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

UI: Move the variables need to be updated by socket to UIScene (#19783)

Browse Source 
* move variables into UIScene

* rebase master

* rebase master

* rebase master

* rebase master

* rebase master

* rebase master

* fix build error

* cleanup

Co-authored-by: Willem Melching <willem.melching@gmail.com>
pull/20209/head^2
Dean Lee 4 years ago committed by GitHub
parent 6b5a5bd180
commit dd603a89f6
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 49 additions and 51 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. 18
      selfdrive/ui/android/ui.cc
  2. 10
      selfdrive/ui/paint.cc
  3. 2
      selfdrive/ui/qt/api.cc
  4. 12
      selfdrive/ui/qt/home.cc
  5. 2
      selfdrive/ui/sidebar.cc
  6. 45
      selfdrive/ui/ui.cc
  7. 11
      selfdrive/ui/ui.hpp

18
selfdrive/ui/android/ui.cc
Unescape View File

@ -30,14 +30,14 @@ static void handle_display_state(UIState *s, bool user_input) {
constexpr float accel_samples = 5*UI_FREQ; constexpr float accel_samples = 5*UI_FREQ;
static float accel_prev = 0., gyro_prev = 0.; static float accel_prev = 0., gyro_prev = 0.;
bool should_wake = s->started || s->ignition || user_input; bool should_wake = s->scene.started || s->scene.ignition || user_input;
if (!should_wake) { if (!should_wake) {
// tap detection while display is off // tap detection while display is off
bool accel_trigger = abs(s->accel_sensor - accel_prev) > 0.2; bool accel_trigger = abs(s->scene.accel_sensor - accel_prev) > 0.2;
bool gyro_trigger = abs(s->gyro_sensor - gyro_prev) > 0.15; bool gyro_trigger = abs(s->scene.gyro_sensor - gyro_prev) > 0.15;
should_wake = accel_trigger && gyro_trigger; should_wake = accel_trigger && gyro_trigger;
gyro_prev = s->gyro_sensor; gyro_prev = s->scene.gyro_sensor;
accel_prev = (accel_prev * (accel_samples - 1) + s->accel_sensor) / accel_samples; accel_prev = (accel_prev * (accel_samples - 1) + s->scene.accel_sensor) / accel_samples;
} }
// determine desired state // determine desired state
@ -62,7 +62,7 @@ static void handle_display_state(UIState *s, bool user_input) {
} }
static void handle_vision_touch(UIState *s, int touch_x, int touch_y) { static void handle_vision_touch(UIState *s, int touch_x, int touch_y) {
if (s->started && (touch_x >= s->viz_rect.x - bdr_s) if (s->scene.started && (touch_x >= s->viz_rect.x - bdr_s)
&& (s->active_app != cereal::UiLayoutState::App::SETTINGS)) { && (s->active_app != cereal::UiLayoutState::App::SETTINGS)) {
if (!s->scene.driver_view) { if (!s->scene.driver_view) {
s->sidebar_collapsed = !s->sidebar_collapsed; s->sidebar_collapsed = !s->sidebar_collapsed;
@ -77,7 +77,7 @@ static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
if (settings_btn.ptInRect(touch_x, touch_y)) { if (settings_btn.ptInRect(touch_x, touch_y)) {
s->active_app = cereal::UiLayoutState::App::SETTINGS; s->active_app = cereal::UiLayoutState::App::SETTINGS;
} else if (home_btn.ptInRect(touch_x, touch_y)) { } else if (home_btn.ptInRect(touch_x, touch_y)) {
if (s->started) { if (s->scene.started) {
s->active_app = cereal::UiLayoutState::App::NONE; s->active_app = cereal::UiLayoutState::App::NONE;
s->sidebar_collapsed = true; s->sidebar_collapsed = true;
} else { } else {
@ -139,7 +139,7 @@ int main(int argc, char* argv[]) {
s->sound->setVolume(MIN_VOLUME); s->sound->setVolume(MIN_VOLUME);
while (!do_exit) { while (!do_exit) {
if (!s->started) { if (!s->scene.started) {
util::sleep_for(50); util::sleep_for(50);
} }
double u1 = millis_since_boot(); double u1 = millis_since_boot();
@ -164,7 +164,7 @@ int main(int argc, char* argv[]) {
s->sound->setVolume(fmin(MAX_VOLUME, MIN_VOLUME + s->scene.car_state.getVEgo() / 5)); s->sound->setVolume(fmin(MAX_VOLUME, MIN_VOLUME + s->scene.car_state.getVEgo() / 5));
// set brightness // set brightness
float clipped_brightness = fmin(512, (s->light_sensor*brightness_m) + brightness_b); float clipped_brightness = fmin(512, (s->scene.light_sensor*brightness_m) + brightness_b);
smooth_brightness = fmin(255, clipped_brightness * 0.01 + smooth_brightness * 0.99); smooth_brightness = fmin(255, clipped_brightness * 0.01 + smooth_brightness * 0.99);
ui_set_brightness(s, (int)smooth_brightness); ui_set_brightness(s, (int)smooth_brightness);

10
selfdrive/ui/paint.cc
Unescape View File

@ -169,7 +169,7 @@ static void ui_draw_world(UIState *s) {
ui_draw_vision_lane_lines(s); ui_draw_vision_lane_lines(s);
// Draw lead indicators if openpilot is handling longitudinal // Draw lead indicators if openpilot is handling longitudinal
if (s->longitudinal_control) { if (s->scene.longitudinal_control) {
if (scene->lead_data[0].getStatus()) { if (scene->lead_data[0].getStatus()) {
draw_lead(s, 0); draw_lead(s, 0);
} }
@ -184,7 +184,7 @@ static void ui_draw_vision_maxspeed(UIState *s) {
const int SET_SPEED_NA = 255; const int SET_SPEED_NA = 255;
float maxspeed = s->scene.controls_state.getVCruise(); float maxspeed = s->scene.controls_state.getVCruise();
const bool is_cruise_set = maxspeed != 0 && maxspeed != SET_SPEED_NA; const bool is_cruise_set = maxspeed != 0 && maxspeed != SET_SPEED_NA;
if (is_cruise_set && !s->is_metric) { maxspeed *= 0.6225; } if (is_cruise_set && !s->scene.is_metric) { maxspeed *= 0.6225; }
const Rect rect = {s->viz_rect.x + (bdr_s * 2), int(s->viz_rect.y + (bdr_s * 1.5)), 184, 202}; const Rect rect = {s->viz_rect.x + (bdr_s * 2), int(s->viz_rect.y + (bdr_s * 1.5)), 184, 202};
ui_fill_rect(s->vg, rect, COLOR_BLACK_ALPHA(100), 30.); ui_fill_rect(s->vg, rect, COLOR_BLACK_ALPHA(100), 30.);
@ -201,11 +201,11 @@ static void ui_draw_vision_maxspeed(UIState *s) {
} }
static void ui_draw_vision_speed(UIState *s) { static void ui_draw_vision_speed(UIState *s) {
const float speed = std::max(0.0, s->scene.car_state.getVEgo() * (s->is_metric ? 3.6 : 2.2369363)); const float speed = std::max(0.0, s->scene.car_state.getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
const std::string speed_str = std::to_string((int)std::nearbyint(speed)); const std::string speed_str = std::to_string((int)std::nearbyint(speed));
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
ui_draw_text(s, s->viz_rect.centerX(), 240, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold"); ui_draw_text(s, s->viz_rect.centerX(), 240, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
ui_draw_text(s, s->viz_rect.centerX(), 320, s->is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular"); ui_draw_text(s, s->viz_rect.centerX(), 320, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
} }
static void ui_draw_vision_event(UIState *s) { static void ui_draw_vision_event(UIState *s) {
@ -375,7 +375,7 @@ void ui_draw(UIState *s) {
s->viz_rect.w -= sbr_w; s->viz_rect.w -= sbr_w;
} }
const bool draw_alerts = s->started && s->active_app == cereal::UiLayoutState::App::NONE; const bool draw_alerts = s->scene.started && s->active_app == cereal::UiLayoutState::App::NONE;
const bool draw_vision = draw_alerts && s->vipc_client->connected; const bool draw_vision = draw_alerts && s->vipc_client->connected;
// GL drawing functions // GL drawing functions

2
selfdrive/ui/qt/api.cc
Unescape View File

@ -96,7 +96,7 @@ RequestRepeater::RequestRepeater(QWidget* parent, QString requestURL, int period
void RequestRepeater::sendRequest(QString requestURL, QVector<QPair<QString, QJsonValue>> payloads){ void RequestRepeater::sendRequest(QString requestURL, QVector<QPair<QString, QJsonValue>> payloads){
// No network calls onroad // No network calls onroad
if(GLWindow::ui_state.started){ if(GLWindow::ui_state.scene.started){
return; return;
} }
if (!active || (!GLWindow::ui_state.awake && disableWithScreen)) { if (!active || (!GLWindow::ui_state.awake && disableWithScreen)) {

12
selfdrive/ui/qt/home.cc
Unescape View File

@ -160,7 +160,7 @@ void HomeWindow::setVisibility(bool offroad) {
void HomeWindow::mousePressEvent(QMouseEvent* e) { void HomeWindow::mousePressEvent(QMouseEvent* e) {
UIState* ui_state = &glWindow->ui_state; UIState* ui_state = &glWindow->ui_state;
if (GLWindow::ui_state.started && GLWindow::ui_state.scene.driver_view) { if (GLWindow::ui_state.scene.started && GLWindow::ui_state.scene.driver_view) {
Params().write_db_value("IsDriverViewEnabled", "0", 1); Params().write_db_value("IsDriverViewEnabled", "0", 1);
return; return;
} }
@ -173,7 +173,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
} }
// Vision click // Vision click
if (ui_state->started && (e->x() >= ui_state->viz_rect.x - bdr_s)) { if (ui_state->scene.started && (e->x() >= ui_state->viz_rect.x - bdr_s)) {
ui_state->sidebar_collapsed = !ui_state->sidebar_collapsed; ui_state->sidebar_collapsed = !ui_state->sidebar_collapsed;
} }
} }
@ -182,7 +182,7 @@ static void handle_display_state(UIState* s, bool user_input) {
static int awake_timeout = 0; // Somehow this only gets called on program start static int awake_timeout = 0; // Somehow this only gets called on program start
awake_timeout = std::max(awake_timeout - 1, 0); awake_timeout = std::max(awake_timeout - 1, 0);
if (user_input || s->ignition || s->started) { if (user_input || s->scene.ignition || s->scene.started) {
s->awake = true; s->awake = true;
awake_timeout = 30 * UI_FREQ; awake_timeout = 30 * UI_FREQ;
} else if (awake_timeout == 0) { } else if (awake_timeout == 0) {
@ -240,7 +240,7 @@ void GLWindow::backlightUpdate() {
// Update brightness // Update brightness
float k = (BACKLIGHT_DT / BACKLIGHT_TS) / (1.0f + BACKLIGHT_DT / BACKLIGHT_TS); float k = (BACKLIGHT_DT / BACKLIGHT_TS) / (1.0f + BACKLIGHT_DT / BACKLIGHT_TS);
float clipped_brightness = std::min(1023.0f, (ui_state.light_sensor * brightness_m) + brightness_b); float clipped_brightness = std::min(1023.0f, (ui_state.scene.light_sensor * brightness_m) + brightness_b);
smooth_brightness = clipped_brightness * k + smooth_brightness * (1.0f - k); smooth_brightness = clipped_brightness * k + smooth_brightness * (1.0f - k);
int brightness = smooth_brightness; int brightness = smooth_brightness;
@ -257,8 +257,8 @@ void GLWindow::timerUpdate() {
makeCurrent(); makeCurrent();
} }
if (ui_state.started != onroad) { if (ui_state.scene.started != onroad) {
onroad = ui_state.started; onroad = ui_state.scene.started;
emit offroadTransition(!onroad); emit offroadTransition(!onroad);
// Change timeout to 0 when onroad, this will call timerUpdate continously. // Change timeout to 0 when onroad, this will call timerUpdate continously.

2
selfdrive/ui/sidebar.cc
Unescape View File

@ -123,7 +123,7 @@ static void draw_panda_metric(UIState *s) {
panda_message = "NO\nPANDA"; panda_message = "NO\nPANDA";
} }
#ifdef QCOM2 #ifdef QCOM2
else if (s->started) { else if (s->scene.started) {
panda_severity = s->scene.gpsOK ? 0 : 1; panda_severity = s->scene.gpsOK ? 0 : 1;
panda_message = util::string_format("SAT CNT\n%d", s->scene.satelliteCount); panda_message = util::string_format("SAT CNT\n%d", s->scene.satelliteCount);
} }

45
selfdrive/ui/ui.cc
Unescape View File

@ -57,7 +57,7 @@ void ui_init(UIState *s) {
s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "liveLocationKalman", s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "liveLocationKalman",
"pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss"}); "pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss"});
s->started = false; s->scene.started = false;
s->status = STATUS_OFFROAD; s->status = STATUS_OFFROAD;
s->fb = std::make_unique<FrameBuffer>("ui", 0, true, &s->fb_w, &s->fb_h); s->fb = std::make_unique<FrameBuffer>("ui", 0, true, &s->fb_w, &s->fb_h);
@ -137,7 +137,7 @@ static void update_sockets(UIState *s) {
if (sm.update(0) == 0) return; if (sm.update(0) == 0) return;
UIScene &scene = s->scene; UIScene &scene = s->scene;
if (s->started && sm.updated("controlsState")) { if (scene.started && sm.updated("controlsState")) {
scene.controls_state = sm["controlsState"].getControlsState(); scene.controls_state = sm["controlsState"].getControlsState();
} }
if (sm.updated("carState")) { if (sm.updated("carState")) {
@ -180,7 +180,7 @@ static void update_sockets(UIState *s) {
if (sm.updated("pandaState")) { if (sm.updated("pandaState")) {
auto pandaState = sm["pandaState"].getPandaState(); auto pandaState = sm["pandaState"].getPandaState();
scene.pandaType = pandaState.getPandaType(); scene.pandaType = pandaState.getPandaType();
s->ignition = pandaState.getIgnitionLine() || pandaState.getIgnitionCan(); scene.ignition = pandaState.getIgnitionLine() || pandaState.getIgnitionCan();
} else if ((s->sm->frame - s->sm->rcv_frame("pandaState")) > 5*UI_FREQ) { } else if ((s->sm->frame - s->sm->rcv_frame("pandaState")) > 5*UI_FREQ) {
scene.pandaType = cereal::PandaState::PandaType::UNKNOWN; scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
} }
@ -194,14 +194,14 @@ static void update_sockets(UIState *s) {
scene.gpsOK = sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK(); scene.gpsOK = sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK();
} }
if (sm.updated("carParams")) { if (sm.updated("carParams")) {
s->longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
} }
if (sm.updated("driverState")) { if (sm.updated("driverState")) {
scene.driver_state = sm["driverState"].getDriverState(); scene.driver_state = sm["driverState"].getDriverState();
} }
if (sm.updated("driverMonitoringState")) { if (sm.updated("driverMonitoringState")) {
scene.dmonitoring_state = sm["driverMonitoringState"].getDriverMonitoringState(); scene.dmonitoring_state = sm["driverMonitoringState"].getDriverMonitoringState();
if(!scene.driver_view && !s->ignition) { if(!scene.driver_view && !scene.ignition) {
read_param(&scene.driver_view, "IsDriverViewEnabled"); read_param(&scene.driver_view, "IsDriverViewEnabled");
} }
} else if ((sm.frame - sm.rcv_frame("driverMonitoringState")) > UI_FREQ/2) { } else if ((sm.frame - sm.rcv_frame("driverMonitoringState")) > UI_FREQ/2) {
@ -210,15 +210,15 @@ static void update_sockets(UIState *s) {
if (sm.updated("sensorEvents")) { if (sm.updated("sensorEvents")) {
for (auto sensor : sm["sensorEvents"].getSensorEvents()) { for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
if (sensor.which() == cereal::SensorEventData::LIGHT) { if (sensor.which() == cereal::SensorEventData::LIGHT) {
s->light_sensor = sensor.getLight(); scene.light_sensor = sensor.getLight();
} else if (!s->started && sensor.which() == cereal::SensorEventData::ACCELERATION) { } else if (!scene.started && sensor.which() == cereal::SensorEventData::ACCELERATION) {
s->accel_sensor = sensor.getAcceleration().getV()[2]; scene.accel_sensor = sensor.getAcceleration().getV()[2];
} else if (!s->started && sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) { } else if (!scene.started && sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
s->gyro_sensor = sensor.getGyroUncalibrated().getV()[1]; scene.gyro_sensor = sensor.getGyroUncalibrated().getV()[1];
} }
} }
} }
s->started = scene.deviceState.getStarted() || scene.driver_view; scene.started = scene.deviceState.getStarted() || scene.driver_view;
} }
static void update_alert(UIState *s) { static void update_alert(UIState *s) {
@ -240,9 +240,9 @@ static void update_alert(UIState *s) {
} }
// Handle controls timeout // Handle controls timeout
if (scene.deviceState.getStarted() && (s->sm->frame - s->started_frame) > 10 * UI_FREQ) { if (scene.deviceState.getStarted() && (s->sm->frame - scene.started_frame) > 10 * UI_FREQ) {
const uint64_t cs_frame = s->sm->rcv_frame("controlsState"); const uint64_t cs_frame = s->sm->rcv_frame("controlsState");
if (cs_frame < s->started_frame) { if (cs_frame < scene.started_frame) {
// car is started, but controlsState hasn't been seen at all // car is started, but controlsState hasn't been seen at all
scene.alert_text1 = "openpilot Unavailable"; scene.alert_text1 = "openpilot Unavailable";
scene.alert_text2 = "Waiting for controls to start"; scene.alert_text2 = "Waiting for controls to start";
@ -264,20 +264,21 @@ static void update_alert(UIState *s) {
static void update_params(UIState *s) { static void update_params(UIState *s) {
const uint64_t frame = s->sm->frame; const uint64_t frame = s->sm->frame;
UIScene &scene = s->scene;
if (frame % (5*UI_FREQ) == 0) { if (frame % (5*UI_FREQ) == 0) {
read_param(&s->is_metric, "IsMetric"); read_param(&scene.is_metric, "IsMetric");
} else if (frame % (6*UI_FREQ) == 0) { } else if (frame % (6*UI_FREQ) == 0) {
s->scene.athenaStatus = NET_DISCONNECTED; scene.athenaStatus = NET_DISCONNECTED;
uint64_t last_ping = 0; uint64_t last_ping = 0;
if (read_param(&last_ping, "LastAthenaPingTime") == 0) { if (read_param(&last_ping, "LastAthenaPingTime") == 0) {
s->scene.athenaStatus = nanos_since_boot() - last_ping < 70e9 ? NET_CONNECTED : NET_ERROR; scene.athenaStatus = nanos_since_boot() - last_ping < 70e9 ? NET_CONNECTED : NET_ERROR;
} }
} }
} }
static void update_vision(UIState *s) { static void update_vision(UIState *s) {
if (!s->vipc_client->connected && s->started) { if (!s->vipc_client->connected && s->scene.started) {
if (s->vipc_client->connect(false)){ if (s->vipc_client->connect(false)){
ui_init_vision(s); ui_init_vision(s);
} }
@ -296,7 +297,7 @@ static void update_vision(UIState *s) {
} }
static void update_status(UIState *s) { static void update_status(UIState *s) {
if (s->started && s->sm->updated("controlsState")) { if (s->scene.started && s->sm->updated("controlsState")) {
auto alert_status = s->scene.controls_state.getAlertStatus(); auto alert_status = s->scene.controls_state.getAlertStatus();
if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) { if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
s->status = STATUS_WARNING; s->status = STATUS_WARNING;
@ -309,10 +310,10 @@ static void update_status(UIState *s) {
// Handle onroad/offroad transition // Handle onroad/offroad transition
static bool started_prev = false; static bool started_prev = false;
if (s->started != started_prev) { if (s->scene.started != started_prev) {
if (s->started) { if (s->scene.started) {
s->status = STATUS_DISENGAGED; s->status = STATUS_DISENGAGED;
s->started_frame = s->sm->frame; s->scene.started_frame = s->sm->frame;
read_param(&s->scene.is_rhd, "IsRHD"); read_param(&s->scene.is_rhd, "IsRHD");
s->active_app = cereal::UiLayoutState::App::NONE; s->active_app = cereal::UiLayoutState::App::NONE;
@ -327,7 +328,7 @@ static void update_status(UIState *s) {
s->vipc_client->connected = false; s->vipc_client->connected = false;
} }
} }
started_prev = s->started; started_prev = s->scene.started;
} }
void ui_update(UIState *s) { void ui_update(UIState *s) {

11
selfdrive/ui/ui.hpp
Unescape View File

@ -131,6 +131,10 @@ typedef struct UIScene {
// lead // lead
vertex_data lead_vertices[2]; vertex_data lead_vertices[2];
float light_sensor, accel_sensor, gyro_sensor;
bool started, ignition, is_metric, longitudinal_control;
uint64_t started_frame;
} UIScene; } UIScene;
typedef struct UIState { typedef struct UIState {
@ -165,13 +169,6 @@ typedef struct UIState {
// device state // device state
bool awake; bool awake;
float light_sensor, accel_sensor, gyro_sensor;
bool started;
bool ignition;
bool is_metric;
bool longitudinal_control;
uint64_t started_frame;
bool sidebar_collapsed; bool sidebar_collapsed;
Rect video_rect, viz_rect; Rect video_rect, viz_rect;

Write Preview
Loading…
Cancel
Save