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967 lines
33 KiB
967 lines
33 KiB
#include "ui.hpp"
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#include <assert.h>
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#include <map>
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#include "common/util.h"
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#define NANOVG_GLES3_IMPLEMENTATION
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#include "nanovg_gl.h"
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#include "nanovg_gl_utils.h"
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extern "C"{
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#include "common/glutil.h"
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}
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// TODO: this is also hardcoded in common/transformations/camera.py
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const mat3 intrinsic_matrix = (mat3){{
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910., 0., 582.,
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0., 910., 437.,
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0., 0., 1.
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}};
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const uint8_t alert_colors[][4] = {
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[STATUS_STOPPED] = {0x07, 0x23, 0x39, 0xf1},
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[STATUS_DISENGAGED] = {0x17, 0x33, 0x49, 0xc8},
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[STATUS_ENGAGED] = {0x17, 0x86, 0x44, 0xf1},
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[STATUS_WARNING] = {0xDA, 0x6F, 0x25, 0xf1},
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[STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xf1},
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};
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// Projects a point in car to space to the corresponding point in full frame
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// image space.
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vec3 car_space_to_full_frame(const UIState *s, vec4 car_space_projective) {
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const UIScene *scene = &s->scene;
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// We'll call the car space point p.
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// First project into normalized image coordinates with the extrinsics matrix.
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const vec4 Ep4 = matvecmul(scene->extrinsic_matrix, car_space_projective);
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// The last entry is zero because of how we store E (to use matvecmul).
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const vec3 Ep = {{Ep4.v[0], Ep4.v[1], Ep4.v[2]}};
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const vec3 KEp = matvecmul3(intrinsic_matrix, Ep);
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// Project.
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const vec3 p_image = {{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2], 1.}};
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return p_image;
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}
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// Calculate an interpolation between two numbers at a specific increment
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static float lerp(float v0, float v1, float t) {
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return (1 - t) * v0 + t * v1;
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}
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static void ui_draw_text(NVGcontext *vg, float x, float y, const char* string, float size, NVGcolor color, int font){
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nvgFontFaceId(vg, font);
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nvgFontSize(vg, size);
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nvgFillColor(vg, color);
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nvgText(vg, x, y, string, NULL);
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}
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static void draw_chevron(UIState *s, float x_in, float y_in, float sz,
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NVGcolor fillColor, NVGcolor glowColor) {
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const vec4 p_car_space = (vec4){{x_in, y_in, 0., 1.}};
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const vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
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float x = p_full_frame.v[0];
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float y = p_full_frame.v[1];
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if (x < 0 || y < 0.){
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return;
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}
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sz *= 30;
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sz /= (x_in / 3 + 30);
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if (sz > 30) sz = 30;
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if (sz < 15) sz = 15;
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// glow
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float g_xo = sz/5;
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float g_yo = sz/10;
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nvgBeginPath(s->vg);
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nvgMoveTo(s->vg, x+(sz*1.35)+g_xo, y+sz+g_yo);
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nvgLineTo(s->vg, x, y-g_xo);
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nvgLineTo(s->vg, x-(sz*1.35)-g_xo, y+sz+g_yo);
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nvgClosePath(s->vg);
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nvgFillColor(s->vg, glowColor);
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nvgFill(s->vg);
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// chevron
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nvgBeginPath(s->vg);
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nvgMoveTo(s->vg, x+(sz*1.25), y+sz);
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nvgLineTo(s->vg, x, y);
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nvgLineTo(s->vg, x-(sz*1.25), y+sz);
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nvgClosePath(s->vg);
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nvgFillColor(s->vg, fillColor);
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nvgFill(s->vg);
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}
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static void ui_draw_circle_image(NVGcontext *vg, float x, float y, int size, int image, NVGcolor color, float img_alpha, int img_y = 0) {
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const int img_size = size * 1.5;
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nvgBeginPath(vg);
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nvgCircle(vg, x, y + (bdr_s * 1.5), size);
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nvgFillColor(vg, color);
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nvgFill(vg);
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ui_draw_image(vg, x - (img_size / 2), img_y ? img_y : y - (size / 4), img_size, img_size, image, img_alpha);
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}
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static void ui_draw_circle_image(NVGcontext *vg, float x, float y, int size, int image, bool active) {
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float bg_alpha = active ? 0.3f : 0.1f;
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float img_alpha = active ? 1.0f : 0.15f;
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ui_draw_circle_image(vg, x, y, size, image, nvgRGBA(0, 0, 0, (255 * bg_alpha)), img_alpha);
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}
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static void draw_lead(UIState *s, float d_rel, float v_rel, float y_rel){
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// Draw lead car indicator
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float fillAlpha = 0;
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float speedBuff = 10.;
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float leadBuff = 40.;
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if (d_rel < leadBuff) {
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fillAlpha = 255*(1.0-(d_rel/leadBuff));
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if (v_rel < 0) {
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fillAlpha += 255*(-1*(v_rel/speedBuff));
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}
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fillAlpha = (int)(fmin(fillAlpha, 255));
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}
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draw_chevron(s, d_rel, y_rel, 25, nvgRGBA(201, 34, 49, fillAlpha), COLOR_YELLOW);
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}
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static void ui_draw_lane_line(UIState *s, const model_path_vertices_data *pvd, NVGcolor color) {
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nvgBeginPath(s->vg);
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bool started = false;
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for (int i=0; i<pvd->cnt; i++) {
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float x = pvd->v[i].x;
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float y = pvd->v[i].y;
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if (x < 0 || y < 0.) {
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continue;
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}
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if (!started) {
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nvgMoveTo(s->vg, x, y);
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started = true;
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} else {
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nvgLineTo(s->vg, x, y);
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}
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}
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nvgClosePath(s->vg);
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nvgFillColor(s->vg, color);
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nvgFill(s->vg);
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}
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static void update_track_data(UIState *s, bool is_mpc, track_vertices_data *pvd) {
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const UIScene *scene = &s->scene;
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const PathData path = scene->model.path;
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const float *mpc_x_coords = &scene->mpc_x[0];
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const float *mpc_y_coords = &scene->mpc_y[0];
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bool started = false;
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float off = is_mpc?0.3:0.5;
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float lead_d = scene->lead_d_rel*2.;
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float path_height = is_mpc?(lead_d>5.)?fmin(lead_d, 25.)-fmin(lead_d*0.35, 10.):20.
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:(lead_d>0.)?fmin(lead_d, 50.)-fmin(lead_d*0.35, 10.):49.;
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pvd->cnt = 0;
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// left side up
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for (int i=0; i<=path_height; i++) {
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float px, py, mpx;
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if (is_mpc) {
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mpx = i==0?0.0:mpc_x_coords[i];
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px = lerp(mpx+1.0, mpx, i/100.0);
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py = mpc_y_coords[i] - off;
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} else {
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px = lerp(i+1.0, i, i/100.0);
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py = path.points[i] - off;
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}
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vec4 p_car_space = (vec4){{px, py, 0., 1.}};
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vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
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if (p_full_frame.v[0] < 0. || p_full_frame.v[1] < 0.) {
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continue;
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}
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pvd->v[pvd->cnt].x = p_full_frame.v[0];
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pvd->v[pvd->cnt].y = p_full_frame.v[1];
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pvd->cnt += 1;
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}
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// right side down
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for (int i=path_height; i>=0; i--) {
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float px, py, mpx;
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if (is_mpc) {
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mpx = i==0?0.0:mpc_x_coords[i];
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px = lerp(mpx+1.0, mpx, i/100.0);
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py = mpc_y_coords[i] + off;
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} else {
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px = lerp(i+1.0, i, i/100.0);
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py = path.points[i] + off;
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}
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vec4 p_car_space = (vec4){{px, py, 0., 1.}};
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vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
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pvd->v[pvd->cnt].x = p_full_frame.v[0];
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pvd->v[pvd->cnt].y = p_full_frame.v[1];
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pvd->cnt += 1;
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}
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}
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static void update_all_track_data(UIState *s) {
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const UIScene *scene = &s->scene;
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// Draw vision path
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update_track_data(s, false, &s->track_vertices[0]);
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if (scene->engaged) {
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// Draw MPC path when engaged
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update_track_data(s, true, &s->track_vertices[1]);
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}
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}
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static void ui_draw_track(UIState *s, bool is_mpc, track_vertices_data *pvd) {
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nvgBeginPath(s->vg);
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bool started = false;
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for(int i = 0;i < pvd->cnt;i++) {
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float x = pvd->v[i].x;
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float y = pvd->v[i].y;
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if (x < 0 || y < 0) {
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continue;
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}
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if (!started) {
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nvgMoveTo(s->vg, x, y);
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started = true;
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} else {
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nvgLineTo(s->vg, x, y);
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}
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}
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nvgClosePath(s->vg);
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NVGpaint track_bg;
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if (is_mpc) {
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// Draw colored MPC track
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const uint8_t *clr = bg_colors[s->status];
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track_bg = nvgLinearGradient(s->vg, vwp_w, vwp_h, vwp_w, vwp_h*.4,
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nvgRGBA(clr[0], clr[1], clr[2], 255), nvgRGBA(clr[0], clr[1], clr[2], 255/2));
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} else {
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// Draw white vision track
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track_bg = nvgLinearGradient(s->vg, vwp_w, vwp_h, vwp_w, vwp_h*.4,
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COLOR_WHITE, COLOR_WHITE_ALPHA(0));
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}
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nvgFillPaint(s->vg, track_bg);
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nvgFill(s->vg);
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}
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static void draw_steering(UIState *s, float curvature) {
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float points[50];
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for (int i = 0; i < 50; i++) {
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float y_actual = i * tan(asin(clamp(i * curvature, -0.999, 0.999)) / 2.);
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points[i] = y_actual;
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}
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// ui_draw_lane_edge(s, points, 0.0, nvgRGBA(0, 0, 255, 128), 5);
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}
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static void draw_frame(UIState *s) {
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const UIScene *scene = &s->scene;
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if (s->scene.frontview) {
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glBindVertexArray(s->frame_vao[1]);
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} else {
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glBindVertexArray(s->frame_vao[0]);
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}
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mat4 *out_mat;
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if (s->scene.frontview || s->scene.fullview) {
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out_mat = &s->front_frame_mat;
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} else {
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out_mat = &s->rear_frame_mat;
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}
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glActiveTexture(GL_TEXTURE0);
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if (s->scene.frontview && s->cur_vision_front_idx >= 0) {
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glBindTexture(GL_TEXTURE_2D, s->frame_front_texs[s->cur_vision_front_idx]);
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} else if (!scene->frontview && s->cur_vision_idx >= 0) {
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glBindTexture(GL_TEXTURE_2D, s->frame_texs[s->cur_vision_idx]);
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#ifndef QCOM
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// TODO: a better way to do this?
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 1164, 874, 0, GL_RGB, GL_UNSIGNED_BYTE, s->priv_hnds[s->cur_vision_idx]);
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#endif
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}
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glUseProgram(s->frame_program);
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glUniform1i(s->frame_texture_loc, 0);
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glUniformMatrix4fv(s->frame_transform_loc, 1, GL_TRUE, out_mat->v);
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assert(glGetError() == GL_NO_ERROR);
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glEnableVertexAttribArray(0);
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glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void*)0);
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glDisableVertexAttribArray(0);
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glBindVertexArray(0);
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}
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static inline bool valid_frame_pt(UIState *s, float x, float y) {
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return x >= 0 && x <= s->rgb_width && y >= 0 && y <= s->rgb_height;
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}
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static void update_lane_line_data(UIState *s, const float *points, float off, bool is_ghost, model_path_vertices_data *pvd) {
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pvd->cnt = 0;
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for (int i = 0; i < MODEL_PATH_MAX_VERTICES_CNT / 2; i++) {
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float px = (float)i;
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float py = points[i] - off;
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const vec4 p_car_space = (vec4){{px, py, 0., 1.}};
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const vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
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if(!valid_frame_pt(s, p_full_frame.v[0], p_full_frame.v[1]))
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continue;
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pvd->v[pvd->cnt].x = p_full_frame.v[0];
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pvd->v[pvd->cnt].y = p_full_frame.v[1];
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pvd->cnt += 1;
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}
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for (int i = MODEL_PATH_MAX_VERTICES_CNT / 2; i > 0; i--) {
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float px = (float)i;
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float py = is_ghost?(points[i]-off):(points[i]+off);
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const vec4 p_car_space = (vec4){{px, py, 0., 1.}};
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const vec3 p_full_frame = car_space_to_full_frame(s, p_car_space);
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if(!valid_frame_pt(s, p_full_frame.v[0], p_full_frame.v[1]))
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continue;
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pvd->v[pvd->cnt].x = p_full_frame.v[0];
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pvd->v[pvd->cnt].y = p_full_frame.v[1];
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pvd->cnt += 1;
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}
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}
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static void update_all_lane_lines_data(UIState *s, const PathData path, model_path_vertices_data *pstart) {
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update_lane_line_data(s, path.points, 0.025*path.prob, false, pstart);
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float var = fmin(path.std, 0.7);
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update_lane_line_data(s, path.points, -var, true, pstart + 1);
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update_lane_line_data(s, path.points, var, true, pstart + 2);
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}
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static void ui_draw_lane(UIState *s, const PathData *path, model_path_vertices_data *pstart, NVGcolor color) {
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ui_draw_lane_line(s, pstart, color);
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float var = fmin(path->std, 0.7);
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color.a /= 4;
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ui_draw_lane_line(s, pstart + 1, color);
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ui_draw_lane_line(s, pstart + 2, color);
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}
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static void ui_draw_vision_lanes(UIState *s) {
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const UIScene *scene = &s->scene;
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model_path_vertices_data *pvd = &s->model_path_vertices[0];
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if(s->model_changed) {
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update_all_lane_lines_data(s, scene->model.left_lane, pvd);
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update_all_lane_lines_data(s, scene->model.right_lane, pvd + MODEL_LANE_PATH_CNT);
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s->model_changed = false;
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}
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// Draw left lane edge
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ui_draw_lane(
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s, &scene->model.left_lane,
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pvd,
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nvgRGBAf(1.0, 1.0, 1.0, scene->model.left_lane.prob));
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// Draw right lane edge
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ui_draw_lane(
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s, &scene->model.right_lane,
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pvd + MODEL_LANE_PATH_CNT,
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nvgRGBAf(1.0, 1.0, 1.0, scene->model.right_lane.prob));
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if(s->livempc_or_radarstate_changed) {
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update_all_track_data(s);
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s->livempc_or_radarstate_changed = false;
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}
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// Draw vision path
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ui_draw_track(s, false, &s->track_vertices[0]);
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if (scene->engaged) {
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// Draw MPC path when engaged
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ui_draw_track(s, true, &s->track_vertices[1]);
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}
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}
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// Draw all world space objects.
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static void ui_draw_world(UIState *s) {
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const UIScene *scene = &s->scene;
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if (!scene->world_objects_visible) {
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return;
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}
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const int inner_height = viz_w*9/16;
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const int ui_viz_rx = scene->ui_viz_rx;
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const int ui_viz_rw = scene->ui_viz_rw;
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const int ui_viz_ro = scene->ui_viz_ro;
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nvgSave(s->vg);
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nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);
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nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
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nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
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nvgTranslate(s->vg, 240.0f, 0.0);
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nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2);
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nvgScale(s->vg, 2.0, 2.0);
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nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height);
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// Draw lane edges and vision/mpc tracks
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ui_draw_vision_lanes(s);
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if (scene->lead_status) {
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draw_lead(s, scene->lead_d_rel, scene->lead_v_rel, scene->lead_y_rel);
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}
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if ((scene->lead_status2) && (fabs(scene->lead_d_rel - scene->lead_d_rel2) > 3.0)) {
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draw_lead(s, scene->lead_d_rel2, scene->lead_v_rel2, scene->lead_y_rel2);
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}
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nvgRestore(s->vg);
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}
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static void ui_draw_vision_maxspeed(UIState *s) {
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/*if (!s->longitudinal_control){
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return;
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}*/
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char maxspeed_str[32];
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float maxspeed = s->scene.v_cruise;
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int maxspeed_calc = maxspeed * 0.6225 + 0.5;
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float speedlimit = s->scene.speedlimit;
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int speedlim_calc = speedlimit * 2.2369363 + 0.5;
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int speed_lim_off = s->speed_lim_off * 2.2369363 + 0.5;
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|
if (s->is_metric) {
|
|
maxspeed_calc = maxspeed + 0.5;
|
|
speedlim_calc = speedlimit * 3.6 + 0.5;
|
|
speed_lim_off = s->speed_lim_off * 3.6 + 0.5;
|
|
}
|
|
|
|
bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA);
|
|
bool is_speedlim_valid = s->scene.speedlimit_valid;
|
|
bool is_set_over_limit = is_speedlim_valid && s->scene.engaged &&
|
|
is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off);
|
|
|
|
int viz_maxspeed_w = 184;
|
|
int viz_maxspeed_h = 202;
|
|
int viz_maxspeed_x = (s->scene.ui_viz_rx + (bdr_s*2));
|
|
int viz_maxspeed_y = (box_y + (bdr_s*1.5));
|
|
int viz_maxspeed_xo = 180;
|
|
|
|
#ifdef SHOW_SPEEDLIMIT
|
|
viz_maxspeed_w += viz_maxspeed_xo;
|
|
viz_maxspeed_x += viz_maxspeed_w - (viz_maxspeed_xo * 2);
|
|
#else
|
|
viz_maxspeed_xo = 0;
|
|
#endif
|
|
|
|
// Draw Background
|
|
ui_draw_rect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h,
|
|
is_set_over_limit ? nvgRGBA(218, 111, 37, 180) : COLOR_BLACK_ALPHA(100), 30);
|
|
|
|
// Draw Border
|
|
NVGcolor color = COLOR_WHITE_ALPHA(100);
|
|
if (is_set_over_limit) {
|
|
color = COLOR_OCHRE;
|
|
} else if (is_speedlim_valid) {
|
|
color = s->is_ego_over_limit ? COLOR_WHITE_ALPHA(20) : COLOR_WHITE;
|
|
}
|
|
|
|
ui_draw_rect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, color, 20, 10);
|
|
|
|
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
|
const int text_x = viz_maxspeed_x + (viz_maxspeed_xo / 2) + (viz_maxspeed_w / 2);
|
|
ui_draw_text(s->vg, text_x, 148, "MAX", 26 * 2.5, COLOR_WHITE_ALPHA(is_cruise_set ? 200 : 100), s->font_sans_regular);
|
|
|
|
if (is_cruise_set) {
|
|
snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", maxspeed_calc);
|
|
ui_draw_text(s->vg, text_x, 242, maxspeed_str, 48 * 2.5, COLOR_WHITE, s->font_sans_bold);
|
|
} else {
|
|
ui_draw_text(s->vg, text_x, 242, "N/A", 42 * 2.5, COLOR_WHITE_ALPHA(100), s->font_sans_semibold);
|
|
}
|
|
}
|
|
|
|
static void ui_draw_vision_speedlimit(UIState *s) {
|
|
char speedlim_str[32];
|
|
float speedlimit = s->scene.speedlimit;
|
|
int speedlim_calc = speedlimit * 2.2369363 + 0.5;
|
|
if (s->is_metric) {
|
|
speedlim_calc = speedlimit * 3.6 + 0.5;
|
|
}
|
|
|
|
bool is_speedlim_valid = s->scene.speedlimit_valid;
|
|
float hysteresis_offset = 0.5;
|
|
if (s->is_ego_over_limit) {
|
|
hysteresis_offset = 0.0;
|
|
}
|
|
s->is_ego_over_limit = is_speedlim_valid && s->scene.v_ego > (speedlimit + s->speed_lim_off + hysteresis_offset);
|
|
|
|
int viz_speedlim_w = 180;
|
|
int viz_speedlim_h = 202;
|
|
int viz_speedlim_x = (s->scene.ui_viz_rx + (bdr_s*2));
|
|
int viz_speedlim_y = (box_y + (bdr_s*1.5));
|
|
if (!is_speedlim_valid) {
|
|
viz_speedlim_w -= 5;
|
|
viz_speedlim_h -= 10;
|
|
viz_speedlim_x += 9;
|
|
viz_speedlim_y += 5;
|
|
}
|
|
// Draw Background
|
|
NVGcolor color = COLOR_WHITE_ALPHA(100);
|
|
if (is_speedlim_valid && s->is_ego_over_limit) {
|
|
color = nvgRGBA(218, 111, 37, 180);
|
|
} else if (is_speedlim_valid) {
|
|
color = COLOR_WHITE;
|
|
}
|
|
ui_draw_rect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, color, is_speedlim_valid ? 30 : 15);
|
|
|
|
// Draw Border
|
|
if (is_speedlim_valid) {
|
|
ui_draw_rect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h,
|
|
s->is_ego_over_limit ? COLOR_OCHRE : COLOR_WHITE, 20, 10);
|
|
}
|
|
const float text_x = viz_speedlim_x + viz_speedlim_w / 2;
|
|
const float text_y = viz_speedlim_y + (is_speedlim_valid ? 50 : 45);
|
|
// Draw "Speed Limit" Text
|
|
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
|
color = is_speedlim_valid && s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
|
|
ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y, "SMART", 50, color, s->font_sans_semibold);
|
|
ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y + 40, "SPEED", 50, color, s->font_sans_semibold);
|
|
|
|
// Draw Speed Text
|
|
color = s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
|
|
if (is_speedlim_valid) {
|
|
snprintf(speedlim_str, sizeof(speedlim_str), "%d", speedlim_calc);
|
|
ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), speedlim_str, 48*2.5, color, s->font_sans_bold);
|
|
} else {
|
|
ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", 42*2.5, color, s->font_sans_semibold);
|
|
}
|
|
}
|
|
|
|
static void ui_draw_vision_speed(UIState *s) {
|
|
const UIScene *scene = &s->scene;
|
|
float speed = s->scene.v_ego * 2.2369363 + 0.5;
|
|
if (s->is_metric){
|
|
speed = s->scene.v_ego * 3.6 + 0.5;
|
|
}
|
|
const int viz_speed_w = 280;
|
|
const int viz_speed_x = scene->ui_viz_rx+((scene->ui_viz_rw/2)-(viz_speed_w/2));
|
|
char speed_str[32];
|
|
|
|
nvgBeginPath(s->vg);
|
|
nvgRect(s->vg, viz_speed_x, box_y, viz_speed_w, header_h);
|
|
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
|
|
|
snprintf(speed_str, sizeof(speed_str), "%d", (int)speed);
|
|
ui_draw_text(s->vg, viz_speed_x + viz_speed_w / 2, 240, speed_str, 96*2.5, COLOR_WHITE, s->font_sans_bold);
|
|
ui_draw_text(s->vg, viz_speed_x + viz_speed_w / 2, 320, s->is_metric?"kph":"mph", 36*2.5, COLOR_WHITE_ALPHA(200), s->font_sans_regular);
|
|
}
|
|
|
|
static void ui_draw_vision_event(UIState *s) {
|
|
const int viz_event_w = 220;
|
|
const int viz_event_x = ((s->scene.ui_viz_rx + s->scene.ui_viz_rw) - (viz_event_w + (bdr_s*2)));
|
|
const int viz_event_y = (box_y + (bdr_s*1.5));
|
|
if (s->scene.decel_for_model && s->scene.engaged) {
|
|
// draw winding road sign
|
|
const int img_turn_size = 160*1.5;
|
|
ui_draw_image(s->vg, viz_event_x - (img_turn_size / 4), viz_event_y + bdr_s - 25, img_turn_size, img_turn_size, s->img_turn, 1.0f);
|
|
} else {
|
|
// draw steering wheel
|
|
const int bg_wheel_size = 96;
|
|
const int bg_wheel_x = viz_event_x + (viz_event_w-bg_wheel_size);
|
|
const int bg_wheel_y = viz_event_y + (bg_wheel_size/2);
|
|
NVGcolor color = COLOR_BLACK_ALPHA(0);
|
|
if (s->status == STATUS_ENGAGED) {
|
|
color = nvgRGBA(23, 134, 68, 255);
|
|
} else if (s->status == STATUS_WARNING) {
|
|
color = COLOR_OCHRE;
|
|
} else {
|
|
color = nvgRGBA(23, 51, 73, 255);
|
|
}
|
|
|
|
if (s->scene.engageable){
|
|
ui_draw_circle_image(s->vg, bg_wheel_x, bg_wheel_y, bg_wheel_size, s->img_wheel, color, 1.0f, bg_wheel_y - 25);
|
|
}
|
|
}
|
|
}
|
|
|
|
static void ui_draw_vision_map(UIState *s) {
|
|
const int map_size = 96;
|
|
const int map_x = (s->scene.ui_viz_rx + (map_size * 3) + (bdr_s * 3));
|
|
const int map_y = (footer_y + ((footer_h - map_size) / 2));
|
|
ui_draw_circle_image(s->vg, map_x, map_y, map_size, s->img_map, s->scene.map_valid);
|
|
}
|
|
|
|
static void ui_draw_vision_face(UIState *s) {
|
|
const int face_size = 96;
|
|
const int face_x = (s->scene.ui_viz_rx + face_size + (bdr_s * 2));
|
|
const int face_y = (footer_y + ((footer_h - face_size) / 2));
|
|
ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, s->scene.monitoring_active);
|
|
}
|
|
|
|
static void ui_draw_driver_view(UIState *s) {
|
|
const UIScene *scene = &s->scene;
|
|
s->scene.uilayout_sidebarcollapsed = true;
|
|
const int frame_x = scene->ui_viz_rx;
|
|
const int frame_w = scene->ui_viz_rw;
|
|
const int valid_frame_w = 4 * box_h / 3;
|
|
const int valid_frame_x = frame_x + (frame_w - valid_frame_w) / 2 + ff_xoffset;
|
|
|
|
// blackout
|
|
if (!scene->is_rhd) {
|
|
NVGpaint gradient = nvgLinearGradient(s->vg, valid_frame_x + valid_frame_w,
|
|
box_y,
|
|
valid_frame_x + box_h / 2, box_y,
|
|
nvgRGBAf(0,0,0,1), nvgRGBAf(0,0,0,0));
|
|
ui_draw_rect(s->vg, valid_frame_x + box_h / 2, box_y, valid_frame_w - box_h / 2, box_h, gradient);
|
|
} else {
|
|
NVGpaint gradient = nvgLinearGradient(s->vg, valid_frame_x,
|
|
box_y,
|
|
valid_frame_w - box_h / 2, box_y,
|
|
nvgRGBAf(0,0,0,1), nvgRGBAf(0,0,0,0));
|
|
ui_draw_rect(s->vg, valid_frame_x, box_y, valid_frame_w - box_h / 2, box_h, gradient);
|
|
}
|
|
ui_draw_rect(s->vg, scene->is_rhd ? valid_frame_x : valid_frame_x + box_h / 2, box_y, valid_frame_w - box_h / 2, box_h, COLOR_BLACK_ALPHA(144));
|
|
|
|
// borders
|
|
ui_draw_rect(s->vg, frame_x, box_y, valid_frame_x - frame_x, box_h, nvgRGBA(23, 51, 73, 255));
|
|
ui_draw_rect(s->vg, valid_frame_x + valid_frame_w, box_y, frame_w - valid_frame_w - (valid_frame_x - frame_x), box_h, nvgRGBA(23, 51, 73, 255));
|
|
|
|
// draw face box
|
|
if (scene->face_prob > 0.4) {
|
|
int fbox_x;
|
|
int fbox_y = box_y + (scene->face_y + 0.5) * box_h - 0.5 * 0.6 * box_h / 2;;
|
|
if (!scene->is_rhd) {
|
|
fbox_x = valid_frame_x + (1 - (scene->face_x + 0.5)) * (box_h / 2) - 0.5 * 0.6 * box_h / 2;
|
|
} else {
|
|
fbox_x = valid_frame_x + valid_frame_w - box_h / 2 + (scene->face_x + 0.5) * (box_h / 2) - 0.5 * 0.6 * box_h / 2;
|
|
}
|
|
if (abs(scene->face_x) <= 0.35 && abs(scene->face_y) <= 0.4) {
|
|
ui_draw_rect(s->vg, fbox_x, fbox_y, 0.6 * box_h / 2, 0.6 * box_h / 2,
|
|
nvgRGBAf(1.0, 1.0, 1.0, 0.8 - ((abs(scene->face_x) > abs(scene->face_y) ? abs(scene->face_x) : abs(scene->face_y))) * 0.6 / 0.375),
|
|
35, 10);
|
|
} else {
|
|
ui_draw_rect(s->vg, fbox_x, fbox_y, 0.6 * box_h / 2, 0.6 * box_h / 2, nvgRGBAf(1.0, 1.0, 1.0, 0.2), 35, 10);
|
|
}
|
|
} else {
|
|
;
|
|
}
|
|
|
|
// draw face icon
|
|
const int face_size = 85;
|
|
const int face_x = (valid_frame_x + face_size + (bdr_s * 2)) + (scene->is_rhd ? valid_frame_w - box_h / 2:0);
|
|
const int face_y = (box_y + box_h - face_size - bdr_s - (bdr_s * 1.5));
|
|
ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, scene->face_prob > 0.4);
|
|
}
|
|
|
|
static void ui_draw_vision_header(UIState *s) {
|
|
const UIScene *scene = &s->scene;
|
|
int ui_viz_rx = scene->ui_viz_rx;
|
|
int ui_viz_rw = scene->ui_viz_rw;
|
|
|
|
NVGpaint gradient = nvgLinearGradient(s->vg, ui_viz_rx,
|
|
(box_y+(header_h-(header_h/2.5))),
|
|
ui_viz_rx, box_y+header_h,
|
|
nvgRGBAf(0,0,0,0.45), nvgRGBAf(0,0,0,0));
|
|
ui_draw_rect(s->vg, ui_viz_rx, box_y, ui_viz_rw, header_h, gradient);
|
|
|
|
ui_draw_vision_maxspeed(s);
|
|
|
|
#ifdef SHOW_SPEEDLIMIT
|
|
ui_draw_vision_speedlimit(s);
|
|
#endif
|
|
ui_draw_vision_speed(s);
|
|
ui_draw_vision_event(s);
|
|
}
|
|
|
|
static void ui_draw_vision_footer(UIState *s) {
|
|
nvgBeginPath(s->vg);
|
|
nvgRect(s->vg, s->scene.ui_viz_rx, footer_y, s->scene.ui_viz_rw, footer_h);
|
|
|
|
ui_draw_vision_face(s);
|
|
|
|
#ifdef SHOW_SPEEDLIMIT
|
|
// ui_draw_vision_map(s);
|
|
#endif
|
|
}
|
|
|
|
void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size, int va_color,
|
|
const char* va_text1, const char* va_text2) {
|
|
static std::map<cereal::ControlsState::AlertSize, const int> alert_size_map = {
|
|
{cereal::ControlsState::AlertSize::NONE, 0},
|
|
{cereal::ControlsState::AlertSize::SMALL, 241},
|
|
{cereal::ControlsState::AlertSize::MID, 390},
|
|
{cereal::ControlsState::AlertSize::FULL, vwp_h}};
|
|
|
|
const UIScene *scene = &s->scene;
|
|
const bool hasSidebar = !scene->uilayout_sidebarcollapsed;
|
|
const bool mapEnabled = scene->uilayout_mapenabled;
|
|
bool longAlert1 = strlen(va_text1) > 15;
|
|
|
|
const uint8_t *color = alert_colors[va_color];
|
|
int alr_s = alert_size_map[va_size];
|
|
|
|
const int alr_x = scene->ui_viz_rx-(mapEnabled?(hasSidebar?nav_w:(nav_ww)):0)-bdr_s;
|
|
const int alr_w = scene->ui_viz_rw+(mapEnabled?(hasSidebar?nav_w:(nav_ww)):0)+(bdr_s*2);
|
|
const int alr_h = alr_s+(va_size==cereal::ControlsState::AlertSize::NONE?0:bdr_s);
|
|
const int alr_y = vwp_h-alr_h;
|
|
|
|
ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, nvgRGBA(color[0],color[1],color[2],(color[3]*s->alert_blinking_alpha)));
|
|
|
|
NVGpaint gradient = nvgLinearGradient(s->vg, alr_x, alr_y, alr_x, alr_y+alr_h,
|
|
nvgRGBAf(0.0,0.0,0.0,0.05), nvgRGBAf(0.0,0.0,0.0,0.35));
|
|
ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, gradient);
|
|
|
|
nvgFillColor(s->vg, COLOR_WHITE);
|
|
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
|
|
|
if (va_size == cereal::ControlsState::AlertSize::SMALL) {
|
|
ui_draw_text(s->vg, alr_x+alr_w/2, alr_y+alr_h/2+15, va_text1, 40*2.5, COLOR_WHITE, s->font_sans_semibold);
|
|
} else if (va_size == cereal::ControlsState::AlertSize::MID) {
|
|
ui_draw_text(s->vg, alr_x+alr_w/2, alr_y+alr_h/2-45, va_text1, 48*2.5, COLOR_WHITE, s->font_sans_bold);
|
|
ui_draw_text(s->vg, alr_x+alr_w/2, alr_y+alr_h/2+75, va_text2, 36*2.5, COLOR_WHITE, s->font_sans_regular);
|
|
} else if (va_size == cereal::ControlsState::AlertSize::FULL) {
|
|
nvgFontSize(s->vg, (longAlert1?72:96)*2.5);
|
|
nvgFontFaceId(s->vg, s->font_sans_bold);
|
|
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
|
nvgTextBox(s->vg, alr_x, alr_y+(longAlert1?360:420), alr_w-60, va_text1, NULL);
|
|
nvgFontSize(s->vg, 48*2.5);
|
|
nvgFontFaceId(s->vg, s->font_sans_regular);
|
|
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BOTTOM);
|
|
nvgTextBox(s->vg, alr_x, alr_h-(longAlert1?300:360), alr_w-60, va_text2, NULL);
|
|
}
|
|
}
|
|
|
|
static void ui_draw_vision(UIState *s) {
|
|
const UIScene *scene = &s->scene;
|
|
|
|
// Draw video frames
|
|
glEnable(GL_SCISSOR_TEST);
|
|
glViewport(scene->ui_viz_rx+scene->ui_viz_ro, s->fb_h-(box_y+box_h), viz_w, box_h);
|
|
glScissor(scene->ui_viz_rx, s->fb_h-(box_y+box_h), scene->ui_viz_rw, box_h);
|
|
draw_frame(s);
|
|
glDisable(GL_SCISSOR_TEST);
|
|
|
|
glViewport(0, 0, s->fb_w, s->fb_h);
|
|
|
|
// Draw augmented elements
|
|
if (!scene->frontview && !scene->fullview) {
|
|
ui_draw_world(s);
|
|
}
|
|
|
|
// Set Speed, Current Speed, Status/Events
|
|
if (!scene->frontview) {
|
|
ui_draw_vision_header(s);
|
|
} else {
|
|
ui_draw_driver_view(s);
|
|
}
|
|
|
|
if (scene->alert_size != cereal::ControlsState::AlertSize::NONE) {
|
|
// Controls Alerts
|
|
ui_draw_vision_alert(s, scene->alert_size, s->status,
|
|
scene->alert_text1.c_str(), scene->alert_text2.c_str());
|
|
} else {
|
|
if (!scene->frontview){ui_draw_vision_footer(s);}
|
|
}
|
|
}
|
|
|
|
static void ui_draw_background(UIState *s) {
|
|
int bg_status = s->status;
|
|
assert(bg_status < ARRAYSIZE(bg_colors));
|
|
const uint8_t *color = bg_colors[bg_status];
|
|
|
|
glClearColor(color[0]/256.0, color[1]/256.0, color[2]/256.0, 1.0);
|
|
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
|
|
}
|
|
|
|
void ui_draw(UIState *s) {
|
|
ui_draw_background(s);
|
|
glEnable(GL_BLEND);
|
|
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
|
glViewport(0, 0, s->fb_w, s->fb_h);
|
|
nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
|
|
ui_draw_sidebar(s);
|
|
if (s->started && s->active_app == cereal::UiLayoutState::App::NONE && s->status != STATUS_STOPPED && s->vision_seen) {
|
|
ui_draw_vision(s);
|
|
}
|
|
nvgEndFrame(s->vg);
|
|
glDisable(GL_BLEND);
|
|
}
|
|
|
|
void ui_draw_image(NVGcontext *vg, float x, float y, float w, float h, int image, float alpha){
|
|
nvgBeginPath(vg);
|
|
NVGpaint imgPaint = nvgImagePattern(vg, x, y, w, h, 0, image, alpha);
|
|
nvgRect(vg, x, y, w, h);
|
|
nvgFillPaint(vg, imgPaint);
|
|
nvgFill(vg);
|
|
}
|
|
|
|
void ui_draw_rect(NVGcontext *vg, float x, float y, float w, float h, NVGcolor color, float r, int width) {
|
|
nvgBeginPath(vg);
|
|
r > 0? nvgRoundedRect(vg, x, y, w, h, r) : nvgRect(vg, x, y, w, h);
|
|
if (width) {
|
|
nvgStrokeColor(vg, color);
|
|
nvgStrokeWidth(vg, width);
|
|
nvgStroke(vg);
|
|
} else {
|
|
nvgFillColor(vg, color);
|
|
nvgFill(vg);
|
|
}
|
|
}
|
|
|
|
void ui_draw_rect(NVGcontext *vg, float x, float y, float w, float h, NVGpaint paint, float r){
|
|
nvgBeginPath(vg);
|
|
r > 0? nvgRoundedRect(vg, x, y, w, h, r) : nvgRect(vg, x, y, w, h);
|
|
nvgFillPaint(vg, paint);
|
|
nvgFill(vg);
|
|
}
|
|
|
|
#ifdef NANOVG_GL3_IMPLEMENTATION
|
|
static const char frame_vertex_shader[] =
|
|
"#version 150 core\n"
|
|
"in vec4 aPosition;\n"
|
|
"in vec4 aTexCoord;\n"
|
|
"uniform mat4 uTransform;\n"
|
|
"out vec4 vTexCoord;\n"
|
|
"void main() {\n"
|
|
" gl_Position = uTransform * aPosition;\n"
|
|
" vTexCoord = aTexCoord;\n"
|
|
"}\n";
|
|
|
|
static const char frame_fragment_shader[] =
|
|
"#version 150 core\n"
|
|
"precision mediump float;\n"
|
|
"uniform sampler2D uTexture;\n"
|
|
"out vec4 vTexCoord;\n"
|
|
"out vec4 outColor;\n"
|
|
"void main() {\n"
|
|
" outColor = texture(uTexture, vTexCoord.xy);\n"
|
|
"}\n";
|
|
#else
|
|
static const char frame_vertex_shader[] =
|
|
"attribute vec4 aPosition;\n"
|
|
"attribute vec4 aTexCoord;\n"
|
|
"uniform mat4 uTransform;\n"
|
|
"varying vec4 vTexCoord;\n"
|
|
"void main() {\n"
|
|
" gl_Position = uTransform * aPosition;\n"
|
|
" vTexCoord = aTexCoord;\n"
|
|
"}\n";
|
|
|
|
static const char frame_fragment_shader[] =
|
|
"precision mediump float;\n"
|
|
"uniform sampler2D uTexture;\n"
|
|
"varying vec4 vTexCoord;\n"
|
|
"void main() {\n"
|
|
" gl_FragColor = texture2D(uTexture, vTexCoord.xy);\n"
|
|
"}\n";
|
|
#endif
|
|
|
|
static const mat4 device_transform = {{
|
|
1.0, 0.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0, 0.0,
|
|
0.0, 0.0, 1.0, 0.0,
|
|
0.0, 0.0, 0.0, 1.0,
|
|
}};
|
|
|
|
// frame from 4/3 to box size with a 2x zoom
|
|
static const mat4 frame_transform = {{
|
|
2*(4./3.)/((float)viz_w/box_h), 0.0, 0.0, 0.0,
|
|
0.0, 2.0, 0.0, 0.0,
|
|
0.0, 0.0, 1.0, 0.0,
|
|
0.0, 0.0, 0.0, 1.0,
|
|
}};
|
|
|
|
// frame from 4/3 to 16/9 display
|
|
static const mat4 full_to_wide_frame_transform = {{
|
|
.75, 0.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0, 0.0,
|
|
0.0, 0.0, 1.0, 0.0,
|
|
0.0, 0.0, 0.0, 1.0,
|
|
}};
|
|
|
|
void ui_nvg_init(UIState *s) {
|
|
// init drawing
|
|
s->vg = nvgCreate(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
|
assert(s->vg);
|
|
|
|
s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/fonts/courbd.ttf");
|
|
assert(s->font_courbd >= 0);
|
|
s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../assets/fonts/opensans_regular.ttf");
|
|
assert(s->font_sans_regular >= 0);
|
|
s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../assets/fonts/opensans_semibold.ttf");
|
|
assert(s->font_sans_semibold >= 0);
|
|
s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../assets/fonts/opensans_bold.ttf");
|
|
assert(s->font_sans_bold >= 0);
|
|
|
|
s->img_wheel = nvgCreateImage(s->vg, "../assets/img_chffr_wheel.png", 1);
|
|
assert(s->img_wheel != 0);
|
|
s->img_turn = nvgCreateImage(s->vg, "../assets/img_trafficSign_turn.png", 1);
|
|
assert(s->img_turn != 0);
|
|
s->img_face = nvgCreateImage(s->vg, "../assets/img_driver_face.png", 1);
|
|
assert(s->img_face != 0);
|
|
s->img_map = nvgCreateImage(s->vg, "../assets/img_map.png", 1);
|
|
assert(s->img_map != 0);
|
|
s->img_button_settings = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
|
|
assert(s->img_button_settings != 0);
|
|
s->img_button_home = nvgCreateImage(s->vg, "../assets/images/button_home.png", 1);
|
|
assert(s->img_button_home != 0);
|
|
s->img_battery = nvgCreateImage(s->vg, "../assets/images/battery.png", 1);
|
|
assert(s->img_battery != 0);
|
|
s->img_battery_charging = nvgCreateImage(s->vg, "../assets/images/battery_charging.png", 1);
|
|
assert(s->img_battery_charging != 0);
|
|
|
|
for(int i=0;i<=5;++i) {
|
|
char network_asset[32];
|
|
snprintf(network_asset, sizeof(network_asset), "../assets/images/network_%d.png", i);
|
|
s->img_network[i] = nvgCreateImage(s->vg, network_asset, 1);
|
|
assert(s->img_network[i] != 0);
|
|
}
|
|
|
|
// init gl
|
|
s->frame_program = load_program(frame_vertex_shader, frame_fragment_shader);
|
|
assert(s->frame_program);
|
|
|
|
s->frame_pos_loc = glGetAttribLocation(s->frame_program, "aPosition");
|
|
s->frame_texcoord_loc = glGetAttribLocation(s->frame_program, "aTexCoord");
|
|
|
|
s->frame_texture_loc = glGetUniformLocation(s->frame_program, "uTexture");
|
|
s->frame_transform_loc = glGetUniformLocation(s->frame_program, "uTransform");
|
|
|
|
glViewport(0, 0, s->fb_w, s->fb_h);
|
|
|
|
glDisable(GL_DEPTH_TEST);
|
|
|
|
assert(glGetError() == GL_NO_ERROR);
|
|
|
|
for(int i = 0; i < 2; i++) {
|
|
float x1, x2, y1, y2;
|
|
if (i == 1) {
|
|
// flip horizontally so it looks like a mirror
|
|
x1 = 0.0;
|
|
x2 = 1.0;
|
|
y1 = 1.0;
|
|
y2 = 0.0;
|
|
} else {
|
|
x1 = 1.0;
|
|
x2 = 0.0;
|
|
y1 = 1.0;
|
|
y2 = 0.0;
|
|
}
|
|
const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
|
|
const float frame_coords[4][4] = {
|
|
{-1.0, -1.0, x2, y1}, //bl
|
|
{-1.0, 1.0, x2, y2}, //tl
|
|
{ 1.0, 1.0, x1, y2}, //tr
|
|
{ 1.0, -1.0, x1, y1}, //br
|
|
};
|
|
|
|
glGenVertexArrays(1,&s->frame_vao[i]);
|
|
glBindVertexArray(s->frame_vao[i]);
|
|
glGenBuffers(1, &s->frame_vbo[i]);
|
|
glBindBuffer(GL_ARRAY_BUFFER, s->frame_vbo[i]);
|
|
glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW);
|
|
glEnableVertexAttribArray(s->frame_pos_loc);
|
|
glVertexAttribPointer(s->frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
|
|
sizeof(frame_coords[0]), (const void *)0);
|
|
glEnableVertexAttribArray(s->frame_texcoord_loc);
|
|
glVertexAttribPointer(s->frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
|
|
sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2));
|
|
glGenBuffers(1, &s->frame_ibo[i]);
|
|
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s->frame_ibo[i]);
|
|
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW);
|
|
glBindBuffer(GL_ARRAY_BUFFER,0);
|
|
glBindVertexArray(0);
|
|
}
|
|
|
|
s->front_frame_mat = matmul(device_transform, full_to_wide_frame_transform);
|
|
s->rear_frame_mat = matmul(device_transform, frame_transform);
|
|
|
|
for(int i = 0;i < UI_BUF_COUNT; i++) {
|
|
s->khr[i] = NULL;
|
|
s->priv_hnds[i] = NULL;
|
|
s->khr_front[i] = NULL;
|
|
s->priv_hnds_front[i] = NULL;
|
|
}
|
|
}
|
|
|