ui: Draw feature statuses on camera view (commaai#258)

opgm · Sep 13, 2023 · 35186a3 · 35186a3
1 parent 9545f25
commit 35186a3
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Showing 2 changed files with 25 additions and 1 deletion.
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
@@ -546,6 +546,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   }
 
   const auto lp = sm["longitudinalPlan"].getLongitudinalPlan();
+  slcState = lp.getSpeedLimitControlState();
 
   if (sm.frame % (UI_FREQ / 2) == 0) {
     const auto vtcState = lp.getVisionTurnControllerState();
@@ -568,7 +569,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
 
     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);
-    const auto slcState = lp.getSpeedLimitControlState();
     const bool sl_force_active = s.scene.speed_limit_control_enabled &&
                                  seconds_since_boot() < s.scene.last_speed_limit_sign_tap + 2.0;
     const bool sl_inactive = !sl_force_active && (!s.scene.speed_limit_control_enabled ||
@@ -853,6 +853,11 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   if (uiState()->scene.e2e_long_alert_ui && e2eState != 0) {
     drawE2eStatus(p, UI_BORDER_SIZE * 2 + 190, 45, 150, 150, e2eState);
   }
+
+  if (!hideBottomIcons) {
+    drawFeatureStatusText(p, UI_BORDER_SIZE * 2 + 370, rect().bottom() - 155 - uiState()->scene.rn_offset);
+  }
+
   p.restore();
 }
 
@@ -1453,6 +1458,21 @@ int AnnotatedCameraWidget::blinkerPulse(int frame) {
   return blinker_state;
 }
 
+void AnnotatedCameraWidget::drawFeatureStatusText(QPainter &p, int x, int y) {
+  QString status_text;
+  const int text_height = 34;
+
+  p.setFont(InterFont(32, QFont::Bold));
+  p.setPen(whiteColor());
+
+  status_text.sprintf("GAC: %s\n", QString::number(uiState()->scene.gac_tr).toStdString().c_str());
+  p.drawText(x, y, status_text);
+
+  y += text_height;
+  status_text.sprintf("SLC: %s\n", QString::number(int(slcState)).toStdString().c_str());
+  p.drawText(x, y, status_text);
+}
+
 
 void AnnotatedCameraWidget::initializeGL() {
   CameraWidget::initializeGL();

diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
@@ -107,6 +107,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   int blinkerPulse(int frame);
   void updateButtonsLayout();
 
+  void drawFeatureStatusText(QPainter &p, int x, int y);
+
   uint64_t last_update_params;
 
   QVBoxLayout *main_layout;
@@ -229,6 +231,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   FirstOrderFilter fps_filter;
   void rocketFuel(QPainter &p);
 
+  cereal::LongitudinalPlan::SpeedLimitControlState slcState;
+
 // neokii
 #ifdef ENABLE_DASHCAM
 private: