diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index be8b84d45e..0ff786fb91 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -12,11 +12,11 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { layout = new QStackedLayout(this); layout->setStackingMode(QStackedLayout::StackAll); - cameraView = new CameraViewWidget("camerad", VISION_STREAM_DRIVER, true, this); + cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this); layout->addWidget(cameraView); scene = new DriverViewScene(this); - connect(cameraView, &CameraViewWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); + connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); layout->addWidget(scene); layout->setCurrentWidget(scene); } diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 5d090ad772..255857970d 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -42,7 +42,7 @@ protected: void mouseReleaseEvent(QMouseEvent* e) override; private: - CameraViewWidget *cameraView; + CameraWidget *cameraView; DriverViewScene *scene; QStackedLayout *layout; }; diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 66bc38dbfc..1f677fc92d 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -18,7 +18,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { stacked_layout->setStackingMode(QStackedLayout::StackAll); main_layout->addLayout(stacked_layout); - nvg = new NvgWindow(VISION_STREAM_ROAD, this); + nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this); QWidget * split_wrapper = new QWidget; split = new QHBoxLayout(split_wrapper); @@ -27,7 +27,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->addWidget(nvg); if (getenv("DUAL_CAMERA_VIEW")) { - CameraViewWidget *arCam = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this); + CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this); split->insertWidget(0, arCam); } @@ -173,16 +173,15 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { } } -// NvgWindow -NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) { +AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { pm = std::make_unique>({"uiDebug"}); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } -void NvgWindow::updateState(const UIState &s) { +void AnnotatedCameraWidget::updateState(const UIState &s) { const int SET_SPEED_NA = 255; const SubMaster &sm = *(s.sm); @@ -234,13 +233,13 @@ void NvgWindow::updateState(const UIState &s) { } if (s.scene.calibration_valid) { - CameraViewWidget::updateCalibration(s.scene.view_from_calib); + CameraWidget::updateCalibration(s.scene.view_from_calib); } else { - CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION); + CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } } -void NvgWindow::drawHud(QPainter &p) { +void AnnotatedCameraWidget::drawHud(QPainter &p) { p.save(); // Header gradient @@ -402,7 +401,11 @@ void NvgWindow::drawHud(QPainter &p) { p.restore(); } -void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { + +// Window that shows camera view and variety of +// info drawn on top + +void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { QRect real_rect = getTextRect(p, 0, text); real_rect.moveCenter({x, y - real_rect.height() / 2}); @@ -410,7 +413,7 @@ void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alp p.drawText(real_rect.x(), real_rect.bottom(), text); } -void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) { +void AnnotatedCameraWidget::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); @@ -419,8 +422,8 @@ void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, flo } -void NvgWindow::initializeGL() { - CameraViewWidget::initializeGL(); +void AnnotatedCameraWidget::initializeGL() { + CameraWidget::initializeGL(); qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION)); qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR)); qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER)); @@ -430,8 +433,8 @@ void NvgWindow::initializeGL() { setBackgroundColor(bg_colors[STATUS_DISENGAGED]); } -void NvgWindow::updateFrameMat() { - CameraViewWidget::updateFrameMat(); +void AnnotatedCameraWidget::updateFrameMat() { + CameraWidget::updateFrameMat(); UIState *s = uiState(); int w = width(), h = height(); @@ -448,7 +451,7 @@ void NvgWindow::updateFrameMat() { .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } -void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { +void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { painter.save(); const UIScene &scene = s->scene; @@ -507,7 +510,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { painter.restore(); } -void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) { +void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) { painter.save(); const float speedBuff = 10.; @@ -543,13 +546,13 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV painter.restore(); } -void NvgWindow::paintGL() { +void AnnotatedCameraWidget::paintGL() { const double start_draw_t = millis_since_boot(); UIState *s = uiState(); const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2(); - CameraViewWidget::setFrameId(model.getFrameId()); - CameraViewWidget::paintGL(); + CameraWidget::setFrameId(model.getFrameId()); + CameraWidget::paintGL(); QPainter painter(this); painter.setRenderHint(QPainter::Antialiasing); @@ -587,8 +590,8 @@ void NvgWindow::paintGL() { pm->send("uiDebug", msg); } -void NvgWindow::showEvent(QShowEvent *event) { - CameraViewWidget::showEvent(event); +void AnnotatedCameraWidget::showEvent(QShowEvent *event) { + CameraWidget::showEvent(event); ui_update_params(uiState()); prev_draw_t = millis_since_boot(); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 7ed2c9cc4a..2a663185f4 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -25,7 +25,7 @@ private: }; // container window for the NVG UI -class NvgWindow : public CameraViewWidget { +class AnnotatedCameraWidget : public CameraWidget { Q_OBJECT Q_PROPERTY(float speed MEMBER speed); Q_PROPERTY(QString speedUnit MEMBER speedUnit); @@ -43,7 +43,7 @@ class NvgWindow : public CameraViewWidget { Q_PROPERTY(int status MEMBER status); public: - explicit NvgWindow(VisionStreamType type, QWidget* parent = 0); + explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0); void updateState(const UIState &s); private: @@ -98,7 +98,7 @@ private: void paintEvent(QPaintEvent *event); void mousePressEvent(QMouseEvent* e) override; OnroadAlerts *alerts; - NvgWindow *nvg; + AnnotatedCameraWidget *nvg; QColor bg = bg_colors[STATUS_DISENGAGED]; QWidget *map = nullptr; QHBoxLayout* split; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 63d15660a0..200257235d 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -93,14 +93,14 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace -CameraViewWidget::CameraViewWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); - connect(this, &CameraViewWidget::vipcThreadConnected, this, &CameraViewWidget::vipcConnected, Qt::BlockingQueuedConnection); - connect(this, &CameraViewWidget::vipcThreadFrameReceived, this, &CameraViewWidget::vipcFrameReceived); + connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); + connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived); } -CameraViewWidget::~CameraViewWidget() { +CameraWidget::~CameraWidget() { makeCurrent(); if (isValid()) { glDeleteVertexArrays(1, &frame_vao); @@ -111,7 +111,7 @@ CameraViewWidget::~CameraViewWidget() { doneCurrent(); } -void CameraViewWidget::initializeGL() { +void CameraWidget::initializeGL() { initializeOpenGLFunctions(); program = std::make_unique(context()); @@ -161,7 +161,7 @@ void CameraViewWidget::initializeGL() { #endif } -void CameraViewWidget::showEvent(QShowEvent *event) { +void CameraWidget::showEvent(QShowEvent *event) { frames.clear(); if (!vipc_thread) { vipc_thread = new QThread(); @@ -171,7 +171,7 @@ void CameraViewWidget::showEvent(QShowEvent *event) { } } -void CameraViewWidget::hideEvent(QHideEvent *event) { +void CameraWidget::hideEvent(QHideEvent *event) { if (vipc_thread) { vipc_thread->requestInterruption(); vipc_thread->quit(); @@ -180,7 +180,7 @@ void CameraViewWidget::hideEvent(QHideEvent *event) { } } -void CameraViewWidget::updateFrameMat() { +void CameraWidget::updateFrameMat() { int w = width(), h = height(); if (zoomed_view) { @@ -224,12 +224,12 @@ void CameraViewWidget::updateFrameMat() { } } -void CameraViewWidget::updateCalibration(const mat3 &calib) { +void CameraWidget::updateCalibration(const mat3 &calib) { calibration = calib; updateFrameMat(); } -void CameraViewWidget::paintGL() { +void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); @@ -286,7 +286,7 @@ void CameraViewWidget::paintGL() { glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); } -void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { +void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { makeCurrent(); frames.clear(); stream_width = vipc_client->buffers[0].width; @@ -339,7 +339,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { updateFrameMat(); } -void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { +void CameraWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { frames.push_back(std::make_pair(frame_id, buf)); while (frames.size() > FRAME_BUFFER_SIZE) { frames.pop_front(); @@ -347,7 +347,7 @@ void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { update(); } -void CameraViewWidget::vipcThread() { +void CameraWidget::vipcThread() { VisionStreamType cur_stream_type = stream_type; std::unique_ptr vipc_client; VisionIpcBufExtra meta_main = {0}; diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 081483b649..9bcad935c0 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -23,13 +23,13 @@ const int FRAME_BUFFER_SIZE = 5; static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT); -class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions { +class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { Q_OBJECT public: using QOpenGLWidget::QOpenGLWidget; - explicit CameraViewWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); - ~CameraViewWidget(); + explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); + ~CameraWidget(); void setStreamType(VisionStreamType type) { stream_type = type; } void setBackgroundColor(const QColor &color) { bg = color; } void setFrameId(int frame_id) { draw_frame_id = frame_id; } diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 284208720b..a94d2fbc05 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -493,7 +493,7 @@ location set - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index b39c83c098..314a6b8338 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -67,6 +67,29 @@ + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高速度 + + + SPEED + 速度 + + + LIMIT + 制限速度 + + ConfirmationDialog @@ -406,29 +429,6 @@ location set ﾊﾟｽﾜｰﾄﾞが間違っています - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - 最高速度 - - - SPEED - 速度 - - - LIMIT - 制限速度 - - OffroadHome diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index f84797eb60..021243595e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -67,6 +67,29 @@ 데이터 요금제 연결 시 대용량 데이터 업로드 방지 + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + MAX + + + SPEED + SPEED + + + LIMIT + LIMIT + + ConfirmationDialog @@ -406,29 +429,6 @@ location set 비밀번호가 틀렸습니다 - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - MAX - - - SPEED - SPEED - - - LIMIT - LIMIT - - OffroadHome diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts index 99646ed749..21bb66d356 100644 --- a/selfdrive/ui/translations/main_nl.ts +++ b/selfdrive/ui/translations/main_nl.ts @@ -489,7 +489,7 @@ ingesteld - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts index 8593d68261..92902d04a9 100644 --- a/selfdrive/ui/translations/main_pl.ts +++ b/selfdrive/ui/translations/main_pl.ts @@ -490,7 +490,7 @@ nie zostało ustawione - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 8f59bf4715..2afdaf3388 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -67,6 +67,29 @@ Evite grandes uploads de dados quando estiver em uma conexão limitada + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + LIMITE + + + SPEED + MAX + + + LIMIT + VELO + + ConfirmationDialog @@ -407,29 +430,6 @@ trabalho definido Senha incorreta - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - LIMITE - - - SPEED - MAX - - - LIMIT - VELO - - OffroadHome diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 7e7fcf2788..d502c3fce1 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -488,7 +488,7 @@ location set - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 1d942387e0..9e7c354444 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -67,6 +67,29 @@ + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高定速 + + + SPEED + SPEED + + + LIMIT + LIMIT + + ConfirmationDialog @@ -404,29 +427,6 @@ location set 密码错误 - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - 最高定速 - - - SPEED - SPEED - - - LIMIT - LIMIT - - OffroadHome diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 816d4fd3cc..513135c7f4 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -67,6 +67,29 @@ + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高 + + + SPEED + 速度 + + + LIMIT + 速限 + + ConfirmationDialog @@ -406,29 +429,6 @@ location set 密碼錯誤 - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - 最高 - - - SPEED - 速度 - - - LIMIT - 速限 - - OffroadHome diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index d6b5cc67a7..ec35c29b6b 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,15 +19,15 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false)); - hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false)); + hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); } { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); } return a.exec(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index b6fe8de3e2..bb90d56570 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -16,8 +16,8 @@ inline QString formatTime(int seconds) { VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - // TODO: figure out why the CameraViewWidget crashed occasionally. - cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, false, this); + // TODO: figure out why the CameraWidget crashed occasionally. + cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this); cam_widget->setFixedSize(parent->width(), parent->width() / 1.596); main_layout->addWidget(cam_widget); @@ -60,7 +60,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); - QObject::connect(cam_widget, &CameraViewWidget::clicked, [this]() { pause(!can->isPaused()); }); + QObject::connect(cam_widget, &CameraWidget::clicked, [this]() { pause(!can->isPaused()); }); QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); }); } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index fd896f1e11..d6d036c461 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -32,7 +32,7 @@ protected: void updateState(); void pause(bool pause); - CameraViewWidget *cam_widget; + CameraWidget *cam_widget; QLabel *end_time_label; QPushButton *play_btn; Slider *slider;