|
|
|
|
@ -28,10 +28,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { |
|
|
|
|
const SubMaster &sm = *(s.sm); |
|
|
|
|
|
|
|
|
|
const bool cs_alive = sm.alive("controlsState"); |
|
|
|
|
const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid(); |
|
|
|
|
const auto cs = sm["controlsState"].getControlsState(); |
|
|
|
|
const auto car_state = sm["carState"].getCarState(); |
|
|
|
|
const auto nav_instruction = sm["navInstruction"].getNavInstruction(); |
|
|
|
|
|
|
|
|
|
// Handle older routes where vCruiseCluster is not set
|
|
|
|
|
float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); |
|
|
|
|
@ -47,12 +45,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { |
|
|
|
|
speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0; |
|
|
|
|
speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; |
|
|
|
|
|
|
|
|
|
auto speed_limit_sign = nav_instruction.getSpeedLimitSign(); |
|
|
|
|
speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; |
|
|
|
|
speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); |
|
|
|
|
|
|
|
|
|
has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); |
|
|
|
|
has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); |
|
|
|
|
is_metric = s.scene.is_metric; |
|
|
|
|
speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph"); |
|
|
|
|
hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); |
|
|
|
|
@ -78,30 +70,18 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { |
|
|
|
|
bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); |
|
|
|
|
p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg); |
|
|
|
|
|
|
|
|
|
QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–"; |
|
|
|
|
QString speedStr = QString::number(std::nearbyint(speed)); |
|
|
|
|
QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–"; |
|
|
|
|
|
|
|
|
|
// Draw outer box + border to contain set speed and speed limit
|
|
|
|
|
const int sign_margin = 12; |
|
|
|
|
const int us_sign_height = 186; |
|
|
|
|
const int eu_sign_size = 176; |
|
|
|
|
|
|
|
|
|
// Draw outer box + border to contain set speed
|
|
|
|
|
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; |
|
|
|
|
if (is_metric) set_speed_size.rwidth() = 200; |
|
|
|
|
|
|
|
|
|
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); |
|
|
|
|
p.drawRoundedRect(set_speed_rect, 32, 32); |
|
|
|
|
|
|
|
|
|
// Draw MAX
|
|
|
|
|
QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff); |
|
|
|
|
@ -111,12 +91,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { |
|
|
|
|
max_color = whiteColor(); |
|
|
|
|
} else if (status == STATUS_OVERRIDE) { |
|
|
|
|
max_color = QColor(0x91, 0x9b, 0x95, 0xff); |
|
|
|
|
} else if (speedLimit > 0) { |
|
|
|
|
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 { |
|
|
|
|
max_color = QColor(0xa6, 0xa6, 0xa6, 0xff); |
|
|
|
|
@ -129,35 +103,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { |
|
|
|
|
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) { |
|
|
|
|
p.setPen(Qt::NoPen); |
|
|
|
|
p.setBrush(whiteColor()); |
|
|
|
|
p.drawRoundedRect(sign_rect, 24, 24); |
|
|
|
|
p.setPen(QPen(blackColor(), 6)); |
|
|
|
|
p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16); |
|
|
|
|
|
|
|
|
|
p.setFont(InterFont(28, QFont::DemiBold)); |
|
|
|
|
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")); |
|
|
|
|
p.setFont(InterFont(70, QFont::Bold)); |
|
|
|
|
p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
// EU (Vienna style) sign
|
|
|
|
|
if (has_eu_speed_limit) { |
|
|
|
|
p.setPen(Qt::NoPen); |
|
|
|
|
p.setBrush(whiteColor()); |
|
|
|
|
p.drawEllipse(sign_rect); |
|
|
|
|
p.setPen(QPen(Qt::red, 20)); |
|
|
|
|
p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16)); |
|
|
|
|
|
|
|
|
|
p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold)); |
|
|
|
|
p.setPen(blackColor()); |
|
|
|
|
p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
// current speed
|
|
|
|
|
p.setFont(InterFont(176, QFont::Bold)); |
|
|
|
|
drawText(p, rect().center().x(), 210, speedStr); |
|
|
|
|
|
Dean Lee
10 months ago
committed by
GitHub