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ui.cc: remove variables from UIScene, use event::Reader to get data (#1585)

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* use struct to store lead status

* remove white space

* use RadarState::LeadData::Reader

* use reader to get thermal data

* use reader

* continue

* remove variables

reset submodules,fix some errors

reset submodules

revert

* remove s->scene.gps_planner_active

* modify

* cleanup

* done

* resolve conflict

* remove irrelevant comment

* remove white space
old-commit-hash: d720f28ecb
commatwo_master
Dean Lee 5 years ago committed by GitHub
parent 5c30b96932
commit 92b5c00d0e
4 changed files with 78 additions and 154 deletions
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  1. 66
      selfdrive/ui/paint.cc
  2. 12
      selfdrive/ui/sidebar.cc
  3. 107
      selfdrive/ui/ui.cc
  4. 47
      selfdrive/ui/ui.hpp

66
selfdrive/ui/paint.cc
Unescape View File

@ -110,11 +110,13 @@ static void ui_draw_circle_image(NVGcontext *vg, float x, float y, int size, int
ui_draw_circle_image(vg, x, y, size, image, nvgRGBA(0, 0, 0, (255 * bg_alpha)), img_alpha); ui_draw_circle_image(vg, x, y, size, image, nvgRGBA(0, 0, 0, (255 * bg_alpha)), img_alpha);
} }
static void draw_lead(UIState *s, float d_rel, float v_rel, float y_rel){ static void draw_lead(UIState *s, const cereal::RadarState::LeadData::Reader &lead){
// Draw lead car indicator // Draw lead car indicator
float fillAlpha = 0; float fillAlpha = 0;
float speedBuff = 10.; float speedBuff = 10.;
float leadBuff = 40.; float leadBuff = 40.;
float d_rel = lead.getDRel();
float v_rel = lead.getVRel();
if (d_rel < leadBuff) { if (d_rel < leadBuff) {
fillAlpha = 255*(1.0-(d_rel/leadBuff)); fillAlpha = 255*(1.0-(d_rel/leadBuff));
if (v_rel < 0) { if (v_rel < 0) {
@ -122,7 +124,7 @@ static void draw_lead(UIState *s, float d_rel, float v_rel, float y_rel){
} }
fillAlpha = (int)(fmin(fillAlpha, 255)); fillAlpha = (int)(fmin(fillAlpha, 255));
} }
draw_chevron(s, d_rel, y_rel, 25, nvgRGBA(201, 34, 49, fillAlpha), COLOR_YELLOW); draw_chevron(s, d_rel, lead.getYRel(), 25, nvgRGBA(201, 34, 49, fillAlpha), COLOR_YELLOW);
} }
static void ui_draw_lane_line(UIState *s, const model_path_vertices_data *pvd, NVGcolor color) { static void ui_draw_lane_line(UIState *s, const model_path_vertices_data *pvd, NVGcolor color) {
@ -154,7 +156,7 @@ static void update_track_data(UIState *s, bool is_mpc, track_vertices_data *pvd)
bool started = false; bool started = false;
float off = is_mpc?0.3:0.5; float off = is_mpc?0.3:0.5;
float lead_d = scene->lead_d_rel*2.; float lead_d = scene->lead_data[0].getDRel()*2.;
float path_height = is_mpc?(lead_d>5.)?fmin(lead_d, 25.)-fmin(lead_d*0.35, 10.):20. float path_height = is_mpc?(lead_d>5.)?fmin(lead_d, 25.)-fmin(lead_d*0.35, 10.):20.
:(lead_d>0.)?fmin(lead_d, 50.)-fmin(lead_d*0.35, 10.):49.; :(lead_d>0.)?fmin(lead_d, 50.)-fmin(lead_d*0.35, 10.):49.;
pvd->cnt = 0; pvd->cnt = 0;
@ -205,7 +207,7 @@ static void update_all_track_data(UIState *s) {
// Draw vision path // Draw vision path
update_track_data(s, false, &s->track_vertices[0]); update_track_data(s, false, &s->track_vertices[0]);
if (scene->engaged) { if (scene->controls_state.getEnabled()) {
// Draw MPC path when engaged // Draw MPC path when engaged
update_track_data(s, true, &s->track_vertices[1]); update_track_data(s, true, &s->track_vertices[1]);
} }
@ -340,10 +342,9 @@ static void ui_draw_lane(UIState *s, const PathData *path, model_path_vertices_d
static void ui_draw_vision_lanes(UIState *s) { static void ui_draw_vision_lanes(UIState *s) {
const UIScene *scene = &s->scene; const UIScene *scene = &s->scene;
model_path_vertices_data *pvd = &s->model_path_vertices[0]; model_path_vertices_data *pvd = &s->model_path_vertices[0];
if(s->model_changed) { if(s->sm->updated("model")) {
update_all_lane_lines_data(s, scene->model.left_lane, pvd); update_all_lane_lines_data(s, scene->model.left_lane, pvd);
update_all_lane_lines_data(s, scene->model.right_lane, pvd + MODEL_LANE_PATH_CNT); update_all_lane_lines_data(s, scene->model.right_lane, pvd + MODEL_LANE_PATH_CNT);
s->model_changed = false;
} }
// Draw left lane edge // Draw left lane edge
ui_draw_lane( ui_draw_lane(
@ -357,13 +358,12 @@ static void ui_draw_vision_lanes(UIState *s) {
pvd + MODEL_LANE_PATH_CNT, pvd + MODEL_LANE_PATH_CNT,
nvgRGBAf(1.0, 1.0, 1.0, scene->model.right_lane.prob)); nvgRGBAf(1.0, 1.0, 1.0, scene->model.right_lane.prob));
if(s->livempc_or_radarstate_changed) { if(s->sm->updated("radarState")) {
update_all_track_data(s); update_all_track_data(s);
s->livempc_or_radarstate_changed = false;
} }
// Draw vision path // Draw vision path
ui_draw_track(s, false, &s->track_vertices[0]); ui_draw_track(s, false, &s->track_vertices[0]);
if (scene->engaged) { if (scene->controls_state.getEnabled()) {
// Draw MPC path when engaged // Draw MPC path when engaged
ui_draw_track(s, true, &s->track_vertices[1]); ui_draw_track(s, true, &s->track_vertices[1]);
} }
@ -394,11 +394,11 @@ static void ui_draw_world(UIState *s) {
// Draw lane edges and vision/mpc tracks // Draw lane edges and vision/mpc tracks
ui_draw_vision_lanes(s); ui_draw_vision_lanes(s);
if (scene->lead_status) { if (scene->lead_data[0].getStatus()) {
draw_lead(s, scene->lead_d_rel, scene->lead_v_rel, scene->lead_y_rel); draw_lead(s, scene->lead_data[0]);
} }
if ((scene->lead_status2) && (std::abs(scene->lead_d_rel - scene->lead_d_rel2) > 3.0)) { if (scene->lead_data[1].getStatus() && (std::abs(scene->lead_data[0].getDRel() - scene->lead_data[1].getDRel()) > 3.0)) {
draw_lead(s, scene->lead_d_rel2, scene->lead_v_rel2, scene->lead_y_rel2); draw_lead(s, scene->lead_data[1]);
} }
nvgRestore(s->vg); nvgRestore(s->vg);
} }
@ -408,7 +408,7 @@ static void ui_draw_vision_maxspeed(UIState *s) {
return; return;
}*/ }*/
char maxspeed_str[32]; char maxspeed_str[32];
float maxspeed = s->scene.v_cruise; float maxspeed = s->scene.controls_state.getVCruise();
int maxspeed_calc = maxspeed * 0.6225 + 0.5; int maxspeed_calc = maxspeed * 0.6225 + 0.5;
float speedlimit = s->scene.speedlimit; float speedlimit = s->scene.speedlimit;
int speedlim_calc = speedlimit * 2.2369363 + 0.5; int speedlim_calc = speedlimit * 2.2369363 + 0.5;
@ -421,7 +421,7 @@ static void ui_draw_vision_maxspeed(UIState *s) {
bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA); bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA);
bool is_speedlim_valid = s->scene.speedlimit_valid; bool is_speedlim_valid = s->scene.speedlimit_valid;
bool is_set_over_limit = is_speedlim_valid && s->scene.engaged && bool is_set_over_limit = is_speedlim_valid && s->scene.controls_state.getEnabled() &&
is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off); is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off);
int viz_maxspeed_w = 184; int viz_maxspeed_w = 184;
@ -476,7 +476,7 @@ static void ui_draw_vision_speedlimit(UIState *s) {
if (s->is_ego_over_limit) { if (s->is_ego_over_limit) {
hysteresis_offset = 0.0; hysteresis_offset = 0.0;
} }
s->is_ego_over_limit = is_speedlim_valid && s->scene.v_ego > (speedlimit + s->speed_lim_off + hysteresis_offset); s->is_ego_over_limit = is_speedlim_valid && s->scene.controls_state.getVEgo() > (speedlimit + s->speed_lim_off + hysteresis_offset);
int viz_speedlim_w = 180; int viz_speedlim_w = 180;
int viz_speedlim_h = 202; int viz_speedlim_h = 202;
@ -522,9 +522,10 @@ static void ui_draw_vision_speedlimit(UIState *s) {
static void ui_draw_vision_speed(UIState *s) { static void ui_draw_vision_speed(UIState *s) {
const UIScene *scene = &s->scene; const UIScene *scene = &s->scene;
float speed = s->scene.v_ego * 2.2369363 + 0.5; float v_ego = s->scene.controls_state.getVEgo();
float speed = v_ego * 2.2369363 + 0.5;
if (s->is_metric){ if (s->is_metric){
speed = s->scene.v_ego * 3.6 + 0.5; speed = v_ego * 3.6 + 0.5;
} }
const int viz_speed_w = 280; const int viz_speed_w = 280;
const int viz_speed_x = scene->ui_viz_rx+((scene->ui_viz_rw/2)-(viz_speed_w/2)); const int viz_speed_x = scene->ui_viz_rx+((scene->ui_viz_rw/2)-(viz_speed_w/2));
@ -543,7 +544,7 @@ static void ui_draw_vision_event(UIState *s) {
const int viz_event_w = 220; const int viz_event_w = 220;
const int viz_event_x = ((s->scene.ui_viz_rx + s->scene.ui_viz_rw) - (viz_event_w + (bdr_s*2))); const int viz_event_x = ((s->scene.ui_viz_rx + s->scene.ui_viz_rw) - (viz_event_w + (bdr_s*2)));
const int viz_event_y = (box_y + (bdr_s*1.5)); const int viz_event_y = (box_y + (bdr_s*1.5));
if (s->scene.decel_for_model && s->scene.engaged) { if (s->scene.controls_state.getDecelForModel() && s->scene.controls_state.getEnabled()) {
// draw winding road sign // draw winding road sign
const int img_turn_size = 160*1.5; 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); 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);
@ -561,7 +562,7 @@ static void ui_draw_vision_event(UIState *s) {
color = nvgRGBA(23, 51, 73, 255); color = nvgRGBA(23, 51, 73, 255);
} }
if (s->scene.engageable){ 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);
} }
} }
@ -578,7 +579,7 @@ static void ui_draw_vision_face(UIState *s) {
const int face_size = 96; const int face_size = 96;
const int face_x = (s->scene.ui_viz_rx + face_size + (bdr_s * 2)); const int face_x = (s->scene.ui_viz_rx + face_size + (bdr_s * 2));
const int face_y = (footer_y + ((footer_h - face_size) / 2)); const int face_y = (footer_y + ((footer_h - face_size) / 2));
ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, s->scene.monitoring_active); ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, s->scene.controls_state.getDriverMonitoringOn());
} }
static void ui_draw_driver_view(UIState *s) { static void ui_draw_driver_view(UIState *s) {
@ -610,30 +611,31 @@ static void ui_draw_driver_view(UIState *s) {
ui_draw_rect(s->vg, valid_frame_x + valid_frame_w, box_y, frame_w - valid_frame_w - (valid_frame_x - frame_x), box_h, nvgRGBA(23, 51, 73, 255)); ui_draw_rect(s->vg, valid_frame_x + valid_frame_w, box_y, frame_w - valid_frame_w - (valid_frame_x - frame_x), box_h, nvgRGBA(23, 51, 73, 255));
// draw face box // draw face box
if (scene->face_prob > 0.4) { if (scene->driver_state.getFaceProb() > 0.4) {
auto fxy_list = scene->driver_state.getFacePosition();
const int face_x = fxy_list[0];
const int face_y = fxy_list[1];
int fbox_x; int fbox_x;
int fbox_y = box_y + (scene->face_y + 0.5) * box_h - 0.5 * 0.6 * box_h / 2;; int fbox_y = box_y + (face_y + 0.5) * box_h - 0.5 * 0.6 * box_h / 2;;
if (!scene->is_rhd) { if (!scene->is_rhd) {
fbox_x = valid_frame_x + (1 - (scene->face_x + 0.5)) * (box_h / 2) - 0.5 * 0.6 * box_h / 2; fbox_x = valid_frame_x + (1 - (face_x + 0.5)) * (box_h / 2) - 0.5 * 0.6 * box_h / 2;
} else { } else {
fbox_x = valid_frame_x + valid_frame_w - box_h / 2 + (scene->face_x + 0.5) * (box_h / 2) - 0.5 * 0.6 * box_h / 2; fbox_x = valid_frame_x + valid_frame_w - box_h / 2 + (face_x + 0.5) * (box_h / 2) - 0.5 * 0.6 * box_h / 2;
} }
if (std::abs(scene->face_x) <= 0.35 && std::abs(scene->face_y) <= 0.4) { if (std::abs(face_x) <= 0.35 && std::abs(face_y) <= 0.4) {
ui_draw_rect(s->vg, fbox_x, fbox_y, 0.6 * box_h / 2, 0.6 * box_h / 2, ui_draw_rect(s->vg, fbox_x, fbox_y, 0.6 * box_h / 2, 0.6 * box_h / 2,
nvgRGBAf(1.0, 1.0, 1.0, 0.8 - ((std::abs(scene->face_x) > std::abs(scene->face_y) ? std::abs(scene->face_x) : std::abs(scene->face_y))) * 0.6 / 0.375), nvgRGBAf(1.0, 1.0, 1.0, 0.8 - ((std::abs(face_x) > std::abs(face_y) ? std::abs(face_x) : std::abs(face_y))) * 0.6 / 0.375),
35, 10); 35, 10);
} else { } else {
ui_draw_rect(s->vg, fbox_x, fbox_y, 0.6 * box_h / 2, 0.6 * box_h / 2, nvgRGBAf(1.0, 1.0, 1.0, 0.2), 35, 10); ui_draw_rect(s->vg, fbox_x, fbox_y, 0.6 * box_h / 2, 0.6 * box_h / 2, nvgRGBAf(1.0, 1.0, 1.0, 0.2), 35, 10);
} }
} else {
;
} }
// draw face icon // draw face icon
const int face_size = 85; const int face_size = 85;
const int face_x = (valid_frame_x + face_size + (bdr_s * 2)) + (scene->is_rhd ? valid_frame_w - box_h / 2:0); const int x = (valid_frame_x + face_size + (bdr_s * 2)) + (scene->is_rhd ? valid_frame_w - box_h / 2:0);
const int face_y = (box_y + box_h - face_size - bdr_s - (bdr_s * 1.5)); const int y = (box_y + box_h - face_size - bdr_s - (bdr_s * 1.5));
ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, scene->face_prob > 0.4); ui_draw_circle_image(s->vg, x, y, face_size, s->img_face, scene->driver_state.getFaceProb() > 0.4);
} }
static void ui_draw_vision_header(UIState *s) { static void ui_draw_vision_header(UIState *s) {

12
selfdrive/ui/sidebar.cc
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@ -34,7 +34,7 @@ static void ui_draw_sidebar_network_strength(UIState *s) {
const int network_img_w = 176; const int network_img_w = 176;
const int network_img_x = !s->scene.uilayout_sidebarcollapsed ? 58 : -(sbr_w); const int network_img_x = !s->scene.uilayout_sidebarcollapsed ? 58 : -(sbr_w);
const int network_img_y = 196; const int network_img_y = 196;
const int img_idx = s->scene.networkType == cereal::ThermalData::NetworkType::NONE ? 0 : network_strength_map[s->scene.networkStrength]; const int img_idx = s->scene.thermal.getNetworkType() == cereal::ThermalData::NetworkType::NONE ? 0 : network_strength_map[s->scene.thermal.getNetworkStrength()];
ui_draw_image(s->vg, network_img_x, network_img_y, network_img_w, network_img_h, s->img_network[img_idx], 1.0f); ui_draw_image(s->vg, network_img_x, network_img_y, network_img_w, network_img_h, s->img_network[img_idx], 1.0f);
} }
@ -44,10 +44,10 @@ static void ui_draw_sidebar_battery_icon(UIState *s) {
const int battery_img_x = !s->scene.uilayout_sidebarcollapsed ? 160 : -(sbr_w); const int battery_img_x = !s->scene.uilayout_sidebarcollapsed ? 160 : -(sbr_w);
const int battery_img_y = 255; const int battery_img_y = 255;
int battery_img = s->scene.batteryCharging ? s->img_battery_charging : s->img_battery; int battery_img = s->scene.thermal.getBatteryStatus() == "Charging" ? s->img_battery_charging : s->img_battery;
ui_draw_rect(s->vg, battery_img_x + 6, battery_img_y + 5, ui_draw_rect(s->vg, battery_img_x + 6, battery_img_y + 5,
((battery_img_w - 19) * (s->scene.batteryPercent * 0.01)), battery_img_h - 11, COLOR_WHITE); ((battery_img_w - 19) * (s->scene.thermal.getBatteryPercent() * 0.01)), battery_img_h - 11, COLOR_WHITE);
ui_draw_image(s->vg, battery_img_x, battery_img_y, battery_img_w, battery_img_h, battery_img, 1.0f); ui_draw_image(s->vg, battery_img_x, battery_img_y, battery_img_w, battery_img_h, battery_img, 1.0f);
} }
@ -64,7 +64,7 @@ static void ui_draw_sidebar_network_type(UIState *s) {
const int network_y = 273; const int network_y = 273;
const int network_w = 100; const int network_w = 100;
const int network_h = 100; const int network_h = 100;
const char *network_type = network_type_map[s->scene.networkType]; const char *network_type = network_type_map[s->scene.thermal.getNetworkType()];
nvgFillColor(s->vg, COLOR_WHITE); nvgFillColor(s->vg, COLOR_WHITE);
nvgFontSize(s->vg, 48); nvgFontSize(s->vg, 48);
nvgFontFaceId(s->vg, s->font_sans_regular); nvgFontFaceId(s->vg, s->font_sans_regular);
@ -127,12 +127,12 @@ static void ui_draw_sidebar_temp_metric(UIState *s) {
char temp_value_str[32]; char temp_value_str[32];
char temp_value_unit[32]; char temp_value_unit[32];
const int temp_y_offset = 0; const int temp_y_offset = 0;
snprintf(temp_value_str, sizeof(temp_value_str), "%d", s->scene.paTemp); snprintf(temp_value_str, sizeof(temp_value_str), "%d", s->scene.thermal.getPa0());
snprintf(temp_value_unit, sizeof(temp_value_unit), "%s", "°C"); snprintf(temp_value_unit, sizeof(temp_value_unit), "%s", "°C");
snprintf(temp_label_str, sizeof(temp_label_str), "%s", "TEMP"); snprintf(temp_label_str, sizeof(temp_label_str), "%s", "TEMP");
strcat(temp_value_str, temp_value_unit); strcat(temp_value_str, temp_value_unit);
ui_draw_sidebar_metric(s, temp_label_str, temp_value_str, temp_severity_map[s->scene.thermalStatus], temp_y_offset, NULL); ui_draw_sidebar_metric(s, temp_label_str, temp_value_str, temp_severity_map[s->scene.thermal.getThermalStatus()], temp_y_offset, NULL);
} }
static void ui_draw_sidebar_panda_metric(UIState *s) { static void ui_draw_sidebar_panda_metric(UIState *s) {

107
selfdrive/ui/ui.cc
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@ -207,9 +207,6 @@ static void ui_init(UIState *s) {
set_awake(s, true); set_awake(s, true);
s->model_changed = false;
s->livempc_or_radarstate_changed = false;
ui_nvg_init(s); ui_nvg_init(s);
} }
@ -228,18 +225,16 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->cur_vision_idx = -1; s->cur_vision_idx = -1;
s->cur_vision_front_idx = -1; s->cur_vision_front_idx = -1;
s->scene = (UIScene){ s->scene.frontview = getenv("FRONTVIEW") != NULL;
.frontview = getenv("FRONTVIEW") != NULL, s->scene.fullview = getenv("FULLVIEW") != NULL;
.fullview = getenv("FULLVIEW") != NULL, s->scene.transformed_width = ui_info.transformed_width;
.transformed_width = ui_info.transformed_width, s->scene.transformed_height = ui_info.transformed_height;
.transformed_height = ui_info.transformed_height, s->scene.front_box_x = ui_info.front_box_x;
.front_box_x = ui_info.front_box_x, s->scene.front_box_y = ui_info.front_box_y;
.front_box_y = ui_info.front_box_y, s->scene.front_box_width = ui_info.front_box_width;
.front_box_width = ui_info.front_box_width, s->scene.front_box_height = ui_info.front_box_height;
.front_box_height = ui_info.front_box_height, s->scene.world_objects_visible = false; // Invisible until we receive a calibration message.
.world_objects_visible = false, // Invisible until we receive a calibration message. s->scene.gps_planner_active = false;
.gps_planner_active = false,
};
s->rgb_width = back_bufs.width; s->rgb_width = back_bufs.width;
s->rgb_height = back_bufs.height; s->rgb_height = back_bufs.height;
@ -307,23 +302,12 @@ void handle_message(UIState *s, SubMaster &sm) {
UIScene &scene = s->scene; UIScene &scene = s->scene;
if (s->started && sm.updated("controlsState")) { if (s->started && sm.updated("controlsState")) {
auto event = sm["controlsState"]; auto event = sm["controlsState"];
auto data = event.getControlsState(); scene.controls_state = event.getControlsState();
s->controls_timeout = 1 * UI_FREQ; s->controls_timeout = 1 * UI_FREQ;
scene.frontview = data.getRearViewCam(); scene.frontview = scene.controls_state.getRearViewCam();
if (!scene.frontview){ s->controls_seen = true; } if (!scene.frontview){ s->controls_seen = true; }
if (data.getVCruise() != scene.v_cruise) { auto alert_sound = scene.controls_state.getAlertSound();
scene.v_cruise_update_ts = event.getLogMonoTime();
}
scene.v_cruise = data.getVCruise();
scene.v_ego = data.getVEgo();
scene.curvature = data.getCurvature();
scene.engaged = data.getEnabled();
scene.engageable = data.getEngageable();
scene.gps_planner_active = data.getGpsPlannerActive();
scene.monitoring_active = data.getDriverMonitoringOn();
scene.decel_for_model = data.getDecelForModel();
auto alert_sound = data.getAlertSound();
const auto sound_none = cereal::CarControl::HUDControl::AudibleAlert::NONE; const auto sound_none = cereal::CarControl::HUDControl::AudibleAlert::NONE;
if (alert_sound != s->alert_sound){ if (alert_sound != s->alert_sound){
if (s->alert_sound != sound_none){ if (s->alert_sound != sound_none){
@ -331,34 +315,33 @@ void handle_message(UIState *s, SubMaster &sm) {
} }
if (alert_sound != sound_none){ if (alert_sound != sound_none){
play_alert_sound(alert_sound); play_alert_sound(alert_sound);
s->alert_type = data.getAlertType(); s->alert_type = scene.controls_state.getAlertType();
} }
s->alert_sound = alert_sound; s->alert_sound = alert_sound;
} }
scene.alert_text1 = data.getAlertText1(); scene.alert_text1 = scene.controls_state.getAlertText1();
scene.alert_text2 = data.getAlertText2(); scene.alert_text2 = scene.controls_state.getAlertText2();
scene.alert_ts = event.getLogMonoTime(); scene.alert_size = scene.controls_state.getAlertSize();
scene.alert_size = data.getAlertSize(); auto alertStatus = scene.controls_state.getAlertStatus();
auto alertStatus = data.getAlertStatus();
if (alertStatus == cereal::ControlsState::AlertStatus::USER_PROMPT) { if (alertStatus == cereal::ControlsState::AlertStatus::USER_PROMPT) {
update_status(s, STATUS_WARNING); update_status(s, STATUS_WARNING);
} else if (alertStatus == cereal::ControlsState::AlertStatus::CRITICAL) { } else if (alertStatus == cereal::ControlsState::AlertStatus::CRITICAL) {
update_status(s, STATUS_ALERT); update_status(s, STATUS_ALERT);
} else{ } else{
update_status(s, scene.engaged ? STATUS_ENGAGED : STATUS_DISENGAGED); update_status(s, scene.controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED);
} }
scene.alert_blinkingrate = data.getAlertBlinkingRate(); float alert_blinkingrate = scene.controls_state.getAlertBlinkingRate();
if (scene.alert_blinkingrate > 0.) { if (alert_blinkingrate > 0.) {
if (s->alert_blinked) { if (s->alert_blinked) {
if (s->alert_blinking_alpha > 0.0 && s->alert_blinking_alpha < 1.0) { if (s->alert_blinking_alpha > 0.0 && s->alert_blinking_alpha < 1.0) {
s->alert_blinking_alpha += (0.05*scene.alert_blinkingrate); s->alert_blinking_alpha += (0.05*alert_blinkingrate);
} else { } else {
s->alert_blinked = false; s->alert_blinked = false;
} }
} else { } else {
if (s->alert_blinking_alpha > 0.25) { if (s->alert_blinking_alpha > 0.25) {
s->alert_blinking_alpha -= (0.05*scene.alert_blinkingrate); s->alert_blinking_alpha -= (0.05*alert_blinkingrate);
} else { } else {
s->alert_blinking_alpha += 0.25; s->alert_blinking_alpha += 0.25;
s->alert_blinked = true; s->alert_blinked = true;
@ -368,18 +351,8 @@ void handle_message(UIState *s, SubMaster &sm) {
} }
if (sm.updated("radarState")) { if (sm.updated("radarState")) {
auto data = sm["radarState"].getRadarState(); auto data = sm["radarState"].getRadarState();
scene.lead_data[0] = data.getLeadOne();
auto leaddatad = data.getLeadOne(); scene.lead_data[1] = data.getLeadTwo();
scene.lead_status = leaddatad.getStatus();
scene.lead_d_rel = leaddatad.getDRel();
scene.lead_y_rel = leaddatad.getYRel();
scene.lead_v_rel = leaddatad.getVRel();
auto leaddatad2 = data.getLeadTwo();
scene.lead_status2 = leaddatad2.getStatus();
scene.lead_d_rel2 = leaddatad2.getDRel();
scene.lead_y_rel2 = leaddatad2.getYRel();
scene.lead_v_rel2 = leaddatad2.getVRel();
s->livempc_or_radarstate_changed = true;
} }
if (sm.updated("liveCalibration")) { if (sm.updated("liveCalibration")) {
scene.world_objects_visible = true; scene.world_objects_visible = true;
@ -390,7 +363,6 @@ void handle_message(UIState *s, SubMaster &sm) {
} }
if (sm.updated("model")) { if (sm.updated("model")) {
read_model(scene.model, sm["model"].getModel()); read_model(scene.model, sm["model"].getModel());
s->model_changed = true;
} }
// else if (which == cereal::Event::LIVE_MPC) { // else if (which == cereal::Event::LIVE_MPC) {
// auto data = event.getLiveMpc(); // auto data = event.getLiveMpc();
@ -406,9 +378,6 @@ void handle_message(UIState *s, SubMaster &sm) {
auto data = sm["uiLayoutState"].getUiLayoutState(); auto data = sm["uiLayoutState"].getUiLayoutState();
s->active_app = data.getActiveApp(); s->active_app = data.getActiveApp();
scene.uilayout_sidebarcollapsed = data.getSidebarCollapsed(); scene.uilayout_sidebarcollapsed = data.getSidebarCollapsed();
if (data.getMockEngaged() != scene.uilayout_mockengaged) {
scene.uilayout_mockengaged = data.getMockEngaged();
}
} }
#ifdef SHOW_SPEEDLIMIT #ifdef SHOW_SPEEDLIMIT
if (sm.updated("liveMapData")) { if (sm.updated("liveMapData")) {
@ -416,16 +385,7 @@ void handle_message(UIState *s, SubMaster &sm) {
} }
#endif #endif
if (sm.updated("thermal")) { if (sm.updated("thermal")) {
auto data = sm["thermal"].getThermal(); scene.thermal = sm["thermal"].getThermal();
scene.networkType = data.getNetworkType();
scene.networkStrength = data.getNetworkStrength();
scene.batteryPercent = data.getBatteryPercent();
scene.batteryCharging = data.getBatteryStatus() == "Charging";
scene.freeSpace = data.getFreeSpace();
scene.thermalStatus = data.getThermalStatus();
scene.paTemp = data.getPa0();
s->thermal_started = data.getStarted();
} }
if (sm.updated("ubloxGnss")) { if (sm.updated("ubloxGnss")) {
auto data = sm["ubloxGnss"].getUbloxGnss(); auto data = sm["ubloxGnss"].getUbloxGnss();
@ -438,20 +398,15 @@ void handle_message(UIState *s, SubMaster &sm) {
s->hardware_timeout = 5*30; // 5 seconds at 30 fps s->hardware_timeout = 5*30; // 5 seconds at 30 fps
} }
if (sm.updated("driverState")) { if (sm.updated("driverState")) {
auto data = sm["driverState"].getDriverState(); scene.driver_state = sm["driverState"].getDriverState();
scene.face_prob = data.getFaceProb();
auto fxy_list = data.getFacePosition();
scene.face_x = fxy_list[0];
scene.face_y = fxy_list[1];
} }
if (sm.updated("dMonitoringState")) { if (sm.updated("dMonitoringState")) {
auto data = sm["dMonitoringState"].getDMonitoringState(); auto data = sm["dMonitoringState"].getDMonitoringState();
scene.is_rhd = data.getIsRHD(); scene.is_rhd = data.getIsRHD();
scene.awareness_status = data.getAwarenessStatus();
s->preview_started = data.getIsPreview(); s->preview_started = data.getIsPreview();
} }
s->started = s->thermal_started || s->preview_started ; s->started = scene.thermal.getStarted() || s->preview_started ;
// Handle onroad/offroad transition // Handle onroad/offroad transition
if (!s->started) { if (!s->started) {
if (s->status != STATUS_STOPPED) { if (s->status != STATUS_STOPPED) {
@ -471,9 +426,7 @@ void handle_message(UIState *s, SubMaster &sm) {
} }
static void check_messages(UIState *s) { static void check_messages(UIState *s) {
while (true) { if (s->sm->update(0) > 0){
if (s->sm->update(0) == 0)
break;
handle_message(s, *(s->sm)); handle_message(s, *(s->sm));
} }
} }
@ -911,7 +864,7 @@ int main(int argc, char* argv[]) {
if (s->volume_timeout > 0) { if (s->volume_timeout > 0) {
s->volume_timeout--; s->volume_timeout--;
} else { } else {
int volume = fmin(MAX_VOLUME, MIN_VOLUME + s->scene.v_ego / 5); // up one notch every 5 m/s int volume = fmin(MAX_VOLUME, MIN_VOLUME + s->scene.controls_state.getVEgo() / 5); // up one notch every 5 m/s
set_volume(volume); set_volume(volume);
s->volume_timeout = 5 * UI_FREQ; s->volume_timeout = 5 * UI_FREQ;
} }

47
selfdrive/ui/ui.hpp
Unescape View File

@ -90,7 +90,6 @@ const uint8_t bg_colors[][4] = {
[STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xff}, [STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xff},
}; };
typedef struct UIScene { typedef struct UIScene {
int frontview; int frontview;
int fullview; int fullview;
@ -105,61 +104,35 @@ typedef struct UIScene {
bool world_objects_visible; bool world_objects_visible;
mat4 extrinsic_matrix; // Last row is 0 so we can use mat4. mat4 extrinsic_matrix; // Last row is 0 so we can use mat4.
float v_cruise;
uint64_t v_cruise_update_ts;
float v_ego;
bool decel_for_model;
float speedlimit; float speedlimit;
bool speedlimit_valid; bool speedlimit_valid;
bool map_valid;
float curvature;
int engaged;
bool engageable;
bool monitoring_active;
bool is_rhd;
bool map_valid;
bool uilayout_sidebarcollapsed; bool uilayout_sidebarcollapsed;
bool uilayout_mapenabled; bool uilayout_mapenabled;
bool uilayout_mockengaged;
// responsive layout // responsive layout
int ui_viz_rx; int ui_viz_rx;
int ui_viz_rw; int ui_viz_rw;
int ui_viz_ro; int ui_viz_ro;
int lead_status;
float lead_d_rel, lead_y_rel, lead_v_rel;
int lead_status2;
float lead_d_rel2, lead_y_rel2, lead_v_rel2;
float face_prob;
bool is_rhd;
float face_x, face_y;
int front_box_x, front_box_y, front_box_width, front_box_height; int front_box_x, front_box_y, front_box_width, front_box_height;
uint64_t alert_ts;
std::string alert_text1; std::string alert_text1;
std::string alert_text2; std::string alert_text2;
cereal::ControlsState::AlertSize alert_size; cereal::ControlsState::AlertSize alert_size;
float alert_blinkingrate;
float awareness_status;
// Used to show gps planner status // Used to show gps planner status
bool gps_planner_active; bool gps_planner_active;
cereal::ThermalData::NetworkType networkType;
cereal::ThermalData::NetworkStrength networkStrength;
int batteryPercent;
bool batteryCharging;
float freeSpace;
cereal::ThermalData::ThermalStatus thermalStatus;
int paTemp;
cereal::HealthData::HwType hwType; cereal::HealthData::HwType hwType;
int satelliteCount; int satelliteCount;
uint8_t athenaStatus; uint8_t athenaStatus;
cereal::ThermalData::Reader thermal;
cereal::RadarState::LeadData::Reader lead_data[2];
cereal::ControlsState::Reader controls_state;
cereal::DriverState::Reader driver_state;
} UIScene; } UIScene;
typedef struct { typedef struct {
@ -266,17 +239,13 @@ typedef struct UIState {
float alert_blinking_alpha; float alert_blinking_alpha;
bool alert_blinked; bool alert_blinked;
bool started; bool started;
bool thermal_started, preview_started; bool preview_started;
bool vision_seen; bool vision_seen;
std::atomic<float> light_sensor; std::atomic<float> light_sensor;
int touch_fd; int touch_fd;
// Hints for re-calculations and redrawing
bool model_changed;
bool livempc_or_radarstate_changed;
GLuint frame_vao[2], frame_vbo[2], frame_ibo[2]; GLuint frame_vao[2], frame_vbo[2], frame_ibo[2];
mat4 rear_frame_mat, front_frame_mat; mat4 rear_frame_mat, front_frame_mat;

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