Skip to content

Commit

Permalink
ui: remove Q_PROPERTY from AnnotatedCameraWidget (sync with upstrea…
Browse files Browse the repository at this point in the history 
…m) (commaai#231)
  • Loading branch information
@sunnyhaibin
sunnyhaibin authored Aug 28, 2023
1 parent 6341be1 commit c993256
Show file tree
Hide file tree
Showing 2 changed files with 62 additions and 137 deletions.
124 changes: 62 additions & 62 deletions selfdrive/ui/qt/onroad.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -446,8 +446,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);

// TODO: Add minimum speed?
setProperty("left_blindspot", cs_alive && car_state.getLeftBlindspot());
setProperty("right_blindspot", cs_alive && car_state.getRightBlindspot());
left_blindspot = cs_alive && car_state.getLeftBlindspot();
right_blindspot = cs_alive && car_state.getRightBlindspot();

setProperty("is_cruise_set", cruise_set);
setProperty("is_metric", s.scene.is_metric);
Expand All @@ -457,55 +457,55 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
setProperty("hideBottomIcons", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE));
setProperty("status", s.status);

setProperty("steerOverride", car_state.getSteeringPressed());
setProperty("gasOverride", car_state.getGasPressed());
setProperty("latActive", car_control.getLatActive());
setProperty("madsEnabled", car_state.getMadsEnabled());
steerOverride = car_state.getSteeringPressed();
gasOverride = car_state.getGasPressed();
latActive = car_control.getLatActive();
madsEnabled = car_state.getMadsEnabled();

setProperty("brakeLights", car_state.getBrakeLights() && s.scene.visual_brake_lights);
brakeLights = car_state.getBrakeLights() && s.scene.visual_brake_lights;

setProperty("standStillTimer", s.scene.stand_still_timer);
setProperty("standStill", car_state.getStandstill());
setProperty("standstillElapsedTime", lateral_plan.getStandstillElapsed());
standStillTimer = s.scene.stand_still_timer;
standStill = car_state.getStandstill();
standstillElapsedTime = lateral_plan.getStandstillElapsed();

setProperty("hideVEgoUi", s.scene.hide_vego_ui);
hideVEgoUi = s.scene.hide_vego_ui;

setProperty("gac", s.scene.gac && s.scene.gac_mode != 0 && s.scene.longitudinal_control &&
car_state.getCruiseState().getAvailable());
setProperty("gacTr", s.scene.gac_tr);
gac = s.scene.gac && s.scene.gac_mode != 0 && s.scene.longitudinal_control &&
car_state.getCruiseState().getAvailable();
gacTr = s.scene.gac_tr;

setProperty("mapVisible", s.scene.map_visible);
mapVisible = s.scene.map_visible;

// ############################## DEV UI START ##############################
setProperty("lead_d_rel", radar_state.getLeadOne().getDRel());
setProperty("lead_v_rel", radar_state.getLeadOne().getVRel());
setProperty("lead_status", radar_state.getLeadOne().getStatus());
setProperty("lateralState", QString::fromStdString(cs.getLateralState()));
setProperty("angleSteers", car_state.getSteeringAngleDeg());
setProperty("steerAngleDesired", cs.getLateralControlState().getPidState().getSteeringAngleDesiredDeg());
setProperty("curvature", cs.getCurvature());
setProperty("roll", sm["liveParameters"].getLiveParameters().getRoll());
setProperty("memoryUsagePercent", sm["deviceState"].getDeviceState().getMemoryUsagePercent());
setProperty("devUiEnabled", s.scene.dev_ui_enabled);
setProperty("devUiInfo", s.scene.dev_ui_info);
setProperty("gpsAccuracy", gpsLocationExternal.getAccuracy());
setProperty("altitude", gpsLocationExternal.getAltitude());
setProperty("vEgo", car_state.getVEgo());
setProperty("aEgo", car_state.getAEgo());
setProperty("steeringTorqueEps", car_state.getSteeringTorqueEps());
setProperty("bearingAccuracyDeg", gpsLocationExternal.getBearingAccuracyDeg());
setProperty("bearingDeg", gpsLocationExternal.getBearingDeg());
setProperty("torquedUseParams", s.scene.live_torque_toggle && !s.scene.custom_torque_toggle);
setProperty("latAccelFactorFiltered", ltp.getLatAccelFactorFiltered());
setProperty("frictionCoefficientFiltered", ltp.getFrictionCoefficientFiltered());
setProperty("liveValid", ltp.getLiveValid());
lead_d_rel = radar_state.getLeadOne().getDRel();
lead_v_rel = radar_state.getLeadOne().getVRel();
lead_status = radar_state.getLeadOne().getStatus();
lateralState = QString::fromStdString(cs.getLateralState());
angleSteers = car_state.getSteeringAngleDeg();
steerAngleDesired = cs.getLateralControlState().getPidState().getSteeringAngleDesiredDeg();
curvature = cs.getCurvature();
roll = sm["liveParameters"].getLiveParameters().getRoll();
memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
devUiEnabled = s.scene.dev_ui_enabled;
devUiInfo = s.scene.dev_ui_info;
gpsAccuracy = gpsLocationExternal.getAccuracy();
altitude = gpsLocationExternal.getAltitude();
vEgo = car_state.getVEgo();
aEgo = car_state.getAEgo();
steeringTorqueEps = car_state.getSteeringTorqueEps();
bearingAccuracyDeg = gpsLocationExternal.getBearingAccuracyDeg();
bearingDeg = gpsLocationExternal.getBearingDeg();
torquedUseParams = s.scene.live_torque_toggle && !s.scene.custom_torque_toggle;
latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
liveValid = ltp.getLiveValid();
// ############################## DEV UI END ##############################

setProperty("btnPerc", s.scene.sleep_btn_opacity * 0.05);
btnPerc = s.scene.sleep_btn_opacity * 0.05;

setProperty("left_blinker", car_state.getLeftBlinker());
setProperty("right_blinker", car_state.getRightBlinker());
setProperty("lane_change_edge_block", lateral_plan.getLaneChangeEdgeBlock());
left_blinker = car_state.getLeftBlinker();
right_blinker = car_state.getRightBlinker();
lane_change_edge_block = lateral_plan.getLaneChangeEdgeBlock();

// update engageability/experimental mode button
experimental_btn->updateState(s);
Expand All @@ -532,17 +532,17 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
QColor vtc_color = tcs_colors[int(vtcState)];
vtc_color.setAlpha(lpSoruce == cereal::LongitudinalPlan::LongitudinalPlanSource::TURN ? 255 : 100);

setProperty("showVTC", vtcState > cereal::LongitudinalPlan::VisionTurnControllerState::DISABLED);
setProperty("vtcSpeed", QString::number(std::nearbyint(vtc_speed)));
setProperty("vtcColor", vtc_color);
setProperty("showDebugUI", s.scene.show_debug_ui);
showVTC = vtcState > cereal::LongitudinalPlan::VisionTurnControllerState::DISABLED;
vtcSpeed = QString::number(std::nearbyint(vtc_speed));
vtcColor = vtc_color;
showDebugUI = s.scene.show_debug_ui;

const auto lmd = sm["liveMapData"].getLiveMapData();
QString road_name = QString::fromStdString(lmd.getCurrentRoadName());

const auto data_type = int(lmd.getDataType());
const QString data_type_draw(data_type == 2 ? "🌐 " : "");
setProperty("roadName", !road_name.isEmpty() ? data_type_draw + road_name : "");
roadName = !road_name.isEmpty() ? data_type_draw + road_name : "";

float speed_limit_slc = lp.getSpeedLimit() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const float speed_limit_offset = lp.getSpeedLimitOffset() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
Expand All @@ -562,25 +562,25 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
const QString sl_substring(sl_inactive || sl_temp_inactive ? sl_inactive_str :
sl_distance > 0 ? sl_distance_str : sl_offset_str);

setProperty("showSpeedLimit", speed_limit_slc > 0.0);
setProperty("speedLimitSLC", speed_limit_slc);
setProperty("slcSubText", sl_substring);
setProperty("slcSubTextSize", sl_inactive || sl_temp_inactive || sl_distance > 0 ? 25.0 : 27.0);
setProperty("mapSourcedSpeedLimit", lp.getIsMapSpeedLimit());
setProperty("slcActive", !sl_inactive && !sl_temp_inactive);
setProperty("overSpeedLimit", (((speed_limit_slc + speed_limit_offset) < cur_speed) && !sl_inactive && !sl_temp_inactive) ||
((speed_limit_slc < cur_speed) && (speed_limit_slc > 0.0) && (sl_inactive || sl_temp_inactive)));
showSpeedLimit = speed_limit_slc > 0.0;
speedLimitSLC = speed_limit_slc;
slcSubText = sl_substring;
slcSubTextSize = sl_inactive || sl_temp_inactive || sl_distance > 0 ? 25.0 : 27.0;
mapSourcedSpeedLimit = lp.getIsMapSpeedLimit();
slcActive = !sl_inactive && !sl_temp_inactive;
overSpeedLimit = (((speed_limit_slc + speed_limit_offset) < cur_speed) && !sl_inactive && !sl_temp_inactive) ||
((speed_limit_slc < cur_speed) && (speed_limit_slc > 0.0) && (sl_inactive || sl_temp_inactive));

const float tsc_speed = lp.getTurnSpeed() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
const auto tscState = lp.getTurnSpeedControlState();
const int t_distance = int(lp.getDistToTurn() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH) / 10.0) * 10;
const QString t_distance_str(QString::number(t_distance) + (s.scene.is_metric ? "m" : "f"));

setProperty("showTurnSpeedLimit", tsc_speed > 0.0 && (tsc_speed < cur_speed || s.scene.show_debug_ui));
setProperty("turnSpeedLimit", QString::number(std::nearbyint(tsc_speed)));
setProperty("tscSubText", t_distance > 0 ? t_distance_str : QString(""));
setProperty("tscActive", tscState > cereal::LongitudinalPlan::SpeedLimitControlState::TEMP_INACTIVE);
setProperty("curveSign", lp.getTurnSign());
showTurnSpeedLimit = tsc_speed > 0.0 && (tsc_speed < cur_speed || s.scene.show_debug_ui);
turnSpeedLimit = QString::number(std::nearbyint(tsc_speed));
tscSubText = t_distance > 0 ? t_distance_str : QString("");
tscActive = tscState > cereal::LongitudinalPlan::SpeedLimitControlState::TEMP_INACTIVE;
curveSign = lp.getTurnSign();
}

static int reverse_delay = 0;
Expand All @@ -595,7 +595,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
}
}

setProperty("reversing", reverse_allowed);
reversing = reverse_allowed;

int e2eLStatus = 0;
static bool chime_sent = false;
Expand Down Expand Up @@ -651,8 +651,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
} else {
}

setProperty("e2eStatus", chime_prompt);
setProperty("e2eState", e2eLStatus);
e2eStatus = chime_prompt;
e2eState = e2eLStatus;

#ifdef ENABLE_DASHCAM
recorder->updateState(s);
Expand Down
75 changes: 0 additions & 75 deletions selfdrive/ui/qt/onroad.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -85,81 +85,6 @@ class AnnotatedCameraWidget : public CameraWidget {
Q_PROPERTY(bool rightHandDM MEMBER rightHandDM);
Q_PROPERTY(int status MEMBER status);

Q_PROPERTY(bool steerOverride MEMBER steerOverride);
Q_PROPERTY(bool gasOverride MEMBER gasOverride);
Q_PROPERTY(bool latActive MEMBER latActive);
Q_PROPERTY(bool madsEnabled MEMBER madsEnabled);

Q_PROPERTY(bool brakeLights MEMBER brakeLights);

Q_PROPERTY(bool standStillTimer MEMBER standStillTimer);
Q_PROPERTY(bool standStill MEMBER standStill);
Q_PROPERTY(float standstillElapsedTime MEMBER standstillElapsedTime);

Q_PROPERTY(bool showVTC MEMBER showVTC);
Q_PROPERTY(QString vtcSpeed MEMBER vtcSpeed);
Q_PROPERTY(QColor vtcColor MEMBER vtcColor);
Q_PROPERTY(bool showDebugUI MEMBER showDebugUI);

Q_PROPERTY(QString roadName MEMBER roadName);

Q_PROPERTY(bool showSpeedLimit MEMBER showSpeedLimit);
Q_PROPERTY(float speedLimitSLC MEMBER speedLimitSLC);
Q_PROPERTY(QString slcSubText MEMBER slcSubText);
Q_PROPERTY(float slcSubTextSize MEMBER slcSubTextSize);
Q_PROPERTY(bool overSpeedLimit MEMBER overSpeedLimit);
Q_PROPERTY(bool mapSourcedSpeedLimit MEMBER mapSourcedSpeedLimit);
Q_PROPERTY(bool slcActive MEMBER slcActive);

Q_PROPERTY(bool showTurnSpeedLimit MEMBER showTurnSpeedLimit);
Q_PROPERTY(QString turnSpeedLimit MEMBER turnSpeedLimit);
Q_PROPERTY(QString tscSubText MEMBER tscSubText);
Q_PROPERTY(bool tscActive MEMBER tscActive);
Q_PROPERTY(int curveSign MEMBER curveSign);

Q_PROPERTY(bool hideVEgoUi MEMBER hideVEgoUi);

Q_PROPERTY(bool gac MEMBER gac);
Q_PROPERTY(int gacTr MEMBER gacTr);

Q_PROPERTY(bool mapVisible MEMBER mapVisible);

// ############################## DEV UI START ##############################
Q_PROPERTY(bool lead_status MEMBER lead_status);
Q_PROPERTY(float lead_d_rel MEMBER lead_d_rel);
Q_PROPERTY(float lead_v_rel MEMBER lead_v_rel);
Q_PROPERTY(QString lateralState MEMBER lateralState);
Q_PROPERTY(float angleSteers MEMBER angleSteers);
Q_PROPERTY(float steerAngleDesired MEMBER steerAngleDesired);
Q_PROPERTY(float curvature MEMBER curvature);
Q_PROPERTY(float roll MEMBER roll);
Q_PROPERTY(int memoryUsagePercent MEMBER memoryUsagePercent);
Q_PROPERTY(bool devUiEnabled MEMBER devUiEnabled);
Q_PROPERTY(int devUiInfo MEMBER devUiInfo);
Q_PROPERTY(float gpsAccuracy MEMBER gpsAccuracy);
Q_PROPERTY(float altitude MEMBER altitude);
Q_PROPERTY(float vEgo MEMBER vEgo);
Q_PROPERTY(float aEgo MEMBER aEgo);
Q_PROPERTY(float steeringTorqueEps MEMBER steeringTorqueEps);
Q_PROPERTY(float bearingAccuracyDeg MEMBER bearingAccuracyDeg);
Q_PROPERTY(float bearingDeg MEMBER bearingDeg);
Q_PROPERTY(bool torquedUseParams MEMBER torquedUseParams);
Q_PROPERTY(float latAccelFactorFiltered MEMBER latAccelFactorFiltered);
Q_PROPERTY(float frictionCoefficientFiltered MEMBER frictionCoefficientFiltered);
Q_PROPERTY(bool liveValid MEMBER liveValid);
// ############################## DEV UI END ##############################

Q_PROPERTY(float btnPerc MEMBER btnPerc);

Q_PROPERTY(bool reversing MEMBER reversing);

Q_PROPERTY(int e2eState MEMBER e2eState);
Q_PROPERTY(int e2eStatus MEMBER e2eStatus);

Q_PROPERTY(bool left_blinker MEMBER left_blinker);
Q_PROPERTY(bool right_blinker MEMBER right_blinker);
Q_PROPERTY(bool lane_change_edge_block MEMBER lane_change_edge_block);

public:
explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
void updateState(const UIState &s);
Expand Down

0 comments on commit c993256

Please sign in to comment.