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Untested 0.7.1 devui #9

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merged 3 commits into from
Jan 23, 2020
Merged

Untested 0.7.1 devui #9

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3c5d7ab
dev ui for 0.7.1
eFiniLan Jan 23, 2020
9e42e32
eFini Arne dev UI
Jan 23, 2020
96f7c6a
angleSteers uncomment
Jan 23, 2020
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321 changes: 313 additions & 8 deletions selfdrive/ui/paint.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -627,8 +627,8 @@ static void ui_draw_vision_event(UIState *s) {
const int viz_event_h = (header_h - (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;
const int img_turn_x = viz_event_x-(img_turn_size/4);
const int img_turn_size = 160;
const int img_turn_x = viz_event_x-(img_turn_size/4)+80;
const int img_turn_y = viz_event_y+bdr_s-25;
float img_turn_alpha = 1.0f;
nvgBeginPath(s->vg);
Expand All @@ -645,6 +645,7 @@ static void ui_draw_vision_event(UIState *s) {
const int img_wheel_size = bg_wheel_size*1.5;
const int img_wheel_x = bg_wheel_x-(img_wheel_size/2);
const int img_wheel_y = bg_wheel_y-25;
const float img_rotation = s->scene.angleSteers/180*3.141592;
float img_wheel_alpha = 0.1f;
bool is_engaged = (s->status == STATUS_ENGAGED);
bool is_warning = (s->status == STATUS_WARNING);
Expand All @@ -662,12 +663,16 @@ static void ui_draw_vision_event(UIState *s) {
nvgFill(s->vg);
img_wheel_alpha = 1.0f;
}
nvgBeginPath(s->vg);
NVGpaint imgPaint = nvgImagePattern(s->vg, img_wheel_x, img_wheel_y,
img_wheel_size, img_wheel_size, 0, s->img_wheel, img_wheel_alpha);
nvgRect(s->vg, img_wheel_x, img_wheel_y, img_wheel_size, img_wheel_size);
nvgFillPaint(s->vg, imgPaint);
nvgSave(s->vg);
nvgTranslate(s->vg,bg_wheel_x,(bg_wheel_y + (bdr_s*1.5)));
nvgRotate(s->vg,-img_rotation);
nvgBeginPath(s->vg);
NVGpaint imgPaint = nvgImagePattern(s->vg, img_wheel_x-bg_wheel_x, img_wheel_y-(bg_wheel_y + (bdr_s*1.5)),
img_wheel_size, img_wheel_size, 0, s->img_wheel, img_wheel_alpha);
nvgRect(s->vg, img_wheel_x-bg_wheel_x, img_wheel_y-(bg_wheel_y + (bdr_s*1.5)), img_wheel_size, img_wheel_size);
nvgFillPaint(s->vg, imgPaint);
nvgFill(s->vg);
nvgRestore(s->vg);
}
}

Expand Down Expand Up @@ -746,6 +751,305 @@ static void ui_draw_vision_header(UIState *s) {
ui_draw_vision_event(s);
}

//BB START: functions added for the display of various items
static int bb_ui_draw_measure(UIState *s, const char* bb_value, const char* bb_uom, const char* bb_label,
int bb_x, int bb_y, int bb_uom_dx,
NVGcolor bb_valueColor, NVGcolor bb_labelColor, NVGcolor bb_uomColor,
int bb_valueFontSize, int bb_labelFontSize, int bb_uomFontSize ) {
const UIScene *scene = &s->scene;
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
int dx = 0;
if (strlen(bb_uom) > 0) {
dx = (int)(bb_uomFontSize*2.5/2);
}
//print value
nvgFontFace(s->vg, "sans-semibold");
nvgFontSize(s->vg, bb_valueFontSize*2.5);
nvgFillColor(s->vg, bb_valueColor);
nvgText(s->vg, bb_x-dx/2, bb_y+ (int)(bb_valueFontSize*2.5)+5, bb_value, NULL);
//print label
nvgFontFace(s->vg, "sans-regular");
nvgFontSize(s->vg, bb_labelFontSize*2.5);
nvgFillColor(s->vg, bb_labelColor);
nvgText(s->vg, bb_x, bb_y + (int)(bb_valueFontSize*2.5)+5 + (int)(bb_labelFontSize*2.5)+5, bb_label, NULL);
//print uom
if (strlen(bb_uom) > 0) {
nvgSave(s->vg);
int rx =bb_x + bb_uom_dx + bb_valueFontSize -3;
int ry = bb_y + (int)(bb_valueFontSize*2.5/2)+25;
nvgTranslate(s->vg,rx,ry);
nvgRotate(s->vg, -1.5708); //-90deg in radians
nvgFontFace(s->vg, "sans-regular");
nvgFontSize(s->vg, (int)(bb_uomFontSize*2.5));
nvgFillColor(s->vg, bb_uomColor);
nvgText(s->vg, 0, 0, bb_uom, NULL);
nvgRestore(s->vg);
}
return (int)((bb_valueFontSize + bb_labelFontSize)*2.5) + 5;
}

static void bb_ui_draw_measures_left(UIState *s, int bb_x, int bb_y, int bb_w ) {
const UIScene *scene = &s->scene;
int bb_rx = bb_x + (int)(bb_w/2);
int bb_ry = bb_y;
int bb_h = 5;
NVGcolor lab_color = nvgRGBA(255, 255, 255, 200);
NVGcolor uom_color = nvgRGBA(255, 255, 255, 200);
int value_fontSize=30;
int label_fontSize=15;
int uom_fontSize = 15;
int bb_uom_dx = (int)(bb_w /2 - uom_fontSize*2.5) ;

//add CPU temperature
/*
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
if((int)(scene->maxCpuTemp/10) > 80) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if((int)(scene->maxCpuTemp/10) > 92) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// temp is alway in C * 10
snprintf(val_str, sizeof(val_str), "%d°C", (int)(scene->maxCpuTemp/10));
snprintf(uom_str, sizeof(uom_str), "");
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "CPU TEMP",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}
*/

//add battery temperature
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
if (s->scene.pa0 > 50) {
val_color = nvgRGBA(255, 0, 0, 200);
} else if (s->scene.pa0 > 40) {
val_color = nvgRGBA(255, 188, 3, 200);
}

snprintf(val_str, sizeof(val_str), "%2.0f°C", s->scene.pa0);
snprintf(uom_str, sizeof(uom_str), "");
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "BAT TEMP",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}

//add grey panda GPS accuracy
/*if (true) {
char val_str[16];
char uom_str[3];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
//show red/orange if gps accuracy is high
if(scene->gpsAccuracy > 0.59) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if(scene->gpsAccuracy > 0.8) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// gps accuracy is always in meters
snprintf(val_str, sizeof(val_str), "%.2f", (s->scene.gpsAccuracy));
snprintf(uom_str, sizeof(uom_str), "m");;
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "GPS PREC",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}*/

//add free space - from bthaler1
if (true) {
char val_str[16];
char uom_str[3];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);

//show red/orange if free space is low
if(scene->freeSpace < 0.4) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if(scene->freeSpace < 0.2) {
val_color = nvgRGBA(255, 0, 0, 200);
}

snprintf(val_str, sizeof(val_str), "%.0f%%", s->scene.freeSpace* 100);
snprintf(uom_str, sizeof(uom_str), "");

bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "FREE SPACE",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}

//finally draw the frame
bb_h += 20;
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
nvgStrokeWidth(s->vg, 6);
nvgStroke(s->vg);
}


static void bb_ui_draw_measures_right(UIState *s, int bb_x, int bb_y, int bb_w ) {
const UIScene *scene = &s->scene;
int bb_rx = bb_x + (int)(bb_w/2);
int bb_ry = bb_y;
int bb_h = 5;
NVGcolor lab_color = nvgRGBA(255, 255, 255, 200);
NVGcolor uom_color = nvgRGBA(255, 255, 255, 200);
int value_fontSize=30;
int label_fontSize=15;
int uom_fontSize = 15;
int bb_uom_dx = (int)(bb_w /2 - uom_fontSize*2.5) ;

//add visual radar relative distance
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
if (scene->lead_status) {
//show RED if less than 5 meters
//show orange if less than 15 meters
if((int)(scene->lead_d_rel) < 15) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if((int)(scene->lead_d_rel) < 5) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// lead car relative distance is always in meters
snprintf(val_str, sizeof(val_str), "%d", (int)scene->lead_d_rel);
} else {
snprintf(val_str, sizeof(val_str), "-");
}
snprintf(uom_str, sizeof(uom_str), "m ");
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "REL DIST",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}

//add visual radar relative speed
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
if (scene->lead_status) {
//show Orange if negative speed (approaching)
//show Orange if negative speed faster than 5mph (approaching fast)
if((int)(scene->lead_v_rel) < 0) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if((int)(scene->lead_v_rel) < -5) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// lead car relative speed is always in meters
if (s->is_metric) {
snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 3.6 + 0.5));
} else {
snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 2.2374144 + 0.5));
}
} else {
snprintf(val_str, sizeof(val_str), "-");
}
if (s->is_metric) {
snprintf(uom_str, sizeof(uom_str), "km/h");;
} else {
snprintf(uom_str, sizeof(uom_str), "mph");
}
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "REL SPEED",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}

//add steering angle
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
//show Orange if more than 6 degrees
//show red if more than 12 degrees
if(((int)(scene->angleSteers) < -6) || ((int)(scene->angleSteers) > 6)) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if(((int)(scene->angleSteers) < -12) || ((int)(scene->angleSteers) > 12)) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// steering is in degrees
snprintf(val_str, sizeof(val_str), "%.0f°",(scene->angleSteers));

snprintf(uom_str, sizeof(uom_str), "");
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "REAL STEER",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}

//add desired steering angle
if (true) {
char val_str[16];
char uom_str[6];
NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
if (scene->engaged) {
//show Orange if more than 6 degrees
//show red if more than 12 degrees
if(((int)(scene->angleSteersDes) < -6) || ((int)(scene->angleSteersDes) > 6)) {
val_color = nvgRGBA(255, 188, 3, 200);
}
if(((int)(scene->angleSteersDes) < -12) || ((int)(scene->angleSteersDes) > 12)) {
val_color = nvgRGBA(255, 0, 0, 200);
}
// steering is in degrees
snprintf(val_str, sizeof(val_str), "%.0f°",(scene->angleSteersDes));
} else {
snprintf(val_str, sizeof(val_str), "-");
}
snprintf(uom_str, sizeof(uom_str), "");
bb_h +=bb_ui_draw_measure(s, val_str, uom_str, "DESIR STEER",
bb_rx, bb_ry, bb_uom_dx,
val_color, lab_color, uom_color,
value_fontSize, label_fontSize, uom_fontSize );
bb_ry = bb_y + bb_h;
}


//finally draw the frame
bb_h += 20;
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
nvgStrokeWidth(s->vg, 6);
nvgStroke(s->vg);
}

static void bb_ui_draw_UI(UIState *s)
{
const UIScene *scene = &s->scene;
const int bb_dml_w = 180;
const int bb_dml_x = (scene->ui_viz_rx + (bdr_s * 2));
const int bb_dml_y = (box_y + (bdr_s * 1.5)) + 220;

const int bb_dmr_w = 180;
const int bb_dmr_x = scene->ui_viz_rx + scene->ui_viz_rw - bb_dmr_w - (bdr_s * 2);
const int bb_dmr_y = (box_y + (bdr_s * 1.5)) + 220;

bb_ui_draw_measures_right(s, bb_dml_x, bb_dml_y, bb_dml_w);
bb_ui_draw_measures_left(s, bb_dmr_x, bb_dmr_y, bb_dmr_w);
}
//BB END: functions added for the display of various items

static void ui_draw_vision_footer(UIState *s) {
const UIScene *scene = &s->scene;
int ui_viz_rx = scene->ui_viz_rx;
Expand All @@ -757,8 +1061,9 @@ static void ui_draw_vision_footer(UIState *s) {
ui_draw_vision_face(s);

#ifdef SHOW_SPEEDLIMIT
// ui_draw_vision_map(s);
ui_draw_vision_map(s);
#endif
bb_ui_draw_UI(s);
}

void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
Expand Down
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