From a1fe0701e90c822bf616db29507ebb70ae926184 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 25 Aug 2023 02:09:26 +0800 Subject: [PATCH] ui: remove Q_PROPERTY from `AnnotatedCameraWidget` (#28745) old-commit-hash: b234cb022356baceba3fb4a990c7c483216bd860 --- selfdrive/ui/qt/onroad.cc | 47 +++++++++++++++------------------------ selfdrive/ui/qt/onroad.h | 13 ----------- 2 files changed, 18 insertions(+), 42 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 1b05509ae8..d0b82207e6 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -283,53 +283,42 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { 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(); - float set_speed = cs_alive ? v_cruise : SET_SPEED_NA; - bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA; - if (cruise_set && !s.scene.is_metric) { - set_speed *= KM_TO_MILE; + setSpeed = cs_alive ? v_cruise : SET_SPEED_NA; + is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA; + if (is_cruise_set && !s.scene.is_metric) { + setSpeed *= KM_TO_MILE; } // Handle older routes where vEgoCluster is not set - float v_ego; - if (car_state.getVEgoCluster() == 0.0 && !v_ego_cluster_seen) { - v_ego = car_state.getVEgo(); - } else { - v_ego = car_state.getVEgoCluster(); - v_ego_cluster_seen = true; - } - float cur_speed = cs_alive ? std::max(0.0, v_ego) : 0.0; - cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; + v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; + float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); + speed = cs_alive ? std::max(0.0, v_ego) : 0.0; + speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; auto speed_limit_sign = nav_instruction.getSpeedLimitSign(); - float speed_limit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; - speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); - - setProperty("speedLimit", speed_limit); - setProperty("has_us_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); - setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); + speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; + speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); - setProperty("is_cruise_set", cruise_set); - setProperty("is_metric", s.scene.is_metric); - setProperty("speed", cur_speed); - setProperty("setSpeed", set_speed); - setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph")); - setProperty("hideBottomIcons", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE)); - setProperty("status", s.status); + 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); + status = s.status; // update engageability/experimental mode button experimental_btn->updateState(s); // update DM icon auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState(); - setProperty("dmActive", dm_state.getIsActiveMode()); - setProperty("rightHandDM", dm_state.getIsRHD()); + dmActive = dm_state.getIsActiveMode(); + rightHandDM = dm_state.getIsRHD(); // DM icon transition dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index c94b1947d2..b3ba411453 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -65,19 +65,6 @@ private: // container window for the NVG UI class AnnotatedCameraWidget : public CameraWidget { Q_OBJECT - Q_PROPERTY(float speed MEMBER speed); - Q_PROPERTY(QString speedUnit MEMBER speedUnit); - Q_PROPERTY(float setSpeed MEMBER setSpeed); - Q_PROPERTY(float speedLimit MEMBER speedLimit); - Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set); - Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit); - Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit); - Q_PROPERTY(bool is_metric MEMBER is_metric); - - Q_PROPERTY(bool dmActive MEMBER dmActive); - Q_PROPERTY(bool hideBottomIcons MEMBER hideBottomIcons); - Q_PROPERTY(bool rightHandDM MEMBER rightHandDM); - Q_PROPERTY(int status MEMBER status); public: explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);