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130 lines
3.0 KiB
130 lines
3.0 KiB
#pragma once
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#include <eigen3/Eigen/Dense>
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#include <memory>
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#include <string>
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#include <QTimer>
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#include <QColor>
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#include <QFuture>
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#include "cereal/messaging/messaging.h"
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#include "common/mat.h"
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#include "common/params.h"
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#include "common/util.h"
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#include "system/hardware/hw.h"
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#include "selfdrive/ui/qt/prime_state.h"
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const int UI_BORDER_SIZE = 30;
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const int UI_HEADER_HEIGHT = 420;
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const int UI_FREQ = 20; // Hz
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const int BACKLIGHT_OFFROAD = 50;
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const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0,
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1.0, 0.0, 0.0).finished();
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const Eigen::Matrix3f FCAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
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2648.0, 0.0, 1928.0 / 2,
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0.0, 2648.0, 1208.0 / 2,
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0.0, 0.0, 1.0).finished();
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// tici ecam focal probably wrong? magnification is not consistent across frame
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// Need to retrain model before this can be changed
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const Eigen::Matrix3f ECAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
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567.0, 0.0, 1928.0 / 2,
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0.0, 567.0, 1208.0 / 2,
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0.0, 0.0, 1.0).finished();
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typedef enum UIStatus {
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STATUS_DISENGAGED,
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STATUS_OVERRIDE,
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STATUS_ENGAGED,
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} UIStatus;
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const QColor bg_colors [] = {
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[STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
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[STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
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[STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
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};
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typedef struct UIScene {
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Eigen::Matrix3f view_from_calib = VIEW_FROM_DEVICE;
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Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
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cereal::PandaState::PandaType pandaType;
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cereal::LongitudinalPersonality personality;
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float light_sensor = -1;
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bool started, ignition, is_metric;
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uint64_t started_frame;
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} UIScene;
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class UIState : public QObject {
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Q_OBJECT
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public:
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UIState(QObject* parent = 0);
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void updateStatus();
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inline bool engaged() const {
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return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
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}
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std::unique_ptr<SubMaster> sm;
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UIStatus status;
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UIScene scene = {};
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QString language;
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PrimeState *prime_state;
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signals:
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void uiUpdate(const UIState &s);
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void offroadTransition(bool offroad);
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private slots:
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void update();
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private:
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QTimer *timer;
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bool started_prev = false;
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};
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UIState *uiState();
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// device management class
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class Device : public QObject {
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Q_OBJECT
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public:
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Device(QObject *parent = 0);
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bool isAwake() { return awake; }
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void setOffroadBrightness(int brightness) {
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offroad_brightness = std::clamp(brightness, 0, 100);
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}
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private:
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bool awake = false;
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int interactive_timeout = 0;
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bool ignition_on = false;
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int offroad_brightness = BACKLIGHT_OFFROAD;
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int last_brightness = 0;
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FirstOrderFilter brightness_filter;
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QFuture<void> brightness_future;
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void updateBrightness(const UIState &s);
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void updateWakefulness(const UIState &s);
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void setAwake(bool on);
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signals:
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void displayPowerChanged(bool on);
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void interactiveTimeout();
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public slots:
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void resetInteractiveTimeout(int timeout = -1);
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void update(const UIState &s);
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};
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Device *device();
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void ui_update_params(UIState *s);
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