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112 lines
3.7 KiB
112 lines
3.7 KiB
#include "selfdrive/ui/qt/onroad/hud.h"
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#include <cmath>
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#include "selfdrive/ui/qt/util.h"
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constexpr int SET_SPEED_NA = 255;
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HudRenderer::HudRenderer() {}
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void HudRenderer::updateState(const UIState &s) {
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is_metric = s.scene.is_metric;
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status = s.status;
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const SubMaster &sm = *(s.sm);
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if (sm.rcv_frame("carState") < s.scene.started_frame) {
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is_cruise_set = false;
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set_speed = SET_SPEED_NA;
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speed = 0.0;
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return;
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}
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const auto &controls_state = sm["controlsState"].getControlsState();
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const auto &car_state = sm["carState"].getCarState();
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// Handle older routes where vCruiseCluster is not set
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set_speed = car_state.getVCruiseCluster() == 0.0 ? controls_state.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
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is_cruise_set = set_speed > 0 && set_speed != SET_SPEED_NA;
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is_cruise_available = set_speed != -1;
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if (is_cruise_set && !is_metric) {
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set_speed *= KM_TO_MILE;
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}
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// Handle older routes where vEgoCluster is not set
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v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
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float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
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speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
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}
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void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
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p.save();
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// Draw header gradient
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QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
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bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
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bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
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p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
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if (is_cruise_available) {
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drawSetSpeed(p, surface_rect);
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}
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drawCurrentSpeed(p, surface_rect);
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p.restore();
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}
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void HudRenderer::drawSetSpeed(QPainter &p, const QRect &surface_rect) {
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// Draw outer box + border to contain set speed
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const QSize default_size = {172, 204};
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QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
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QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
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// Draw set speed box
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p.setPen(QPen(QColor(255, 255, 255, 75), 6));
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p.setBrush(QColor(0, 0, 0, 166));
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p.drawRoundedRect(set_speed_rect, 32, 32);
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// Colors based on status
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QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
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QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
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if (is_cruise_set) {
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set_speed_color = QColor(255, 255, 255);
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if (status == STATUS_DISENGAGED) {
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max_color = QColor(255, 255, 255);
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} else if (status == STATUS_OVERRIDE) {
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max_color = QColor(0x91, 0x9b, 0x95, 0xff);
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} else {
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max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
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}
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}
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// Draw "MAX" text
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p.setFont(InterFont(40, QFont::DemiBold));
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p.setPen(max_color);
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p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
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// Draw set speed
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QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
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p.setFont(InterFont(90, QFont::Bold));
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p.setPen(set_speed_color);
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p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
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}
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void HudRenderer::drawCurrentSpeed(QPainter &p, const QRect &surface_rect) {
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QString speedStr = QString::number(std::nearbyint(speed));
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p.setFont(InterFont(176, QFont::Bold));
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drawText(p, surface_rect.center().x(), 210, speedStr);
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p.setFont(InterFont(66));
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drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
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}
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void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
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QRect real_rect = p.fontMetrics().boundingRect(text);
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real_rect.moveCenter({x, y - real_rect.height() / 2});
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p.setPen(QColor(0xff, 0xff, 0xff, alpha));
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p.drawText(real_rect.x(), real_rect.bottom(), text);
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}
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