feat: cruise warning signs and speed limit sign sizing
Cruise warning sign appears above speed limit sign when cruise set speed is too far from the speed limit: - Red (over): cruise >= limit + 10 (if limit >= 50) or + 5 (if < 50) - Green (under): cruise <= limit - 5 - Only when cruise active (not paused/disabled) and limit >= 20 - Nightrider mode: colored text/border on black background Speed limit sign enlarged 5%. 20px gap between signs. Bench mode gains cruiseactive command (0=disabled, 1=active, 2=paused). Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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@@ -362,6 +362,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
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clpSpeedDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedDisplay"));
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clpSpeedLimitDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedLimitDisplay"));
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clpSpeedUnit = QString::fromStdString(paramsMemory.get("ClearpilotSpeedUnit"));
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clpCruiseWarning = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarning"));
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clpCruiseWarningSpeed = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarningSpeed"));
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}
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// auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
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@@ -462,8 +464,9 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
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drawText(p, rect().center().x(), 290, clpSpeedUnit, 200);
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}
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// CLEARPILOT: speed limit sign in lower-left
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// CLEARPILOT: speed limit sign in lower-left, cruise warning above it
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drawSpeedLimitSign(p);
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drawCruiseWarningSign(p);
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// Draw FrogPilot widgets
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paintFrogPilotWidgets(p);
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@@ -564,13 +567,13 @@ void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
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p.save();
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const int signW = 150;
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const int signH = 190;
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const int signW = 189;
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const int signH = 239;
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const int margin = 20;
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const int borderW = 5;
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const int innerBorderW = 3;
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const int innerMargin = 8;
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const int cornerR = 12;
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const int borderW = 6;
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const int innerBorderW = 4;
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const int innerMargin = 10;
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const int cornerR = 15;
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// Position: 20px from lower-left corner
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QRect signRect(margin, height() - signH - margin, signW, signH);
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@@ -593,16 +596,16 @@ void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
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// "SPEED" text
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p.setPen(textColor);
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p.setFont(InterFont(24, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 12, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
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p.setFont(InterFont(30, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
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// "LIMIT" text
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p.setFont(InterFont(24, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 38, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
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p.setFont(InterFont(30, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
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// Speed limit number
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p.setFont(InterFont(72, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 20, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
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p.setFont(InterFont(90, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
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} else {
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// Normal: white background, black border and text
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QColor borderColor(0, 0, 0);
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@@ -621,16 +624,96 @@ void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
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// "SPEED" text
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p.setPen(textColor);
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p.setFont(InterFont(24, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 12, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
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p.setFont(InterFont(30, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
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// "LIMIT" text
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p.setFont(InterFont(24, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 38, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
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p.setFont(InterFont(30, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
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// Speed limit number
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p.setFont(InterFont(72, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 20, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
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p.setFont(InterFont(90, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
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}
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p.restore();
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}
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void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
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// Only show when there's an active warning and the speed limit sign is visible
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if (clpCruiseWarning.isEmpty() || clpCruiseWarningSpeed.isEmpty()) return;
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if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
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bool isOver = (clpCruiseWarning == "over");
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if (!isOver && clpCruiseWarning != "under") return;
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p.save();
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// Same dimensions as speed limit sign
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const int signW = 189;
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const int signH = 239;
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const int margin = 20;
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const int borderW = 6;
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const int innerBorderW = 4;
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const int innerMargin = 10;
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const int cornerR = 15;
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const int gap = 20;
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// Position: directly above the speed limit sign
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int speedLimitY = height() - signH - margin;
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QRect signRect(margin, speedLimitY - signH - gap, signW, signH);
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if (nightriderMode) {
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// Nightrider: black background with colored border/text
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QColor accentColor = isOver ? QColor(220, 50, 50) : QColor(50, 180, 80);
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p.setPen(QPen(accentColor, borderW));
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p.setBrush(QColor(0, 0, 0, 220));
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p.drawRoundedRect(signRect, cornerR, cornerR);
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QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
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p.setPen(QPen(accentColor, innerBorderW));
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p.setBrush(Qt::NoBrush);
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p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
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// "CRUISE" text
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p.setPen(accentColor);
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p.setFont(InterFont(26, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
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// "SET" text
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p.setFont(InterFont(26, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
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// Cruise speed number
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p.setFont(InterFont(90, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
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} else {
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// Normal: colored background with white border/text
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QColor bgColor = isOver ? QColor(200, 30, 30, 240) : QColor(40, 160, 60, 240);
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QColor fgColor(255, 255, 255);
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p.setPen(QPen(fgColor, borderW));
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p.setBrush(bgColor);
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p.drawRoundedRect(signRect, cornerR, cornerR);
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QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
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p.setPen(QPen(fgColor, innerBorderW));
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p.setBrush(Qt::NoBrush);
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p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
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// "CRUISE" text
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p.setPen(fgColor);
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p.setFont(InterFont(26, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
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// "SET" text
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p.setFont(InterFont(26, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
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// Cruise speed number
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p.setFont(InterFont(90, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
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}
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p.restore();
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@@ -52,6 +52,7 @@ private:
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void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
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void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176);
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void drawSpeedLimitSign(QPainter &p);
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void drawCruiseWarningSign(QPainter &p);
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QVBoxLayout *main_layout;
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QPixmap dm_img;
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@@ -66,6 +67,8 @@ private:
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QString clpSpeedDisplay;
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QString clpSpeedLimitDisplay;
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QString clpSpeedUnit;
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QString clpCruiseWarning;
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QString clpCruiseWarningSpeed;
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int clpParamFrame = 0;
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float setSpeed;
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