sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ui: remove Q_PROPERTY from `AnnotatedCameraWidget` (#28745)

Browse Source
pull/29166/head^2
Dean Lee 2 years ago committed by GitHub
parent 821cfff56d
commit b234cb0223
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 18 additions and 42 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 47
      selfdrive/ui/qt/onroad.cc
  2. 13
      selfdrive/ui/qt/onroad.h

47
selfdrive/ui/qt/onroad.cc
Unescape View File

@ -283,53 +283,42 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
const bool cs_alive = sm.alive("controlsState"); const bool cs_alive = sm.alive("controlsState");
const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid(); const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
const auto cs = sm["controlsState"].getControlsState(); const auto cs = sm["controlsState"].getControlsState();
const auto car_state = sm["carState"].getCarState(); const auto car_state = sm["carState"].getCarState();
const auto nav_instruction = sm["navInstruction"].getNavInstruction(); const auto nav_instruction = sm["navInstruction"].getNavInstruction();
// Handle older routes where vCruiseCluster is not set // Handle older routes where vCruiseCluster is not set
float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
float set_speed = cs_alive ? v_cruise : SET_SPEED_NA; setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA; is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
if (cruise_set && !s.scene.is_metric) { if (is_cruise_set && !s.scene.is_metric) {
set_speed *= KM_TO_MILE; setSpeed *= KM_TO_MILE;
} }
// Handle older routes where vEgoCluster is not set // Handle older routes where vEgoCluster is not set
float v_ego; v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
if (car_state.getVEgoCluster() == 0.0 && !v_ego_cluster_seen) { float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
v_ego = car_state.getVEgo(); speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
} else { speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
v_ego = car_state.getVEgoCluster();
v_ego_cluster_seen = true;
}
float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
auto speed_limit_sign = nav_instruction.getSpeedLimitSign(); auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
float speed_limit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); speedLimit *= (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);
setProperty("is_cruise_set", cruise_set); has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
setProperty("is_metric", s.scene.is_metric); has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
setProperty("speed", cur_speed); is_metric = s.scene.is_metric;
setProperty("setSpeed", set_speed); speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph");
setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph")); hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
setProperty("hideBottomIcons", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE)); status = s.status;
setProperty("status", s.status);
// update engageability/experimental mode button // update engageability/experimental mode button
experimental_btn->updateState(s); experimental_btn->updateState(s);
// update DM icon // update DM icon
auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState(); auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState();
setProperty("dmActive", dm_state.getIsActiveMode()); dmActive = dm_state.getIsActiveMode();
setProperty("rightHandDM", dm_state.getIsRHD()); rightHandDM = dm_state.getIsRHD();
// DM icon transition // DM icon transition
dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0); dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);

13
selfdrive/ui/qt/onroad.h
Unescape View File

@ -65,19 +65,6 @@ private:
// container window for the NVG UI // container window for the NVG UI
class AnnotatedCameraWidget : public CameraWidget { class AnnotatedCameraWidget : public CameraWidget {
Q_OBJECT 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: public:
explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0); explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);

Write Preview
Loading…
Cancel
Save