319 lines
6.9 KiB
C++
319 lines
6.9 KiB
C++
#ifndef _UI_H
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#define _UI_H
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#ifdef __APPLE__
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#include <OpenGL/gl3.h>
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#define NANOVG_GL3_IMPLEMENTATION
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#define nvgCreate nvgCreateGL3
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#else
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#include <GLES3/gl3.h>
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#include <EGL/egl.h>
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#define NANOVG_GLES3_IMPLEMENTATION
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#define nvgCreate nvgCreateGLES3
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#endif
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#include <capnp/serialize.h>
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#include <pthread.h>
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#include "nanovg.h"
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#include "common/mat.h"
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#include "common/visionipc.h"
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#include "common/visionimg.h"
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#include "common/framebuffer.h"
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#include "common/modeldata.h"
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#include "messaging.hpp"
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#include "cereal/gen/c/log.capnp.h"
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#include "sound.hpp"
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#define STATUS_STOPPED 0
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#define STATUS_DISENGAGED 1
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#define STATUS_ENGAGED 2
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#define STATUS_WARNING 3
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#define STATUS_ALERT 4
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#define NET_CONNECTED 0
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#define NET_DISCONNECTED 1
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#define NET_ERROR 2
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#define ALERTSIZE_NONE 0
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#define ALERTSIZE_SMALL 1
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#define ALERTSIZE_MID 2
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#define ALERTSIZE_FULL 3
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#define COLOR_BLACK nvgRGBA(0, 0, 0, 255)
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#define COLOR_BLACK_ALPHA(x) nvgRGBA(0, 0, 0, x)
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#define COLOR_WHITE nvgRGBA(255, 255, 255, 255)
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#define COLOR_WHITE_ALPHA(x) nvgRGBA(255, 255, 255, x)
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#define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
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#define COLOR_RED nvgRGBA(201, 34, 49, 255)
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#define COLOR_OCHRE nvgRGBA(218, 111, 37, 255)
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#ifndef QCOM
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#define UI_60FPS
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#endif
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#define UI_BUF_COUNT 4
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//#define SHOW_SPEEDLIMIT 1
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//#define DEBUG_TURN
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const int vwp_w = 1920;
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const int vwp_h = 1080;
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const int nav_w = 640;
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const int nav_ww= 760;
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const int sbr_w = 300;
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const int bdr_s = 30;
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const int box_x = sbr_w+bdr_s;
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const int box_y = bdr_s;
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const int box_w = vwp_w-sbr_w-(bdr_s*2);
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const int box_h = vwp_h-(bdr_s*2);
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const int viz_w = vwp_w-(bdr_s*2);
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const int ff_xoffset = 32;
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const int header_h = 420;
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const int footer_h = 280;
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const int footer_y = vwp_h-bdr_s-footer_h;
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const int settings_btn_h = 117;
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const int settings_btn_w = 200;
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const int settings_btn_x = 50;
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const int settings_btn_y = 35;
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const int home_btn_h = 180;
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const int home_btn_w = 180;
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const int home_btn_x = 60;
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const int home_btn_y = vwp_h - home_btn_h - 40;
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const int UI_FREQ = 30; // Hz
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const int MODEL_PATH_MAX_VERTICES_CNT = 98;
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const int MODEL_LANE_PATH_CNT = 3;
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const int TRACK_POINTS_MAX_CNT = 50 * 2;
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const int SET_SPEED_NA = 255;
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const uint8_t bg_colors[][4] = {
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[STATUS_STOPPED] = {0x07, 0x23, 0x39, 0xff},
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[STATUS_DISENGAGED] = {0x17, 0x33, 0x49, 0xff},
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[STATUS_ENGAGED] = {0x17, 0x86, 0x44, 0xff},
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[STATUS_WARNING] = {0xDA, 0x6F, 0x25, 0xff},
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[STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xff},
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};
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typedef struct UIScene {
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int frontview;
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int fullview;
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int transformed_width, transformed_height;
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ModelData model;
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float mpc_x[50];
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float mpc_y[50];
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bool world_objects_visible;
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mat4 extrinsic_matrix; // Last row is 0 so we can use mat4.
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float v_cruise;
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uint64_t v_cruise_update_ts;
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float v_ego;
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bool decel_for_model;
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float speedlimit;
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bool speedlimit_valid;
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bool map_valid;
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float curvature;
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int engaged;
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bool engageable;
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bool monitoring_active;
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bool uilayout_sidebarcollapsed;
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bool uilayout_mapenabled;
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bool uilayout_mockengaged;
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// responsive layout
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int ui_viz_rx;
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int ui_viz_rw;
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int ui_viz_ro;
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int lead_status;
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float lead_d_rel, lead_y_rel, lead_v_rel;
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int lead_status2;
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float lead_d_rel2, lead_y_rel2, lead_v_rel2;
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float face_prob;
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bool is_rhd;
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float face_x, face_y;
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int front_box_x, front_box_y, front_box_width, front_box_height;
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uint64_t alert_ts;
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char alert_text1[1024];
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char alert_text2[1024];
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uint8_t alert_size;
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float alert_blinkingrate;
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float awareness_status;
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// Used to show gps planner status
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bool gps_planner_active;
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uint8_t networkType;
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uint8_t networkStrength;
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int batteryPercent;
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char batteryStatus[64];
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float freeSpace;
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uint8_t thermalStatus;
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int paTemp;
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int hwType;
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int satelliteCount;
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uint8_t athenaStatus;
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} UIScene;
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typedef struct {
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float x, y;
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}vertex_data;
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typedef struct {
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vertex_data v[MODEL_PATH_MAX_VERTICES_CNT];
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int cnt;
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} model_path_vertices_data;
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typedef struct {
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vertex_data v[TRACK_POINTS_MAX_CNT];
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int cnt;
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} track_vertices_data;
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typedef struct UIState {
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pthread_mutex_t lock;
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// framebuffer
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FramebufferState *fb;
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int fb_w, fb_h;
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// NVG
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NVGcontext *vg;
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// fonts and images
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int font_courbd;
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int font_sans_regular;
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int font_sans_semibold;
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int font_sans_bold;
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int img_wheel;
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int img_turn;
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int img_face;
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int img_map;
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int img_button_settings;
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int img_button_home;
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int img_battery;
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int img_battery_charging;
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int img_network[6];
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// sockets
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Context *ctx;
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SubSocket *model_sock;
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SubSocket *controlsstate_sock;
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SubSocket *livecalibration_sock;
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SubSocket *radarstate_sock;
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SubSocket *map_data_sock;
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SubSocket *uilayout_sock;
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SubSocket *thermal_sock;
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SubSocket *health_sock;
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SubSocket *ubloxgnss_sock;
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SubSocket *driverstate_sock;
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SubSocket *dmonitoring_sock;
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PubSocket *offroad_sock;
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Poller * poller;
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Poller * ublox_poller;
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int active_app;
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// vision state
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bool vision_connected;
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bool vision_connect_firstrun;
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int ipc_fd;
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VIPCBuf bufs[UI_BUF_COUNT];
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VIPCBuf front_bufs[UI_BUF_COUNT];
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int cur_vision_idx;
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int cur_vision_front_idx;
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GLuint frame_program;
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GLuint frame_texs[UI_BUF_COUNT];
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EGLImageKHR khr[UI_BUF_COUNT];
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void *priv_hnds[UI_BUF_COUNT];
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GLuint frame_front_texs[UI_BUF_COUNT];
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EGLImageKHR khr_front[UI_BUF_COUNT];
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void *priv_hnds_front[UI_BUF_COUNT];
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GLint frame_pos_loc, frame_texcoord_loc;
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GLint frame_texture_loc, frame_transform_loc;
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int rgb_width, rgb_height, rgb_stride;
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size_t rgb_buf_len;
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mat4 rgb_transform;
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int rgb_front_width, rgb_front_height, rgb_front_stride;
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size_t rgb_front_buf_len;
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UIScene scene;
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bool awake;
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// timeouts
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int awake_timeout;
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int volume_timeout;
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int controls_timeout;
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int alert_sound_timeout;
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int speed_lim_off_timeout;
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int is_metric_timeout;
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int longitudinal_control_timeout;
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int limit_set_speed_timeout;
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int hardware_timeout;
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int last_athena_ping_timeout;
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int offroad_layout_timeout;
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bool controls_seen;
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uint64_t last_athena_ping;
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int status;
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bool is_metric;
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bool longitudinal_control;
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bool limit_set_speed;
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float speed_lim_off;
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bool is_ego_over_limit;
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char alert_type[64];
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AudibleAlert alert_sound;
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int alert_size;
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float alert_blinking_alpha;
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bool alert_blinked;
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bool started;
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bool thermal_started, preview_started;
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bool vision_seen;
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float light_sensor;
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int touch_fd;
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// Hints for re-calculations and redrawing
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bool model_changed;
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bool livempc_or_radarstate_changed;
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GLuint frame_vao[2], frame_vbo[2], frame_ibo[2];
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mat4 rear_frame_mat, front_frame_mat;
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model_path_vertices_data model_path_vertices[MODEL_LANE_PATH_CNT * 2];
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track_vertices_data track_vertices[2];
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} UIState;
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// API
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void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
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const char* va_text1, const char* va_text2);
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void ui_draw(UIState *s);
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void ui_draw_sidebar(UIState *s);
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void ui_draw_image(NVGcontext *vg, float x, float y, float w, float h, int image, float alpha);
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void ui_nvg_init(UIState *s);
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#endif
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