIGHT = 420;
@@ -24,15 +24,22 @@ const int BACKLIGHT_OFFROAD = 50;
 
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
-constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
+const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
-constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
+  0.0, 1.0, 0.0,
+  0.0, 0.0, 1.0,
+  1.0, 0.0, 0.0).finished();
+
+const Eigen::Matrix3f FCAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
+  2648.0, 0.0, 1928.0 / 2,
   0.0, 2648.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
+  0.0, 0.0, 1.0).finished();
+
 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
-constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
+const Eigen::Matrix3f ECAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
+  567.0, 0.0, 1928.0 / 2,
   0.0, 567.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
+  0.0, 0.0, 1.0).finished();
 
 typedef enum UIStatus {
   STATUS_DISENGAGED,
@@ -40,30 +47,15 @@ typedef enum UIStatus {
   STATUS_ENGAGED,
 } UIStatus;
 
-enum PrimeType {
-  PRIME_TYPE_UNKNOWN = -2,
-  PRIME_TYPE_UNPAIRED = -1,
-  PRIME_TYPE_NONE = 0,
-  PRIME_TYPE_MAGENTA = 1,
-  PRIME_TYPE_LITE = 2,
-  PRIME_TYPE_BLUE = 3,
-  PRIME_TYPE_MAGENTA_NEW = 4,
-  PRIME_TYPE_PURPLE = 5,
-};
-
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
   [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 };
 
-
 typedef struct UIScene {
-  bool calibration_valid = false;
+  Eigen::Matrix3f view_from_calib = VIEW_FROM_DEVICE;
-  bool calibration_wide_valid  = false;
+  Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
-  bool wide_cam = true;
-  mat3 view_from_calib = DEFAULT_CALIBRATION;
-  mat3 view_from_wide_calib = DEFAULT_CALIBRATION;
   cereal::PandaState::PandaType pandaType;
 
   // modelV2
@@ -94,26 +86,19 @@ public:
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
 
-  void setPrimeType(PrimeType type);
-  inline PrimeType primeType() const { return prime_type; }
-  inline bool hasPrime() const { return prime_type > PrimeType::PRIME_TYPE_NONE; }
-
-  int fb_w = 0, fb_h = 0;
-
   std::unique_ptr<SubMaster> sm;
-
   UIStatus status;
   UIScene scene = {};
 
   QString language;
+  PrimeState *prime_state;
 
-  QTransform car_space_transform;
+  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
+  QRectF clip_region;
 
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
-  void primeChanged(bool prime);
-  void primeTypeChanged(PrimeType prime_type);
 
 private slots:
   void update();
@@ -121,7 +106,6 @@ private slots:
 private:
   QTimer *timer;
   bool started_prev = false;
-  PrimeType prime_type = PrimeType::PRIME_TYPE_UNKNOWN;
 };
 
 UIState *uiState();
@@ -166,7 +150,6 @@ void ui_update_params(UIState *s);
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
 void update_model(UIState *s,
                   const cereal::ModelDataV2::Reader &model);
-void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd);
 void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);

selfdrive/ui/watch3.cc

@@ -19,14 +19,14 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
   }
 
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
   }
 
   return a.exec();

system/webrtc/tests/test_stream_session.py

@@ -50,7 +50,7 @@ class TestStreamSession:
     tested_msgs = [
       {"type": "customReservedRawData0", "data": "test"}, # primitive
       {"type": "can", "data": [{"address": 0, "dat": "", "src": 0}]}, # list
-      {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
+      {"type": "testJoystickDEPRECATED", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
     ]
 
     mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster)

tinygrad_repo

@@ -1 +1 @@
-Subproject commit ae5d1407ee844a97a52ad3756835d38e7e2b9e1b
+Subproject commit f51aa0fc7cdbac710e640172db280cfb747d2718

tools/cabana/videowidget.cc

@@ -148,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QStackedLayout *stacked = new QStackedLayout();
   stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD, false));
+  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   stacked->addWidget(alert_label = new InfoLabel(this));
@@ -420,8 +420,8 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
   }
 }
 
-StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent)
+StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
-    : CameraWidget(stream_name, stream_type, zoom, parent) {
+    : CameraWidget(stream_name, stream_type, parent) {
   fade_animation = new QPropertyAnimation(this, "overlayOpacity");
   fade_animation->setDuration(500);
   fade_animation->setStartValue(0.2f);

tools/cabana/videowidget.h

@@ -64,7 +64,7 @@ class StreamCameraView : public CameraWidget {
   Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)
 
 public:
-  StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr);
+  StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
   void paintGL() override;
   void showPausedOverlay() { fade_animation->start(); }
   float overlayOpacity() const { return overlay_opacity; }