UI: refactor GLWindow (#20764)
Adeeb Shihadeh
GitHub
parent
0d10f9c4ad
commit
140e6248e2
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@ -27,7 +27,7 @@ qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
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qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=base_libs)
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# build main UI
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qt_src = ["main.cc", "ui.cc", "paint.cc", "sidebar.cc",
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qt_src = ["main.cc", "ui.cc", "paint.cc", "sidebar.cc", "qt/onroad.cc",
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"qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
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"qt/offroad/onboarding.cc", "#phonelibs/nanovg/nanovg.c"]
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@ -1,9 +1,19 @@
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#include "ui.hpp"
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#include <assert.h>
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#include <algorithm>
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#include "ui.hpp"
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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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#define NANOVG_GLES3_IMPLEMENTATION
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#define nvgCreate nvgCreateGLES3
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#endif
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#include "common/util.h"
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#include "common/timing.h"
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#include <algorithm>
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#define NANOVG_GLES3_IMPLEMENTATION
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#include "nanovg_gl.h"
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@ -1,4 +1,5 @@
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#pragma once
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#include "ui.hpp"
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void ui_draw(UIState *s);
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@ -1,9 +1,3 @@
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#include <cmath>
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#include <fstream>
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#include <iostream>
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#include <thread>
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#include <exception>
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#include <QDateTime>
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#include <QHBoxLayout>
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#include <QMouseEvent>
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@ -13,59 +7,46 @@
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#include "common/params.h"
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#include "common/timing.h"
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#include "common/swaglog.h"
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#include "common/watchdog.h"
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#include "selfdrive/hardware/hw.h"
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#include "home.hpp"
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#include "paint.hpp"
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#include "qt_window.hpp"
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#include "widgets/drive_stats.hpp"
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#include "widgets/setup.hpp"
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#define BACKLIGHT_DT 0.25
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#define BACKLIGHT_TS 2.00
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#define BACKLIGHT_OFFROAD 50
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// HomeWindow: the container for the offroad (OffroadHome) and onroad (GLWindow) UIs
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// HomeWindow: the container for the offroad and onroad UIs
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HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
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layout = new QStackedLayout();
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layout->setStackingMode(QStackedLayout::StackAll);
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// onroad UI
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glWindow = new GLWindow(this);
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layout->addWidget(glWindow);
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// draw offroad UI on top of onroad UI
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onroad = new OnroadWindow(this);
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layout->addWidget(onroad);
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QObject::connect(this, &HomeWindow::update, onroad, &OnroadWindow::update);
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QObject::connect(this, &HomeWindow::displayPowerChanged, onroad, &OnroadWindow::setEnabled);
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home = new OffroadHome();
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layout->addWidget(home);
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QObject::connect(glWindow, SIGNAL(offroadTransition(bool)), home, SLOT(setVisible(bool)));
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QObject::connect(glWindow, SIGNAL(offroadTransition(bool)), this, SIGNAL(offroadTransition(bool)));
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QObject::connect(glWindow, SIGNAL(screen_shutoff()), this, SIGNAL(closeSettings()));
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QObject::connect(this, SIGNAL(openSettings()), home, SLOT(refresh()));
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QObject::connect(this, &HomeWindow::openSettings, home, &OffroadHome::refresh);
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QObject::connect(this, &HomeWindow::offroadTransition, home, &OffroadHome::setVisible);
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setLayout(layout);
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}
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void HomeWindow::mousePressEvent(QMouseEvent* e) {
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UIState* ui_state = &glWindow->ui_state;
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if (GLWindow::ui_state.scene.driver_view) {
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// TODO: make a nice driver view widget
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if (QUIState::ui_state.scene.driver_view) {
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Params().putBool("IsDriverViewEnabled", false);
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GLWindow::ui_state.scene.driver_view = false;
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QUIState::ui_state.scene.driver_view = false;
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return;
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}
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glWindow->wake();
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// Settings button click
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if (!ui_state->sidebar_collapsed && settings_btn.ptInRect(e->x(), e->y())) {
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if (!QUIState::ui_state.sidebar_collapsed && settings_btn.ptInRect(e->x(), e->y())) {
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emit openSettings();
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}
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// Handle sidebar collapsing
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if (ui_state->scene.started && (e->x() >= ui_state->viz_rect.x - bdr_s)) {
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ui_state->sidebar_collapsed = !ui_state->sidebar_collapsed;
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if (QUIState::ui_state.scene.started && (e->x() >= QUIState::ui_state.viz_rect.x - bdr_s)) {
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QUIState::ui_state.sidebar_collapsed = !QUIState::ui_state.sidebar_collapsed;
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}
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}
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@ -189,139 +170,3 @@ void OffroadHome::refresh() {
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}
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alert_notification->setStyleSheet(style);
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}
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// GLWindow: the onroad UI
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static void handle_display_state(UIState* s, bool user_input) {
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static int awake_timeout = 0;
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awake_timeout = std::max(awake_timeout - 1, 0);
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constexpr float accel_samples = 5*UI_FREQ;
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static float accel_prev = 0., gyro_prev = 0.;
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bool should_wake = s->scene.started || s->scene.ignition || user_input;
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if (!should_wake) {
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// tap detection while display is off
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bool accel_trigger = abs(s->scene.accel_sensor - accel_prev) > 0.2;
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bool gyro_trigger = abs(s->scene.gyro_sensor - gyro_prev) > 0.15;
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should_wake = accel_trigger && gyro_trigger;
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gyro_prev = s->scene.gyro_sensor;
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accel_prev = (accel_prev * (accel_samples - 1) + s->scene.accel_sensor) / accel_samples;
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}
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if (should_wake) {
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awake_timeout = 30 * UI_FREQ;
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} else if (awake_timeout > 0) {
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should_wake = true;
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}
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// handle state transition
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if (s->awake != should_wake) {
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s->awake = should_wake;
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Hardware::set_display_power(s->awake);
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LOGD("setting display power %d", s->awake);
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}
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}
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GLWindow::GLWindow(QWidget* parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QOpenGLWidget(parent) {
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timer = new QTimer(this);
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QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
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backlight_timer = new QTimer(this);
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QObject::connect(backlight_timer, SIGNAL(timeout()), this, SLOT(backlightUpdate()));
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brightness_b = Params(true).get<float>("BRIGHTNESS_B").value_or(10.0);
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brightness_m = Params(true).get<float>("BRIGHTNESS_M").value_or(0.1);
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}
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GLWindow::~GLWindow() {
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makeCurrent();
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doneCurrent();
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}
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void GLWindow::initializeGL() {
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initializeOpenGLFunctions();
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std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl;
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std::cout << "OpenGL vendor: " << glGetString(GL_VENDOR) << std::endl;
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std::cout << "OpenGL renderer: " << glGetString(GL_RENDERER) << std::endl;
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std::cout << "OpenGL language version: " << glGetString(GL_SHADING_LANGUAGE_VERSION) << std::endl;
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ui_state.sound = &sound;
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ui_state.fb_w = vwp_w;
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ui_state.fb_h = vwp_h;
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ui_init(&ui_state);
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wake();
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prev_draw_t = millis_since_boot();
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timer->start(1000 / UI_FREQ);
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backlight_timer->start(BACKLIGHT_DT * 1000);
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}
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void GLWindow::backlightUpdate() {
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// Update brightness
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float clipped_brightness = std::min(100.0f, (ui_state.scene.light_sensor * brightness_m) + brightness_b);
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if (!ui_state.scene.started) {
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clipped_brightness = BACKLIGHT_OFFROAD;
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}
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int brightness = brightness_filter.update(clipped_brightness);
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if (!ui_state.awake) {
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brightness = 0;
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emit screen_shutoff();
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}
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if (brightness != last_brightness) {
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std::thread{Hardware::set_brightness, brightness}.detach();
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}
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last_brightness = brightness;
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}
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void GLWindow::timerUpdate() {
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// Connecting to visionIPC requires opengl to be current
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if (!ui_state.vipc_client->connected){
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makeCurrent();
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}
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if (ui_state.scene.started != onroad) {
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onroad = ui_state.scene.started;
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emit offroadTransition(!onroad);
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// Change timeout to 0 when onroad, this will call timerUpdate continously.
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// This puts visionIPC in charge of update frequency, reducing video latency
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timer->start(onroad ? 0 : 1000 / UI_FREQ);
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}
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handle_display_state(&ui_state, false);
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// scale volume with speed
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sound.volume = util::map_val(ui_state.scene.car_state.getVEgo(), 0.f, 20.f,
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Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
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ui_update(&ui_state);
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if(GLWindow::ui_state.awake){
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repaint();
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}
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watchdog_kick();
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}
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void GLWindow::resizeGL(int w, int h) {
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std::cout << "resize " << w << "x" << h << std::endl;
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}
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void GLWindow::paintGL() {
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ui_draw(&ui_state);
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double cur_draw_t = millis_since_boot();
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double dt = cur_draw_t - prev_draw_t;
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if (dt > 66 && onroad && !ui_state.scene.driver_view) {
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// warn on sub 15fps
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LOGW("slow frame(%llu) time: %.2f", ui_state.sm->frame, dt);
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}
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prev_draw_t = cur_draw_t;
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}
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void GLWindow::wake() {
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handle_display_state(&ui_state, true);
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}
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@ -1,61 +1,15 @@
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#pragma once
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#include <QLabel>
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#include <QOpenGLFunctions>
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#include <QOpenGLWidget>
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#include <QPushButton>
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#include <QStackedLayout>
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#include <QStackedWidget>
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#include <QTimer>
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#include <QWidget>
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#include "sound.hpp"
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#include "onroad.hpp"
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#include "ui/ui.hpp"
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#include "common/util.h"
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#include "widgets/offroad_alerts.hpp"
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// container window for onroad NVG UI
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class GLWindow : public QOpenGLWidget, protected QOpenGLFunctions {
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Q_OBJECT
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public:
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using QOpenGLWidget::QOpenGLWidget;
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explicit GLWindow(QWidget* parent = 0);
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void wake();
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~GLWindow();
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inline static UIState ui_state = {0};
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signals:
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void offroadTransition(bool offroad);
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void screen_shutoff();
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protected:
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void initializeGL() override;
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void resizeGL(int w, int h) override;
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void paintGL() override;
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private:
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QTimer* timer;
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QTimer* backlight_timer;
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Sound sound;
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bool onroad = true;
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double prev_draw_t = 0;
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// TODO: make a nice abstraction to handle embedded device stuff
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float brightness_b = 0;
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float brightness_m = 0;
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float last_brightness = 0;
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FirstOrderFilter brightness_filter;
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public slots:
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void timerUpdate();
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void backlightUpdate();
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};
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// offroad home screen
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class OffroadHome : public QWidget {
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Q_OBJECT
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@ -81,17 +35,21 @@ class HomeWindow : public QWidget {
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public:
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explicit HomeWindow(QWidget* parent = 0);
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GLWindow* glWindow;
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signals:
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void openSettings();
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void closeSettings();
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// forwarded signals
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void displayPowerChanged(bool on);
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void offroadTransition(bool offroad);
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void update(const UIState &s);
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protected:
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void mousePressEvent(QMouseEvent* e) override;
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private:
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OffroadHome* home;
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QStackedLayout* layout;
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OffroadHome *home;
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OnroadWindow *onroad;
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QStackedLayout *layout;
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};
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@ -16,8 +16,7 @@
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#include "common/params.h"
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#include "common/util.h"
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#include "selfdrive/hardware/hw.h"
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#include "home.hpp"
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#include "ui.hpp"
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TogglesPanel::TogglesPanel(QWidget *parent) : QWidget(parent) {
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QVBoxLayout *toggles_list = new QVBoxLayout();
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@ -116,7 +115,7 @@ DevicePanel::DevicePanel(QWidget* parent) : QWidget(parent) {
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"Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)",
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[=]() {
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Params().putBool("IsDriverViewEnabled", true);
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GLWindow::ui_state.scene.driver_view = true;
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QUIState::ui_state.scene.driver_view = true;
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}, "", this));
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QString resetCalibDesc = "openpilot requires the device to be mounted within 4° left or right and within 5° up or down. openpilot is continuously calibrating, resetting is rarely required.";
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@ -0,0 +1,57 @@
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#include <iostream>
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#include "common/timing.h"
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#include "common/swaglog.h"
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#include "onroad.hpp"
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#include "paint.hpp"
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OnroadWindow::~OnroadWindow() {
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makeCurrent();
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doneCurrent();
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}
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void OnroadWindow::initializeGL() {
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initializeOpenGLFunctions();
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std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl;
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std::cout << "OpenGL vendor: " << glGetString(GL_VENDOR) << std::endl;
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std::cout << "OpenGL renderer: " << glGetString(GL_RENDERER) << std::endl;
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std::cout << "OpenGL language version: " << glGetString(GL_SHADING_LANGUAGE_VERSION) << std::endl;
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enabled = true;
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ui_nvg_init(&QUIState::ui_state);
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prev_draw_t = millis_since_boot();
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}
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void OnroadWindow::setEnabled(bool on) {
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enabled = on;
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}
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void OnroadWindow::update(const UIState &s) {
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// Connecting to visionIPC requires opengl to be current
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if (s.vipc_client->connected){
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makeCurrent();
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}
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// TODO: will hide do this?
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if(enabled) {
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repaint();
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}
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}
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void OnroadWindow::resizeGL(int w, int h) {
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std::cout << "resize " << w << "x" << h << std::endl;
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}
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void OnroadWindow::paintGL() {
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ui_draw(&QUIState::ui_state);
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double cur_draw_t = millis_since_boot();
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double dt = cur_draw_t - prev_draw_t;
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// TODO: check if onroad
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if (dt > 66 && QUIState::ui_state.scene.started && !QUIState::ui_state.scene.driver_view) {
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// warn on sub 15fps
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LOGW("slow frame time: %.2f", dt);
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}
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prev_draw_t = cur_draw_t;
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}
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@ -0,0 +1,30 @@
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#pragma once
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#include <QOpenGLFunctions>
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#include <QOpenGLWidget>
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#include <QTimer>
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#include "ui/ui.hpp"
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// container window for the NVG UI
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class OnroadWindow : public QOpenGLWidget, protected QOpenGLFunctions {
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Q_OBJECT
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public:
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using QOpenGLWidget::QOpenGLWidget;
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explicit OnroadWindow(QWidget* parent = 0) : QOpenGLWidget(parent) {};
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~OnroadWindow();
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protected:
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void paintGL() override;
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void initializeGL() override;
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void resizeGL(int w, int h) override;
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private:
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bool enabled;
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double prev_draw_t = 0;
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public slots:
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void setEnabled(bool on);
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void update(const UIState &s);
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};
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@ -1,12 +1,13 @@
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#include "request_repeater.hpp"
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RequestRepeater::RequestRepeater(QObject *parent, QString requestURL, const QString &cache_key, int period_seconds, bool disableWithScreen) :
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HttpRequest(parent, requestURL, cache_key), disableWithScreen(disableWithScreen) {
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QTimer* timer = new QTimer(this);
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RequestRepeater::RequestRepeater(QObject *parent, QString requestURL, const QString &cacheKey,
|
||||
int period) : HttpRequest(parent, requestURL, cacheKey) {
|
||||
timer = new QTimer(this);
|
||||
timer->setTimerType(Qt::VeryCoarseTimer);
|
||||
QObject::connect(timer, &QTimer::timeout, [=](){
|
||||
if (!GLWindow::ui_state.scene.started && reply == NULL && (GLWindow::ui_state.awake || !disableWithScreen)) {
|
||||
if (!QUIState::ui_state.scene.started && QUIState::ui_state.awake && reply == NULL) {
|
||||
sendRequest(requestURL);
|
||||
}
|
||||
});
|
||||
timer->start(period_seconds * 1000);
|
||||
timer->start(period * 1000);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,9 +1,10 @@
|
|||
#include "api.hpp"
|
||||
#include "home.hpp"
|
||||
#include "ui.hpp"
|
||||
|
||||
class RequestRepeater : public HttpRequest {
|
||||
|
||||
public:
|
||||
RequestRepeater(QObject *parent, QString requestURL, const QString &cache_key = "", int period_seconds = 0, bool disableWithScreen = true);
|
||||
bool disableWithScreen;
|
||||
RequestRepeater(QObject *parent, QString requestURL, const QString &cacheKey = "", int period = 0);
|
||||
|
||||
private:
|
||||
QTimer *timer;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -6,18 +6,6 @@
|
|||
|
||||
typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
|
||||
|
||||
static std::map<AudibleAlert, std::pair<const char *, int>> sound_map {
|
||||
// AudibleAlert, (file path, loop count)
|
||||
{AudibleAlert::CHIME_DISENGAGE, {"../assets/sounds/disengaged.wav", 0}},
|
||||
{AudibleAlert::CHIME_ENGAGE, {"../assets/sounds/engaged.wav", 0}},
|
||||
{AudibleAlert::CHIME_WARNING1, {"../assets/sounds/warning_1.wav", 0}},
|
||||
{AudibleAlert::CHIME_WARNING2, {"../assets/sounds/warning_2.wav", 0}},
|
||||
{AudibleAlert::CHIME_WARNING2_REPEAT, {"../assets/sounds/warning_2.wav", -1}},
|
||||
{AudibleAlert::CHIME_WARNING_REPEAT, {"../assets/sounds/warning_repeat.wav", -1}},
|
||||
{AudibleAlert::CHIME_ERROR, {"../assets/sounds/error.wav", 0}},
|
||||
{AudibleAlert::CHIME_PROMPT, {"../assets/sounds/error.wav", 0}}
|
||||
};
|
||||
|
||||
class Sound {
|
||||
public:
|
||||
Sound();
|
||||
|
|
@ -26,5 +14,17 @@ public:
|
|||
float volume = 0;
|
||||
|
||||
private:
|
||||
std::map<AudibleAlert, std::pair<QString, int>> sound_map {
|
||||
// AudibleAlert, (file path, loop count)
|
||||
{AudibleAlert::CHIME_DISENGAGE, {"../assets/sounds/disengaged.wav", 0}},
|
||||
{AudibleAlert::CHIME_ENGAGE, {"../assets/sounds/engaged.wav", 0}},
|
||||
{AudibleAlert::CHIME_WARNING1, {"../assets/sounds/warning_1.wav", 0}},
|
||||
{AudibleAlert::CHIME_WARNING2, {"../assets/sounds/warning_2.wav", 0}},
|
||||
{AudibleAlert::CHIME_WARNING2_REPEAT, {"../assets/sounds/warning_2.wav", -1}},
|
||||
{AudibleAlert::CHIME_WARNING_REPEAT, {"../assets/sounds/warning_repeat.wav", -1}},
|
||||
{AudibleAlert::CHIME_ERROR, {"../assets/sounds/error.wav", 0}},
|
||||
{AudibleAlert::CHIME_PROMPT, {"../assets/sounds/error.wav", 0}}
|
||||
};
|
||||
|
||||
std::map<AudibleAlert, QSoundEffect> sounds;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -7,25 +7,30 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
|
|||
|
||||
homeWindow = new HomeWindow(this);
|
||||
main_layout->addWidget(homeWindow);
|
||||
QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
|
||||
QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
|
||||
QObject::connect(&qs, &QUIState::uiUpdate, homeWindow, &HomeWindow::update);
|
||||
QObject::connect(&qs, &QUIState::offroadTransition, homeWindow, &HomeWindow::offroadTransition);
|
||||
QObject::connect(&device, &Device::displayPowerChanged, homeWindow, &HomeWindow::displayPowerChanged);
|
||||
|
||||
settingsWindow = new SettingsWindow(this);
|
||||
main_layout->addWidget(settingsWindow);
|
||||
QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
|
||||
QObject::connect(&qs, &QUIState::offroadTransition, settingsWindow, &SettingsWindow::offroadTransition);
|
||||
QObject::connect(settingsWindow, SIGNAL(reviewTrainingGuide()), this, SLOT(reviewTrainingGuide()));
|
||||
|
||||
onboardingWindow = new OnboardingWindow(this);
|
||||
main_layout->addWidget(onboardingWindow);
|
||||
|
||||
QObject::connect(homeWindow, SIGNAL(openSettings()), this, SLOT(openSettings()));
|
||||
QObject::connect(homeWindow, SIGNAL(closeSettings()), this, SLOT(closeSettings()));
|
||||
QObject::connect(homeWindow, SIGNAL(offroadTransition(bool)), this, SLOT(offroadTransition(bool)));
|
||||
QObject::connect(homeWindow, SIGNAL(offroadTransition(bool)), settingsWindow, SIGNAL(offroadTransition(bool)));
|
||||
QObject::connect(settingsWindow, SIGNAL(closeSettings()), this, SLOT(closeSettings()));
|
||||
QObject::connect(settingsWindow, SIGNAL(reviewTrainingGuide()), this, SLOT(reviewTrainingGuide()));
|
||||
|
||||
// start at onboarding
|
||||
main_layout->setCurrentWidget(onboardingWindow);
|
||||
QObject::connect(onboardingWindow, SIGNAL(onboardingDone()), this, SLOT(closeSettings()));
|
||||
onboardingWindow->updateActiveScreen();
|
||||
|
||||
device.setAwake(true, true);
|
||||
QObject::connect(&qs, &QUIState::uiUpdate, &device, &Device::update);
|
||||
QObject::connect(&qs, &QUIState::offroadTransition, this, &MainWindow::offroadTransition);
|
||||
QObject::connect(&device, &Device::displayPowerChanged, this, &MainWindow::closeSettings);
|
||||
|
||||
// no outline to prevent the focus rectangle
|
||||
setLayout(main_layout);
|
||||
setStyleSheet(R"(
|
||||
|
|
@ -58,11 +63,11 @@ void MainWindow::reviewTrainingGuide() {
|
|||
bool MainWindow::eventFilter(QObject *obj, QEvent *event){
|
||||
// wake screen on tap
|
||||
if (event->type() == QEvent::MouseButtonPress) {
|
||||
homeWindow->glWindow->wake();
|
||||
device.setAwake(true, true);
|
||||
}
|
||||
|
||||
// filter out touches while in android activity
|
||||
#ifdef QCOM
|
||||
// filter out touches while in android activity
|
||||
const QList<QEvent::Type> filter_events = {QEvent::MouseButtonPress, QEvent::MouseMove, QEvent::TouchBegin, QEvent::TouchUpdate, QEvent::TouchEnd};
|
||||
if (HardwareEon::launched_activity && filter_events.contains(event->type())) {
|
||||
HardwareEon::check_activity();
|
||||
|
|
|
|||
|
|
@ -6,6 +6,7 @@
|
|||
#include "offroad/settings.hpp"
|
||||
#include "offroad/onboarding.hpp"
|
||||
#include "home.hpp"
|
||||
#include "../ui.hpp"
|
||||
|
||||
class MainWindow : public QWidget {
|
||||
Q_OBJECT
|
||||
|
|
@ -17,6 +18,9 @@ public:
|
|||
explicit MainWindow(QWidget *parent = 0);
|
||||
|
||||
private:
|
||||
Device device;
|
||||
QUIState qs;
|
||||
|
||||
QStackedLayout *main_layout;
|
||||
HomeWindow *homeWindow;
|
||||
SettingsWindow *settingsWindow;
|
||||
|
|
|
|||
|
|
@ -7,8 +7,16 @@
|
|||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/visionimg.h"
|
||||
#include "common/watchdog.h"
|
||||
#include "hardware/hw.h"
|
||||
#include "ui.hpp"
|
||||
#include "paint.hpp"
|
||||
#include "qt_window.hpp"
|
||||
|
||||
#define BACKLIGHT_DT 0.25
|
||||
#define BACKLIGHT_TS 2.00
|
||||
#define BACKLIGHT_OFFROAD 50
|
||||
|
||||
|
||||
// Projects a point in car to space to the corresponding point in full frame
|
||||
// image space.
|
||||
|
|
@ -45,34 +53,6 @@ static void ui_init_vision(UIState *s) {
|
|||
assert(glGetError() == GL_NO_ERROR);
|
||||
}
|
||||
|
||||
|
||||
void ui_init(UIState *s) {
|
||||
s->sm = new SubMaster({
|
||||
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "liveLocationKalman",
|
||||
"pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss",
|
||||
#ifdef QCOM2
|
||||
"roadCameraState",
|
||||
#endif
|
||||
});
|
||||
|
||||
s->scene.started = false;
|
||||
s->status = STATUS_OFFROAD;
|
||||
|
||||
|
||||
s->last_frame = nullptr;
|
||||
s->wide_camera = false;
|
||||
|
||||
#ifdef QCOM2
|
||||
s->wide_camera = Params().getBool("EnableWideCamera");
|
||||
#endif
|
||||
|
||||
ui_nvg_init(s);
|
||||
|
||||
s->vipc_client_rear = new VisionIpcClient("camerad", s->wide_camera ? VISION_STREAM_RGB_WIDE : VISION_STREAM_RGB_BACK, true);
|
||||
s->vipc_client_front = new VisionIpcClient("camerad", VISION_STREAM_RGB_FRONT, true);
|
||||
s->vipc_client = s->vipc_client_rear;
|
||||
}
|
||||
|
||||
static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
|
||||
const auto line_x = line.getX();
|
||||
int max_idx = 0;
|
||||
|
|
@ -347,11 +327,121 @@ static void update_status(UIState *s) {
|
|||
started_prev = s->scene.started;
|
||||
}
|
||||
|
||||
void ui_update(UIState *s) {
|
||||
update_params(s);
|
||||
update_sockets(s);
|
||||
update_state(s);
|
||||
update_status(s);
|
||||
update_alert(s);
|
||||
update_vision(s);
|
||||
|
||||
QUIState::QUIState(QObject *parent) : QObject(parent) {
|
||||
ui_state.sound = std::make_unique<Sound>();
|
||||
ui_state.sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
|
||||
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "liveLocationKalman",
|
||||
"pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss",
|
||||
#ifdef QCOM2
|
||||
"roadCameraState",
|
||||
#endif
|
||||
});
|
||||
|
||||
ui_state.fb_w = vwp_w;
|
||||
ui_state.fb_h = vwp_h;
|
||||
ui_state.scene.started = false;
|
||||
ui_state.status = STATUS_OFFROAD;
|
||||
ui_state.last_frame = nullptr;
|
||||
ui_state.wide_camera = false;
|
||||
|
||||
#ifdef QCOM2
|
||||
ui_state.wide_camera = Params().getBool("EnableWideCamera");
|
||||
#endif
|
||||
|
||||
ui_state.vipc_client_rear = new VisionIpcClient("camerad", ui_state.wide_camera ? VISION_STREAM_RGB_WIDE : VISION_STREAM_RGB_BACK, true);
|
||||
ui_state.vipc_client_front = new VisionIpcClient("camerad", VISION_STREAM_RGB_FRONT, true);
|
||||
ui_state.vipc_client = ui_state.vipc_client_rear;
|
||||
|
||||
// update timer
|
||||
timer = new QTimer(this);
|
||||
QObject::connect(timer, SIGNAL(timeout()), this, SLOT(update()));
|
||||
timer->start(0);
|
||||
}
|
||||
|
||||
void QUIState::update() {
|
||||
update_params(&ui_state);
|
||||
update_sockets(&ui_state);
|
||||
update_state(&ui_state);
|
||||
update_status(&ui_state);
|
||||
update_alert(&ui_state);
|
||||
update_vision(&ui_state);
|
||||
|
||||
if (ui_state.scene.started != started_prev) {
|
||||
started_prev = ui_state.scene.started;
|
||||
emit offroadTransition(!ui_state.scene.started);
|
||||
|
||||
// Change timeout to 0 when onroad, this will call update continously.
|
||||
// This puts visionIPC in charge of update frequency, reducing video latency
|
||||
timer->start(ui_state.scene.started ? 0 : 1000 / UI_FREQ);
|
||||
}
|
||||
|
||||
// scale volume with speed
|
||||
QUIState::ui_state.sound->volume = util::map_val(ui_state.scene.car_state.getVEgo(), 0.f, 20.f,
|
||||
Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
|
||||
|
||||
watchdog_kick();
|
||||
emit uiUpdate(ui_state);
|
||||
}
|
||||
|
||||
Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
|
||||
brightness_b = Params(true).get<float>("BRIGHTNESS_B").value_or(10.0);
|
||||
brightness_m = Params(true).get<float>("BRIGHTNESS_M").value_or(0.1);
|
||||
}
|
||||
|
||||
void Device::update(const UIState &s) {
|
||||
updateBrightness(s);
|
||||
updateWakefulness(s);
|
||||
|
||||
// TODO: remove from UIState and use signals
|
||||
QUIState::ui_state.awake = awake;
|
||||
}
|
||||
|
||||
void Device::setAwake(bool on, bool reset) {
|
||||
if (on != awake) {
|
||||
awake = on;
|
||||
Hardware::set_display_power(awake);
|
||||
LOGD("setting display power %d", awake);
|
||||
emit displayPowerChanged(awake);
|
||||
}
|
||||
|
||||
if (reset) {
|
||||
awake_timeout = 30 * UI_FREQ;
|
||||
}
|
||||
}
|
||||
|
||||
void Device::updateBrightness(const UIState &s) {
|
||||
float clipped_brightness = std::min(100.0f, (s.scene.light_sensor * brightness_m) + brightness_b);
|
||||
|
||||
#ifdef QCOM2
|
||||
if (!s.scene.started) {
|
||||
clipped_brightness = BACKLIGHT_OFFROAD;
|
||||
}
|
||||
#endif
|
||||
|
||||
int brightness = brightness_filter.update(clipped_brightness);
|
||||
if (!awake) {
|
||||
brightness = 0;
|
||||
}
|
||||
|
||||
if (brightness != last_brightness) {
|
||||
std::thread{Hardware::set_brightness, brightness}.detach();
|
||||
}
|
||||
last_brightness = brightness;
|
||||
}
|
||||
|
||||
void Device::updateWakefulness(const UIState &s) {
|
||||
awake_timeout = std::max(awake_timeout - 1, 0);
|
||||
|
||||
bool should_wake = s.scene.started || s.scene.ignition;
|
||||
if (!should_wake) {
|
||||
// tap detection while display is off
|
||||
bool accel_trigger = abs(s.scene.accel_sensor - accel_prev) > 0.2;
|
||||
bool gyro_trigger = abs(s.scene.gyro_sensor - gyro_prev) > 0.15;
|
||||
should_wake = accel_trigger && gyro_trigger;
|
||||
gyro_prev = s.scene.gyro_sensor;
|
||||
accel_prev = (accel_prev * (accel_samples - 1) + s.scene.accel_sensor) / accel_samples;
|
||||
}
|
||||
|
||||
setAwake(awake_timeout, should_wake);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,15 +1,4 @@
|
|||
#pragma once
|
||||
#include "messaging.hpp"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#include <OpenGL/gl3.h>
|
||||
#define NANOVG_GL3_IMPLEMENTATION
|
||||
#define nvgCreate nvgCreateGL3
|
||||
#else
|
||||
#include <GLES3/gl3.h>
|
||||
#define NANOVG_GLES3_IMPLEMENTATION
|
||||
#define nvgCreate nvgCreateGLES3
|
||||
#endif
|
||||
|
||||
#include <atomic>
|
||||
#include <map>
|
||||
|
|
@ -19,16 +8,23 @@
|
|||
|
||||
#include "nanovg.h"
|
||||
|
||||
#include "camerad/cameras/camera_common.h"
|
||||
#include "common/mat.h"
|
||||
#include "common/visionimg.h"
|
||||
#include "common/modeldata.h"
|
||||
#include "common/params.h"
|
||||
#include "common/glutil.h"
|
||||
#include "common/util.h"
|
||||
#include "common/transformations/orientation.hpp"
|
||||
#include "qt/sound.hpp"
|
||||
#include "messaging.hpp"
|
||||
#include "visionipc.h"
|
||||
#include "visionipc_client.h"
|
||||
|
||||
#include "qt/sound.hpp"
|
||||
|
||||
#include <QObject>
|
||||
#include <QTimer>
|
||||
|
||||
#define COLOR_BLACK nvgRGBA(0, 0, 0, 255)
|
||||
#define COLOR_BLACK_ALPHA(x) nvgRGBA(0, 0, 0, x)
|
||||
#define COLOR_WHITE nvgRGBA(255, 255, 255, 255)
|
||||
|
|
@ -37,8 +33,6 @@
|
|||
#define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
|
||||
#define COLOR_RED nvgRGBA(201, 34, 49, 255)
|
||||
|
||||
#define UI_BUF_COUNT 4
|
||||
|
||||
typedef struct Rect {
|
||||
int x, y, w, h;
|
||||
int centerX() const { return x + w / 2; }
|
||||
|
|
@ -148,9 +142,9 @@ typedef struct UIState {
|
|||
// images
|
||||
std::map<std::string, int> images;
|
||||
|
||||
SubMaster *sm;
|
||||
std::unique_ptr<SubMaster> sm;
|
||||
|
||||
Sound *sound;
|
||||
std::unique_ptr<Sound> sound;
|
||||
UIStatus status;
|
||||
UIScene scene;
|
||||
|
||||
|
|
@ -161,7 +155,6 @@ typedef struct UIState {
|
|||
GLuint frame_vao[2], frame_vbo[2], frame_ibo[2];
|
||||
mat4 rear_frame_mat, front_frame_mat;
|
||||
|
||||
// device state
|
||||
bool awake;
|
||||
|
||||
bool sidebar_collapsed;
|
||||
|
|
@ -171,5 +164,59 @@ typedef struct UIState {
|
|||
float zoom;
|
||||
} UIState;
|
||||
|
||||
void ui_init(UIState *s);
|
||||
void ui_update(UIState *s);
|
||||
|
||||
class QUIState : public QObject {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
QUIState(QObject* parent = 0);
|
||||
|
||||
// TODO: get rid of this, only use signal
|
||||
inline static UIState ui_state = {0};
|
||||
|
||||
signals:
|
||||
void uiUpdate(const UIState &s);
|
||||
void offroadTransition(bool offroad);
|
||||
|
||||
private slots:
|
||||
void update();
|
||||
|
||||
private:
|
||||
QTimer *timer;
|
||||
bool started_prev = true;
|
||||
};
|
||||
|
||||
|
||||
// device management class
|
||||
|
||||
class Device : public QObject {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
Device(QObject *parent = 0);
|
||||
|
||||
private:
|
||||
// auto brightness
|
||||
const float accel_samples = 5*UI_FREQ;
|
||||
|
||||
bool awake;
|
||||
int awake_timeout = 0;
|
||||
float accel_prev = 0;
|
||||
float gyro_prev = 0;
|
||||
float brightness_b = 0;
|
||||
float brightness_m = 0;
|
||||
float last_brightness = 0;
|
||||
FirstOrderFilter brightness_filter;
|
||||
|
||||
QTimer *timer;
|
||||
|
||||
void updateBrightness(const UIState &s);
|
||||
void updateWakefulness(const UIState &s);
|
||||
|
||||
signals:
|
||||
void displayPowerChanged(bool on);
|
||||
|
||||
public slots:
|
||||
void setAwake(bool on, bool reset);
|
||||
void update(const UIState &s);
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue