reset to pre-modification baseline; restart feature work from clean state
Restoring the working tree to the pristine pre-Claude baseline previously preserved at /data/clearpilot (now /data/clearpilot-baseline). The prior modified-but-broken tree is snapshotted at /data/openpilot-broken-2026-05-03 and tagged here as pre-reset-2026-05-03 for reference. From here, features (UI changes, dashcam, telemetry, GPS, display modes, speed logic, standstill power saving, etc.) will be re-introduced one at a time with proper testing.
This commit is contained in:
+72
-418
@@ -7,7 +7,6 @@
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#include <sstream>
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#include <QApplication>
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#include <QDateTime>
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#include <QDebug>
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#include <QMouseEvent>
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@@ -76,13 +75,12 @@ void OnroadWindow::updateState(const UIState &s) {
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alerts->updateAlert(alert);
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nvg->updateState(s);
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nvg->update(); // CLEARPILOT: force repaint every frame for HUD elements
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QColor bgColor = bg_colors[s.status];
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// CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
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if ((*s.sm)["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange()) {
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if (paramsMemory.getBool("no_lat_lane_change") == 1 || screenDisplayMode == 2) {
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bgColor = bg_colors[STATUS_DISENGAGED];
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}
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}
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if (bg != bgColor) {
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bg = bgColor;
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@@ -178,14 +176,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
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void OnroadWindow::paintEvent(QPaintEvent *event) {
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QPainter p(this);
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// CLEARPILOT: hide engagement border in nightrider mode
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int dm = paramsMemory.getInt("ScreenDisplayMode");
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bool nightrider = (dm == 1 || dm == 4);
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if (nightrider) {
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p.fillRect(rect(), Qt::black);
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} else {
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p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
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}
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p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
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QString logicsDisplayString = QString();
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if (scene.show_jerk) {
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@@ -225,13 +216,6 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
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}
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}
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// void OnroadWindow::update_screen_on_off() {
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// int screenDisaplayMode = paramsMemory.getInt("ScreenDisaplayMode");
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// if (screenDisaplayMode == 1) {
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// // Conditionally off
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// }
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// }
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// ***** onroad widgets *****
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@@ -324,7 +308,10 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
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QHBoxLayout *buttons_layout = new QHBoxLayout();
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buttons_layout->setSpacing(0);
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// Neokii screen recorder — DISABLED: using dashcamd instead
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// Neokii screen recorder
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recorder_btn = new ScreenRecorder(this);
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recorder_btn->setVisible(false);
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// buttons_layout->addWidget(recorder_btn);
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QVBoxLayout *top_right_layout = new QVBoxLayout();
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top_right_layout->setSpacing(0);
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@@ -340,13 +327,24 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
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}
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void AnnotatedCameraWidget::updateState(const UIState &s) {
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screenDisplayMode = paramsMemory.getInt("ScreenDisplayMode");
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if (screenDisplayMode == 2 && !alert_is_visible) {
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// Draw black, filled, full-size rectangle to blank the screen
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// p.fillRect(0, 0, width(), height(), Qt::black);
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// p.restore();
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Hardware::set_display_power(false);
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return;
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} else {
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Hardware::set_display_power(true);
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}
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const int SET_SPEED_NA = 255;
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const SubMaster &sm = *(s.sm);
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const bool cs_alive = sm.alive("controlsState");
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const auto cs = sm["controlsState"].getControlsState();
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const auto car_state = sm["carState"].getCarState();
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(void)car_state; // CLEARPILOT: suppress unused warning, will use later
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// Handle older routes where vCruiseCluster is not set
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float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
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@@ -356,16 +354,11 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
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setSpeed *= KM_TO_MILE;
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}
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// CLEARPILOT: read speed and speed limit from params (written by speed_logic.py ~2Hz)
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clpParamFrame++;
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if (clpParamFrame % 10 == 0) { // ~2Hz at 20Hz UI update rate
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clpHasSpeed = paramsMemory.get("ClearpilotHasSpeed") == "1";
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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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// Handle older routes where vEgoCluster is not set
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v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
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float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
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speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
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speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
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// auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
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// speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
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@@ -401,28 +394,9 @@ if (edgeColor != bgColor) {
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}
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void AnnotatedCameraWidget::drawHud(QPainter &p) {
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// CLEARPILOT: display power control based on ScreenDisplayMode
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// Blank when screenDisplayMode=1
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p.save();
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if (displayMode == 3 && !alert_is_visible) {
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Hardware::set_display_power(false);
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p.restore();
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return;
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} else {
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Hardware::set_display_power(true);
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}
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// CLEARPILOT: blinking blue circle when telemetry is recording
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if (paramsMemory.getBool("TelemetryEnabled")) {
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// Blink: visible for 500ms, hidden for 500ms
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int phase = (QDateTime::currentMSecsSinceEpoch() / 500) % 2;
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if (phase == 0) {
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p.setPen(Qt::NoPen);
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p.setBrush(QColor(30, 100, 220));
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p.drawEllipse(width() - 150, 50, 100, 100);
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}
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}
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// Header gradient
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QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
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bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
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@@ -433,7 +407,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
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// QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
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// QString speedLimitOffsetStr = slcSpeedLimitOffset == 0 ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend(slcSpeedLimitOffset > 0 ? "+" : "");
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// QString speedStr = QString::number(std::nearbyint(speed));
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QString speedStr = QString::number(std::nearbyint(speed));
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QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
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p.restore();
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@@ -457,21 +431,17 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
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// Todo: lead speed
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// Todo: Experimental speed
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// CLEARPILOT: show speed from speed_logic params, hide when no speed or speed=0
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if (clpHasSpeed && !clpSpeedDisplay.isEmpty() && !scene.hide_speed) {
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// // current speed
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if (!(scene.hide_speed)) {
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// CLEARPILOT changes to 120 from ~176
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// Maybe we want to hide this?
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p.setFont(InterFont(140, QFont::Bold));
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drawText(p, rect().center().x(), 210, clpSpeedDisplay);
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drawText(p, rect().center().x(), 210, speedStr);
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// CLEARPILOT changes to 40 from 66
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p.setFont(InterFont(50));
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drawText(p, rect().center().x(), 290, clpSpeedUnit, 200);
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drawText(p, rect().center().x(), 290, speedUnit, 200);
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}
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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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// CLEARPILOT: system health metrics in lower-right (debug overlay)
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drawHealthMetrics(p);
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// Draw FrogPilot widgets
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paintFrogPilotWidgets(p);
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}
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@@ -565,164 +535,6 @@ void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QSt
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}
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void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
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// Hide when no speed limit or speed limit is 0
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if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
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p.save();
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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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// Position: 20px from lower-left corner
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QRect signRect(margin, height() - signH - margin, signW, signH);
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if (nightriderMode) {
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// Nightrider: black background, light gray-blue border and text
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QColor borderColor(160, 180, 210);
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QColor textColor(160, 180, 210);
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// Outer border
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p.setPen(QPen(borderColor, 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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// Inner border
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QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
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p.setPen(QPen(borderColor, innerBorderW));
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p.setBrush(Qt::NoBrush);
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p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
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// "SPEED" text
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p.setPen(textColor);
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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(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 — shifted down ~10% of innerRect height via extra top inset
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p.setFont(InterFont(90, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 86, 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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QColor textColor(0, 0, 0);
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// Outer border
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p.setPen(QPen(borderColor, borderW));
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p.setBrush(QColor(255, 255, 255, 240));
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p.drawRoundedRect(signRect, cornerR, cornerR);
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// Inner border
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QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
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p.setPen(QPen(borderColor, innerBorderW));
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p.setBrush(Qt::NoBrush);
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p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
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// "SPEED" text
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p.setPen(textColor);
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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(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 — shifted down ~10% of innerRect height via extra top inset
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p.setFont(InterFont(90, QFont::Bold));
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p.drawText(innerRect.adjusted(0, 86, 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, 86, 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, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
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}
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p.restore();
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}
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void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
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QRect real_rect = p.fontMetrics().boundingRect(text);
|
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real_rect.moveCenter({x, y - real_rect.height() / 2});
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@@ -731,87 +543,6 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t
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p.drawText(real_rect.x(), real_rect.bottom(), text);
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}
|
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// CLEARPILOT: System health overlay — shows metrics that indicate the system
|
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// is overburdened or behind. Toggled via ClearpilotShowHealthMetrics param.
|
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// Metrics (top→bottom): FPS, DROP, TEMP, CPU, MEM, FAN
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// FPS: modeld framerate — 20 normally, 0 in park. Read from ModelFps memory
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// param which modeld writes only on transition.
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// DROP (%): modelV2 frameDropPerc — modeld losing frames; controlsd errors >20%
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// TEMP (°C): deviceState.maxTempC — thermal throttling starts ~75, serious >88
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// CPU (%): max core from deviceState.cpuUsagePercent
|
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// MEM (%): deviceState.memoryUsagePercent
|
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// FAN (%): actual fan duty from peripheralState RPM (scaled to 6500 RPM = 100%)
|
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// Each value color-codes green/yellow/red by severity.
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void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
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static bool enabled = Params().getBool("ClearpilotShowHealthMetrics");
|
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static int check_counter = 0;
|
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// re-check the param every ~2s without a toggle signal path
|
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if (++check_counter >= 40) {
|
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check_counter = 0;
|
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enabled = Params().getBool("ClearpilotShowHealthMetrics");
|
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}
|
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if (!enabled) return;
|
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SubMaster &sm = *(uiState()->sm);
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auto ds = sm["deviceState"].getDeviceState();
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auto mv = sm["modelV2"].getModelV2();
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auto ps = sm["peripheralState"].getPeripheralState();
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int model_fps = paramsMemory.getInt("ModelFps");
|
||||
float drop_pct = mv.getFrameDropPerc();
|
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float temp_c = ds.getMaxTempC();
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||||
int mem_pct = ds.getMemoryUsagePercent();
|
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int cpu_pct = 0;
|
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for (auto v : ds.getCpuUsagePercent()) cpu_pct = std::max(cpu_pct, (int)v);
|
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// Actual fan (not commanded): scale RPM to 0-100 using 6500 RPM as full scale
|
||||
int fan_pct = std::min(100, (int)(ps.getFanSpeedRpm() * 100 / 6500));
|
||||
|
||||
auto color_for = [](float v, float warn, float crit) {
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if (v >= crit) return QColor(0xff, 0x50, 0x50); // red
|
||||
if (v >= warn) return QColor(0xff, 0xd0, 0x40); // yellow
|
||||
return QColor(0xff, 0xff, 0xff); // white (ok)
|
||||
};
|
||||
|
||||
struct Row { QString label; QString value; QColor color; };
|
||||
Row rows[] = {
|
||||
{"FPS", QString::number(model_fps), QColor(0xff, 0xff, 0xff)},
|
||||
{"DROP", QString::number((int)drop_pct),color_for(drop_pct, 5.f, 15.f)},
|
||||
{"TEMP", QString::number((int)temp_c), color_for(temp_c, 75.f, 88.f)},
|
||||
{"CPU", QString::number(cpu_pct), color_for((float)cpu_pct, 75.f, 90.f)},
|
||||
{"MEM", QString::number(mem_pct), color_for((float)mem_pct, 70.f, 85.f)},
|
||||
{"FAN", QString::number(fan_pct), QColor(0xff, 0xff, 0xff)},
|
||||
};
|
||||
|
||||
p.save();
|
||||
p.setFont(InterFont(90, QFont::Bold));
|
||||
QFontMetrics fm = p.fontMetrics();
|
||||
int row_h = fm.height(); // natural line height at 90pt bold
|
||||
int gap = 40; // requested 40px between values
|
||||
int margin = 30; // requested 30px margin
|
||||
int panel_w = 360; // fixed width — fits "TEMP 99"
|
||||
int n = sizeof(rows) / sizeof(rows[0]);
|
||||
int panel_h = n * row_h + (n - 1) * gap + 2 * margin;
|
||||
int x = width() - panel_w - margin;
|
||||
int y = height() - panel_h - margin;
|
||||
|
||||
// black background
|
||||
p.setPen(Qt::NoPen);
|
||||
p.setBrush(QColor(0, 0, 0, 200));
|
||||
p.drawRoundedRect(QRect(x, y, panel_w, panel_h), 20, 20);
|
||||
|
||||
// rows
|
||||
int text_y = y + margin + fm.ascent();
|
||||
for (int i = 0; i < n; i++) {
|
||||
p.setPen(rows[i].color);
|
||||
// label left (shifted -50px per user request), value right
|
||||
p.drawText(x + margin - 50, text_y, rows[i].label);
|
||||
QRect vrect = fm.boundingRect(rows[i].value);
|
||||
p.drawText(x + panel_w - margin - vrect.width(), text_y, rows[i].value);
|
||||
text_y += row_h + gap;
|
||||
}
|
||||
p.restore();
|
||||
}
|
||||
|
||||
void AnnotatedCameraWidget::initializeGL() {
|
||||
CameraWidget::initializeGL();
|
||||
qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
|
||||
@@ -831,6 +562,13 @@ void AnnotatedCameraWidget::updateFrameMat() {
|
||||
s->fb_w = w;
|
||||
s->fb_h = h;
|
||||
|
||||
if (screenDisplayMode == 1 || screenDisplayMode == 2) {
|
||||
// Render a black box instead of the video feed
|
||||
QPainter painter(this);
|
||||
painter.fillRect(0, 0, w, h, Qt::black);
|
||||
return;
|
||||
}
|
||||
|
||||
// Apply transformation such that video pixel coordinates match video
|
||||
// 1) Put (0, 0) in the middle of the video
|
||||
// 2) Apply same scaling as video
|
||||
@@ -842,59 +580,32 @@ void AnnotatedCameraWidget::updateFrameMat() {
|
||||
}
|
||||
|
||||
void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
||||
if (screenDisplayMode == 2) {
|
||||
return;
|
||||
}
|
||||
|
||||
painter.save();
|
||||
|
||||
// CLEARPILOT: color channel code rewriten to allow custom colors
|
||||
|
||||
SubMaster &sm = *(s->sm);
|
||||
|
||||
// CLEARPILOT: nightrider mode — outline only, no fill
|
||||
bool outlineOnly = nightriderMode;
|
||||
|
||||
// CLEARPILOT: in nightrider mode, hide all lines when not engaged
|
||||
if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED]) {
|
||||
painter.restore();
|
||||
return;
|
||||
}
|
||||
|
||||
// CLEARPILOT: nightrider lines are 1px wider (3 instead of 2)
|
||||
int outlineWidth = outlineOnly ? 3 : 2;
|
||||
// CLEARPILOT: lane lines 5% thinner than the generic outline (QPen accepts float width)
|
||||
float laneLineWidth = outlineOnly ? (float)outlineWidth * 0.95f : (float)outlineWidth;
|
||||
|
||||
// lanelines
|
||||
for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
|
||||
QColor lineColor = QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7));
|
||||
if (outlineOnly) {
|
||||
painter.setPen(QPen(lineColor, laneLineWidth));
|
||||
painter.setBrush(Qt::NoBrush);
|
||||
} else {
|
||||
painter.setPen(Qt::NoPen);
|
||||
painter.setBrush(lineColor);
|
||||
}
|
||||
painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
|
||||
painter.drawPolygon(scene.lane_line_vertices[i]);
|
||||
}
|
||||
if (outlineOnly) painter.setPen(Qt::NoPen);
|
||||
|
||||
// road edges
|
||||
for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
|
||||
QColor edgeCol = QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
|
||||
if (outlineOnly) {
|
||||
painter.setPen(QPen(edgeCol, outlineWidth));
|
||||
painter.setBrush(Qt::NoBrush);
|
||||
} else {
|
||||
painter.setPen(Qt::NoPen);
|
||||
painter.setBrush(edgeCol);
|
||||
}
|
||||
painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
|
||||
painter.drawPolygon(scene.road_edge_vertices[i]);
|
||||
}
|
||||
if (outlineOnly) painter.setPen(Qt::NoPen);
|
||||
|
||||
// paint center lane path
|
||||
// QColor bg_colors[CHANGE_LANE_PATH_COLOR];
|
||||
|
||||
// CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
|
||||
bool is_no_lat_lane_change = sm["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange();
|
||||
bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
|
||||
|
||||
QColor center_lane_color;
|
||||
|
||||
@@ -954,23 +665,12 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
||||
path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.0)));
|
||||
}
|
||||
|
||||
if (outlineOnly) {
|
||||
// CLEARPILOT: in nightrider, the tire path outline is light blue at 3px.
|
||||
// Uses a fixed light-blue instead of center_lane_color (which is status-tinted) so
|
||||
// the path reads as a neutral guide, not as engagement/status feedback.
|
||||
QColor lightBlue(153, 204, 255, 220); // #99CCFF light blue, mostly opaque
|
||||
painter.setPen(QPen(lightBlue, 3));
|
||||
painter.setBrush(Qt::NoBrush);
|
||||
} else {
|
||||
painter.setPen(Qt::NoPen);
|
||||
painter.setBrush(path_gradient);
|
||||
}
|
||||
painter.setBrush(path_gradient);
|
||||
painter.drawPolygon(scene.track_vertices);
|
||||
if (outlineOnly) painter.setPen(Qt::NoPen);
|
||||
}
|
||||
|
||||
// Paint path edges ,Use current background color
|
||||
if (edgeColor != bg_colors[STATUS_DISENGAGED] && !outlineOnly) {
|
||||
if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
|
||||
QLinearGradient edge_gradient;
|
||||
edge_gradient.setColorAt(0.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255)));
|
||||
edge_gradient.setColorAt(0.5, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.8) ));
|
||||
@@ -986,24 +686,18 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
||||
|
||||
// Paint blindspot path
|
||||
if (scene.blind_spot_path) {
|
||||
QColor bsColor = QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6);
|
||||
if (outlineOnly) {
|
||||
painter.setPen(QPen(bsColor, outlineWidth));
|
||||
painter.setBrush(Qt::NoBrush);
|
||||
} else {
|
||||
QLinearGradient bs(0, height(), 0, 0);
|
||||
bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
|
||||
bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
|
||||
bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
|
||||
painter.setBrush(bs);
|
||||
}
|
||||
QLinearGradient bs(0, height(), 0, 0);
|
||||
bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
|
||||
bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
|
||||
bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
|
||||
|
||||
painter.setBrush(bs);
|
||||
if (blindSpotLeft) {
|
||||
painter.drawPolygon(scene.track_adjacent_vertices[4]);
|
||||
}
|
||||
if (blindSpotRight) {
|
||||
painter.drawPolygon(scene.track_adjacent_vertices[5]);
|
||||
}
|
||||
if (outlineOnly) painter.setPen(Qt::NoPen);
|
||||
}
|
||||
|
||||
// Paint adjacent lane paths
|
||||
@@ -1014,19 +708,16 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
||||
float maxLaneWidth = laneDetectionWidth * 1.5;
|
||||
|
||||
auto paintLane = [=](QPainter &painter, const QPolygonF &lane, float laneWidth, bool blindspot) {
|
||||
QLinearGradient al(0, height(), 0, 0);
|
||||
|
||||
bool redPath = laneWidth < minLaneWidth || laneWidth > maxLaneWidth || blindspot;
|
||||
float hue = redPath ? 0.0 : 120.0 * (laneWidth - minLaneWidth) / (maxLaneWidth - minLaneWidth);
|
||||
|
||||
if (outlineOnly) {
|
||||
painter.setPen(QPen(QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6), 2));
|
||||
painter.setBrush(Qt::NoBrush);
|
||||
} else {
|
||||
QLinearGradient al(0, height(), 0, 0);
|
||||
al.setColorAt(0.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6));
|
||||
al.setColorAt(0.5, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.4));
|
||||
al.setColorAt(1.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.2));
|
||||
painter.setBrush(al);
|
||||
}
|
||||
al.setColorAt(0.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6));
|
||||
al.setColorAt(0.5, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.4));
|
||||
al.setColorAt(1.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.2));
|
||||
|
||||
painter.setBrush(al);
|
||||
painter.drawPolygon(lane);
|
||||
|
||||
painter.setFont(InterFont(30, QFont::DemiBold));
|
||||
@@ -1114,10 +805,6 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
|
||||
const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
|
||||
const float v_ego = sm["carState"].getCarState().getVEgo();
|
||||
|
||||
// CLEARPILOT: read display mode early — needed for camera suppression
|
||||
displayMode = paramsMemory.getInt("ScreenDisplayMode");
|
||||
nightriderMode = (displayMode == 1 || displayMode == 4);
|
||||
|
||||
// draw camera frame
|
||||
{
|
||||
std::lock_guard lk(frame_lock);
|
||||
@@ -1158,19 +845,9 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
|
||||
} else {
|
||||
CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
|
||||
}
|
||||
// CLEARPILOT: force CameraWidget bg to black in nightrider to prevent color bleed
|
||||
if (nightriderMode) {
|
||||
CameraWidget::setBackgroundColor(Qt::black);
|
||||
}
|
||||
painter.beginNativePainting();
|
||||
if (nightriderMode) {
|
||||
// CLEARPILOT: black background, no camera feed
|
||||
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
|
||||
} else {
|
||||
CameraWidget::setFrameId(model.getFrameId());
|
||||
CameraWidget::paintGL();
|
||||
}
|
||||
CameraWidget::setFrameId(model.getFrameId());
|
||||
CameraWidget::paintGL();
|
||||
painter.endNativePainting();
|
||||
}
|
||||
|
||||
@@ -1248,7 +925,7 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
|
||||
animationFrameIndex = (animationFrameIndex + 1) % totalFrames;
|
||||
});
|
||||
|
||||
// CLEARPILOT: screen recorder disabled — replaced by dedicated dashcamd process
|
||||
// Initialize the timer for the screen recorder
|
||||
// QTimer *record_timer = new QTimer(this);
|
||||
// connect(record_timer, &QTimer::timeout, this, [this]() {
|
||||
// if (recorder_btn) {
|
||||
@@ -1333,8 +1010,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
|
||||
}
|
||||
|
||||
void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
|
||||
// CLEARPILOT: only show status bar when telemetry is enabled
|
||||
if (paramsMemory.getBool("TelemetryEnabled")) {
|
||||
if ((showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI)) {
|
||||
drawStatusBar(p);
|
||||
}
|
||||
|
||||
@@ -1346,7 +1022,8 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
|
||||
drawSLCConfirmation(p);
|
||||
}
|
||||
|
||||
// CLEARPILOT: screen recorder disabled, using dashcamd instead
|
||||
// recorder_btn->setVisible(scene.screen_recorder && !mapOpen);
|
||||
recorder_btn->setVisible(false);
|
||||
}
|
||||
|
||||
void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
|
||||
@@ -1535,30 +1212,7 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
|
||||
|
||||
QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
|
||||
|
||||
// CLEARPILOT: telemetry status bar — show live stats when telemetry enabled
|
||||
if (paramsMemory.getBool("TelemetryEnabled")) {
|
||||
SubMaster &sm = *(uiState()->sm);
|
||||
auto deviceState = sm["deviceState"].getDeviceState();
|
||||
int maxTempC = deviceState.getMaxTempC();
|
||||
int fanPct = deviceState.getFanSpeedPercentDesired();
|
||||
bool standstill = sm["carState"].getCarState().getStandstill();
|
||||
|
||||
static double last_model_status_t = 0;
|
||||
static float model_status_fps = 0;
|
||||
if (sm.updated("modelV2")) {
|
||||
double now = millis_since_boot();
|
||||
if (last_model_status_t > 0) {
|
||||
double dt = now - last_model_status_t;
|
||||
if (dt > 0) model_status_fps = model_status_fps * 0.8 + (1000.0 / dt) * 0.2;
|
||||
}
|
||||
last_model_status_t = now;
|
||||
}
|
||||
|
||||
newStatus = QString("%1\u00B0C FAN %2% MDL %3")
|
||||
.arg(maxTempC).arg(fanPct).arg(model_status_fps, 0, 'f', 0);
|
||||
if (standstill) newStatus += " STANDSTILL";
|
||||
// CLEARPILOT: suppress "Always On Lateral active" status bar message
|
||||
} else if (false && alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
|
||||
if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
|
||||
newStatus = tr("Always On Lateral active") + (tr(". Press the \"Cruise Control\" button to disable"));
|
||||
} else if (showConditionalExperimentalStatusBar) {
|
||||
newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
|
||||
|
||||
Reference in New Issue
Block a user