brianhansonxyz/clearpilot
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Display openpilot logics for following lead vehicles

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Added toggle to show openpilot's logic in regards to following lead vehicles.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 480efba54c
commit f59a61cc8f
10 changed files with 196 additions and 6 deletions
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8
selfdrive/ui/ui.cc
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@@ -246,6 +246,12 @@ static void update_state(UIState *s) {
scene.lane_width_left = frogpilotPlan.getLaneWidthLeft();
scene.lane_width_right = frogpilotPlan.getLaneWidthRight();
}
if (scene.lead_info) {
scene.desired_follow = frogpilotPlan.getDesiredFollowDistance();
scene.obstacle_distance = frogpilotPlan.getSafeObstacleDistance();
scene.obstacle_distance_stock = frogpilotPlan.getSafeObstacleDistanceStock();
scene.stopped_equivalence = frogpilotPlan.getStoppedEquivalenceFactor();
}
}
if (sm.updated("liveLocationKalman")) {
auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
@@ -286,6 +292,8 @@ void ui_update_frogpilot_params(UIState *s) {
bool custom_onroad_ui = params.getBool("CustomUI");
scene.acceleration_path = custom_onroad_ui && params.getBool("AccelerationPath");
scene.blind_spot_path = custom_onroad_ui && params.getBool("BlindSpotPath");
scene.lead_info = custom_onroad_ui && params.getBool("LeadInfo");
scene.use_si = scene.lead_info && params.getBool("UseSI");
bool custom_theme = params.getBool("CustomTheme");
scene.custom_colors = custom_theme ? params.getInt("CustomColors") : 0;