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Map Turn Speed Control

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Added toggle for "Map Turn Speed Control".

Credit goes to Pfeiferj!

https: //github.com/pfeiferj
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent a864072d97
commit e076a3d4d6
12 changed files with 243 additions and 5 deletions
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16
selfdrive/ui/qt/onroad.cc
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@@ -475,7 +475,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
QString speedStr = QString::number(std::nearbyint(speed));
QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
if (!showDriverCamera) {
// Draw outer box + border to contain set speed and speed limit
@@ -495,7 +495,16 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
int bottom_radius = has_eu_speed_limit ? 100 : 32;
QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
if (scene.reverse_cruise) {
if (is_cruise_set && cruiseAdjustment) {
float transition = qBound(0.0f, 4.0f * (cruiseAdjustment / setSpeed), 1.0f);
QColor min = whiteColor(75), max = greenColor(75);
p.setPen(QPen(QColor::fromRgbF(
min.redF() + transition * (max.redF() - min.redF()),
min.greenF() + transition * (max.greenF() - min.greenF()),
min.blueF() + transition * (max.blueF() - min.blueF())
), 6));
} else if (scene.reverse_cruise) {
p.setPen(QPen(QColor(0, 150, 255), 6));
} else {
p.setPen(QPen(whiteColor(75), 6));
@@ -1106,6 +1115,9 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
conditionalSpeedLead = scene.conditional_speed_lead;
conditionalStatus = scene.conditional_status;
bool disableSmoothing = scene.vtsc_controlling_curve ? scene.disable_smoothing_vtsc : scene.disable_smoothing_mtsc;
cruiseAdjustment = disableSmoothing ? fmax(setSpeed - scene.adjusted_cruise, 0) : fmax(0.25 * (setSpeed - scene.adjusted_cruise) + 0.75 * cruiseAdjustment - 1, 0);
customColors = scene.custom_colors;
experimentalMode = scene.experimental_mode;

3
selfdrive/ui/qt/onroad.h
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@@ -136,6 +136,7 @@ private:
bool turnSignalLeft;
bool turnSignalRight;
float cruiseAdjustment;
float distanceConversion;
float laneWidthLeft;
float laneWidthRight;
@@ -166,6 +167,8 @@ private:
QTimer *animationTimer;
inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
protected:
void paintGL() override;
void initializeGL() override;