ui: combine OnroadHud into NvgWindow (#24369)

* ui: combine OnroadHUD and NVGWindow

* draw hud first

* cleanup

* removed commented line

* fix text rendering

* increase cpu usage

selfdrive/test/test_onroad.py

@@ -26,7 +26,7 @@ PROCS = {
   "./camerad": 26.0,
   "./locationd": 9.1,
   "selfdrive.controls.plannerd": 11.7,
-  "./_ui": 18.4,
+  "./_ui": 21.0,
   "selfdrive.locationd.paramsd": 9.0,
   "./_sensord": 6.17,
   "selfdrive.controls.radard": 4.5,

selfdrive/ui/qt/onroad.cc

@@ -18,18 +18,13 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   stacked_layout->setStackingMode(QStackedLayout::StackAll);
   main_layout->addLayout(stacked_layout);
 
-  QStackedLayout *road_view_layout = new QStackedLayout;
-  road_view_layout->setStackingMode(QStackedLayout::StackAll);
   nvg = new NvgWindow(VISION_STREAM_ROAD, this);
-  road_view_layout->addWidget(nvg);
-  hud = new OnroadHud(this);
-  road_view_layout->addWidget(hud);
 
   QWidget * split_wrapper = new QWidget;
   split = new QHBoxLayout(split_wrapper);
   split->setContentsMargins(0, 0, 0, 0);
   split->setSpacing(0);
-  split->addLayout(road_view_layout);
+  split->addWidget(nvg);
 
   stacked_layout->addWidget(split_wrapper);
 
@@ -57,7 +52,7 @@ void OnroadWindow::updateState(const UIState &s) {
     alerts->updateAlert(alert, bgColor);
   }
 
-  hud->updateState(s);
+  nvg->updateState(s);
 
   if (bg != bgColor) {
     // repaint border
@@ -167,15 +162,14 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
 }
 
-// OnroadHud
-OnroadHud::OnroadHud(QWidget *parent) : QWidget(parent) {
+// NvgWindow
+
+NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) {
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
-
-  connect(this, &OnroadHud::valueChanged, [=] { update(); });
 }
 
-void OnroadHud::updateState(const UIState &s) {
+void NvgWindow::updateState(const UIState &s) {
   const int SET_SPEED_NA = 255;
   const SubMaster &sm = *(s.sm);
   const auto cs = sm["controlsState"].getControlsState();
@@ -202,9 +196,8 @@ void OnroadHud::updateState(const UIState &s) {
   }
 }
 
-void OnroadHud::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.setRenderHint(QPainter::Antialiasing);
+void NvgWindow::drawHud(QPainter &p) {
+  p.save();
 
   // Header gradient
   QLinearGradient bg(0, header_h - (header_h / 2.5), 0, header_h);
@@ -246,9 +239,10 @@ void OnroadHud::paintEvent(QPaintEvent *event) {
     drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2,
              dm_img, QColor(0, 0, 0, 70), dmActive ? 1.0 : 0.2);
   }
+  p.restore();
 }
 
-void OnroadHud::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
   QFontMetrics fm(p.font());
   QRect init_rect = fm.boundingRect(text);
   QRect real_rect = fm.boundingRect(init_rect, 0, text);
@@ -258,7 +252,7 @@ void OnroadHud::drawText(QPainter &p, int x, int y, const QString &text, int alp
   p.drawText(real_rect.x(), real_rect.bottom(), text);
 }
 
-void OnroadHud::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
+void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
   p.setPen(Qt::NoPen);
   p.setBrush(bg);
   p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius);
@@ -266,11 +260,6 @@ void OnroadHud::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, flo
   p.drawPixmap(x - img_size / 2, y - img_size / 2, img);
 }
 
-// NvgWindow
-
-NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) {
-
-}
 
 void NvgWindow::initializeGL() {
   CameraViewWidget::initializeGL();
@@ -377,12 +366,15 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV
 void NvgWindow::paintGL() {
   CameraViewWidget::paintGL();
 
-  UIState *s = uiState();
-  if (s->worldObjectsVisible()) {
   QPainter painter(this);
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
+  drawHud(painter);
+
+  UIState *s = uiState();
+  if (s->worldObjectsVisible()) {
+
     drawLaneLines(painter, s);
 
     if (s->scene.longitudinal_control) {

selfdrive/ui/qt/onroad.h

@@ -9,26 +9,40 @@
 
 
 // ***** onroad widgets *****
+class OnroadAlerts : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {};
+  void updateAlert(const Alert &a, const QColor &color);
 
-class OnroadHud : public QWidget {
+protected:
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QColor bg;
+  Alert alert = {};
+};
+
+// container window for the NVG UI
+class NvgWindow : public CameraViewWidget {
   Q_OBJECT
-  Q_PROPERTY(QString speed MEMBER speed NOTIFY valueChanged);
-  Q_PROPERTY(QString speedUnit MEMBER speedUnit NOTIFY valueChanged);
-  Q_PROPERTY(QString maxSpeed MEMBER maxSpeed NOTIFY valueChanged);
-  Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set NOTIFY valueChanged);
-  Q_PROPERTY(bool engageable MEMBER engageable NOTIFY valueChanged);
-  Q_PROPERTY(bool dmActive MEMBER dmActive NOTIFY valueChanged);
-  Q_PROPERTY(bool hideDM MEMBER hideDM NOTIFY valueChanged);
-  Q_PROPERTY(int status MEMBER status NOTIFY valueChanged);
+  Q_PROPERTY(QString speed MEMBER speed);
+  Q_PROPERTY(QString speedUnit MEMBER speedUnit);
+  Q_PROPERTY(QString maxSpeed MEMBER maxSpeed);
+  Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set);
+  Q_PROPERTY(bool engageable MEMBER engageable);
+  Q_PROPERTY(bool dmActive MEMBER dmActive);
+  Q_PROPERTY(bool hideDM MEMBER hideDM);
+  Q_PROPERTY(int status MEMBER status);
 
 public:
-  explicit OnroadHud(QWidget *parent);
+  explicit NvgWindow(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
 
 private:
   void drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity);
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
-  void paintEvent(QPaintEvent *event) override;
 
   QPixmap engage_img;
   QPixmap dm_img;
@@ -43,32 +57,6 @@ private:
   bool hideDM = false;
   int status = STATUS_DISENGAGED;
 
-signals:
-  void valueChanged();
-};
-
-class OnroadAlerts : public QWidget {
-  Q_OBJECT
-
-public:
-  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {};
-  void updateAlert(const Alert &a, const QColor &color);
-
-protected:
-  void paintEvent(QPaintEvent*) override;
-
-private:
-  QColor bg;
-  Alert alert = {};
-};
-
-// container window for the NVG UI
-class NvgWindow : public CameraViewWidget {
-  Q_OBJECT
-
-public:
-  explicit NvgWindow(VisionStreamType type, QWidget* parent = 0);
-
 protected:
   void paintGL() override;
   void initializeGL() override;
@@ -76,6 +64,7 @@ protected:
   void updateFrameMat(int w, int h) override;
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd);
+  void drawHud(QPainter &p);
   inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
   inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
 
@@ -94,7 +83,6 @@ public:
 private:
   void paintEvent(QPaintEvent *event);
   void mousePressEvent(QMouseEvent* e) override;
-  OnroadHud *hud;
   OnroadAlerts *alerts;
   NvgWindow *nvg;
   QColor bg = bg_colors[STATUS_DISENGAGED];

selfdrive/ui/qt/widgets/cameraview.cc

@@ -253,7 +253,6 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   stream_width = vipc_client->buffers[0].width;
   stream_height = vipc_client->buffers[0].height;
 
-  glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
   for (int i = 0; i < 3; ++i) {
     glBindTexture(GL_TEXTURE_2D, textures[i]);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);