Smartspeed

common/params_pyx.pyx

@@ -45,7 +45,10 @@ keys = {
   b"LastAthenaPingTime": [TxType.PERSISTENT],
   b"LastUpdateTime": [TxType.PERSISTENT],
   b"LastUpdateException": [TxType.PERSISTENT],
+  b"LimitSetSpeed": [TxType.PERSISTENT],
+  b"LimitSetSpeedNeural": [TxType.PERSISTENT],
   b"LiveParameters": [TxType.PERSISTENT],
+  b"LongitudinalControl": [TxType.PERSISTENT],
   b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
   b"LaneChangeEnabled": [TxType.PERSISTENT],
   b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
@@ -56,6 +59,7 @@ keys = {
   b"ReleaseNotes": [TxType.PERSISTENT],
   b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
   b"SubscriberInfo": [TxType.PERSISTENT],
+  b"SpeedLimitOffset": [TxType.PERSISTENT],
   b"TermsVersion": [TxType.PERSISTENT],
   b"TrainingVersion": [TxType.PERSISTENT],
   b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],

selfdrive/manager.py

@@ -580,6 +580,10 @@ def main():
     ("HasCompletedSetup", "0"),
     ("IsUploadRawEnabled", "1"),
     ("IsLdwEnabled", "1"),
+    ("SpeedLimitOffset", "0"),
+    ("LongitudinalControl", "1"),
+    ("LimitSetSpeed", "1"),
+    ("LimitSetSpeedNeural", "1"),
     ("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')),
     ("OpenpilotEnabledToggle", "1"),
     ("LaneChangeEnabled", "1"),

selfdrive/ui/paint.cc

@@ -1,3 +1,8 @@
+#include <assert.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <string.h>
+#include <unistd.h>
 #include "ui.hpp"
 #include <assert.h>
 #include <map>
@@ -19,6 +24,8 @@ extern "C"{
 #include "sidebar.hpp"
 #include "paint_dp.hpp"
 
+int border_shifter = 20;
+
 
 // TODO: this is also hardcoded in common/transformations/camera.py
 // TODO: choose based on frame input size
@@ -295,36 +302,105 @@ static void ui_draw_vision_maxspeed(UIState *s) {
   char maxspeed_str[32];
   float maxspeed = s->scene.controls_state.getVCruise();
   int maxspeed_calc = maxspeed * 0.6225 + 0.5;
+  float speedlimit = s->scene.speedlimit;
+  int speedlim_calc = speedlimit * 2.2369363 + 0.5;
   if (s->is_metric) {
     maxspeed_calc = maxspeed + 0.5;
+    speedlim_calc = speedlimit * 3.6 + 0.5;
   }
-
+  int speed_lim_off = speedlim_calc * (1 + s->speed_lim_off / 100.0);
   bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA);
-
+  bool is_speedlim_valid = s->scene.speedlimit_valid;
+  bool is_set_over_limit = is_speedlim_valid && s->scene.controls_state.getEnabled() &&
+                       is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off);
   int viz_maxspeed_w = 184;
   int viz_maxspeed_h = 202;
-  int viz_maxspeed_x = s->scene.viz_rect.x + (bdr_s*2);
-  int viz_maxspeed_y = s->scene.viz_rect.y + (bdr_s*1.5);
+  int viz_maxspeed_x = (s->video_rect.x + (bdr_is*2));
+  int viz_maxspeed_y = (s->video_rect.y + (bdr_is*1.5));
   int viz_maxspeed_xo = 180;
-
-  viz_maxspeed_xo = 0;
+  viz_maxspeed_w += viz_maxspeed_xo;
+  viz_maxspeed_x += viz_maxspeed_w - (viz_maxspeed_xo * 2);
+  //viz_maxspeed_xo = 0;
 
   // Draw Background
-  ui_draw_rect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, COLOR_BLACK_ALPHA(100), 30);
+  ui_draw_rect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h,
+    is_set_over_limit ? nvgRGBA(218, 111, 37, 180) : COLOR_BLACK_ALPHA(100), 30);
 
   // Draw Border
   NVGcolor color = COLOR_WHITE_ALPHA(100);
+  if (is_set_over_limit) {
+    color = COLOR_OCHRE;
+  } else if (is_speedlim_valid) {
+    color = s->is_ego_over_limit ? COLOR_WHITE_ALPHA(20) : COLOR_WHITE;
+  }
   ui_draw_rect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, color, 20, 10);
 
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
   const int text_x = viz_maxspeed_x + (viz_maxspeed_xo / 2) + (viz_maxspeed_w / 2);
-  ui_draw_text(s->vg, text_x, 148, "MAX", 26 * 2.5, COLOR_WHITE_ALPHA(is_cruise_set ? 200 : 100), s->font_sans_regular);
+  ui_draw_text(s->vg, text_x, 148-border_shifter, "MAX", 26 * 2.5, COLOR_WHITE_ALPHA(is_cruise_set ? 200 : 100), s->font_sans_regular);
 
   if (is_cruise_set) {
     snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", maxspeed_calc);
-    ui_draw_text(s->vg, text_x, 242, maxspeed_str, 48 * 2.5, COLOR_WHITE, s->font_sans_bold);
+    ui_draw_text(s->vg, text_x, 242-border_shifter, maxspeed_str, 48 * 2.5, COLOR_WHITE, s->font_sans_bold);
   } else {
-    ui_draw_text(s->vg, text_x, 242, "N/A", 42 * 2.5, COLOR_WHITE_ALPHA(100), s->font_sans_semibold);
+    ui_draw_text(s->vg, text_x, 242-border_shifter, "-", 42 * 2.5, COLOR_WHITE_ALPHA(100), s->font_sans_semibold);
+  }
+}
+
+static void ui_draw_vision_speedlimit(UIState *s) {
+  char speedlim_str[32];
+  float speedlimit = s->scene.speedlimit;
+  int speedlim_calc = speedlimit * 2.2369363 + 0.5;
+  if (s->is_metric) {
+    speedlim_calc = speedlimit * 3.6 + 0.5;
+  }
+
+  bool is_speedlim_valid = s->scene.speedlimit_valid;
+  float hysteresis_offset = 0.5;
+  if (s->is_ego_over_limit) {
+    hysteresis_offset = 0.0;
+  }
+  s->is_ego_over_limit = is_speedlim_valid && s->scene.controls_state.getVEgo() > (speedlimit + hysteresis_offset);
+
+  int viz_speedlim_w = 180;
+  int viz_speedlim_h = 202;
+  int viz_speedlim_x = (s->video_rect.x + (bdr_is*2));
+  int viz_speedlim_y = (s->video_rect.y + (bdr_is*1.5));
+  if (!is_speedlim_valid) {
+    viz_speedlim_w -= 5;
+    viz_speedlim_h -= 10;
+    viz_speedlim_x += 9;
+    viz_speedlim_y += 5;
+  }
+  // Draw Background
+  NVGcolor color = COLOR_WHITE_ALPHA(100);
+  if (is_speedlim_valid && s->is_ego_over_limit) {
+    color = nvgRGBA(218, 111, 37, 180);
+  } else if (is_speedlim_valid) {
+    color = COLOR_WHITE;
+  }
+  ui_draw_rect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, color, is_speedlim_valid ? 30 : 15);
+
+  // Draw Border
+  if (is_speedlim_valid) {
+    ui_draw_rect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h,
+                 s->is_ego_over_limit ? COLOR_OCHRE : COLOR_WHITE, 20, 10);
+  }
+  const float text_x = viz_speedlim_x + viz_speedlim_w / 2;
+  const float text_y = viz_speedlim_y + (is_speedlim_valid ? 50 : 45);
+  // Draw "Speed Limit" Text
+  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+  color = is_speedlim_valid && s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
+  ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y, "SMART", 50, color, s->font_sans_semibold);
+  ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y + 40, "SPEED", 50, color, s->font_sans_semibold);
+
+  // Draw Speed Text
+  color = s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
+  if (is_speedlim_valid) {
+    snprintf(speedlim_str, sizeof(speedlim_str), "%d", speedlim_calc);
+    ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), speedlim_str, 48*2.5, color, s->font_sans_bold);
+  } else {
+    ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", 42*2.5, color, s->font_sans_semibold);
   }
 }
 
@@ -377,12 +453,23 @@ static void ui_draw_vision_speed(UIState *s) {
 
 static void ui_draw_vision_event(UIState *s) {
   const int viz_event_w = 220;
-  const int viz_event_x = s->scene.viz_rect.right() - (viz_event_w + bdr_s*2);
-  const int viz_event_y = s->scene.viz_rect.y + (bdr_s*1.5);
-  if (s->scene.controls_state.getDecelForModel() && s->scene.controls_state.getEnabled()) {
+  const int viz_event_x = s->scene.viz_rect.right() - (viz_event_w + bdr_is*2);
+  const int viz_event_y = s->scene.viz_rect.y + (bdr_is*1.5);
+  if (s->scene.speedlimitahead_valid && s->scene.speedlimitaheaddistance < 300 && s->scene.controls_state.getEnabled() && s->limit_set_speed) {
+    const int img_turn_size = 160;
+    const int img_turn_x = viz_event_x-(img_turn_size/4)+80;
+    const int img_turn_y = viz_event_y+bdr_s-25;
+    float img_turn_alpha = 1.0f;
+    nvgBeginPath(s->vg);
+    NVGpaint imgPaint = nvgImagePattern(s->vg, img_turn_x, img_turn_y,
+      img_turn_size, img_turn_size, 0, s->img_speed, img_turn_alpha);
+    nvgRect(s->vg, img_turn_x, img_turn_y, img_turn_size, img_turn_size);
+    nvgFillPaint(s->vg, imgPaint);
+    nvgFill(s->vg);
+  } else if (s->scene.controls_state.getDecelForModel() && s->scene.controls_state.getEnabled()) {
     // draw winding road sign
-    const int img_turn_size = 160*1.5;
-    ui_draw_image(s->vg, viz_event_x - (img_turn_size / 4), viz_event_y + bdr_s - 25, img_turn_size, img_turn_size, s->img_turn, 1.0f);
+    const int img_turn_size = 160*1.5*0.82;
+    ui_draw_image(s->vg, viz_event_x - (img_turn_size / 4), viz_event_y + bdr_is - 25, img_turn_size, img_turn_size, s->img_turn, 1.0f);
   } else if (s->scene.controls_state.getEngageable()) {
     // draw steering wheel
     const int bg_wheel_size = 96;
@@ -394,9 +481,16 @@ static void ui_draw_vision_event(UIState *s) {
   }
 }
 
+static void ui_draw_vision_map(UIState *s) {
+  const int map_size = 96;
+  const int map_x = (s->video_rect.x + (map_size * 3) + (bdr_s * 3));
+  const int map_y = (s->scene.viz_rect.bottom() + ((footer_h - map_size) / 2));
+  ui_draw_circle_image(s->vg, map_x, map_y, map_size, s->img_map, s->scene.map_valid);
+}
+
 static void ui_draw_vision_face(UIState *s) {
   const int face_size = 96;
-  const int face_x = (s->scene.viz_rect.x + face_size + (bdr_s * 2));
+  const int face_x = (s->scene.viz_rect.x + face_size + (bdr_is * 2));
   const int face_y = (s->scene.viz_rect.bottom() - footer_h + ((footer_h - face_size) / 2));
   ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, s->scene.dmonitoring_state.getFaceDetected());
 }
@@ -465,6 +559,7 @@ static void ui_draw_vision_header(UIState *s) {
   }
   if (s->scene.dpUiMaxSpeed) {
   ui_draw_vision_maxspeed(s);
+  ui_draw_vision_speedlimit(s);
   }
   if (s->scene.dpUiSpeed) {
   ui_draw_vision_speed(s);
@@ -477,6 +572,7 @@ static void ui_draw_vision_header(UIState *s) {
 static void ui_draw_vision_footer(UIState *s) {
   if (s->scene.dpUiFace) {
   ui_draw_vision_face(s);
+  ui_draw_vision_map(s);
   }
   if ((int)s->scene.dpDynamicFollow > 0) {
     ui_draw_df_button(s);
@@ -510,9 +606,9 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
   color.a *= s->alert_blinking_alpha;
   int alr_s = alert_size_map[va_size];
 
-  const int alr_x = scene->viz_rect.x - bdr_s + 100;
-  const int alr_w = scene->viz_rect.w + (bdr_s*2) - 200;
-  const int alr_h = alr_s+(va_size==cereal::ControlsState::AlertSize::NONE?0:bdr_s) - 100;
+  const int alr_x = scene->viz_rect.x - bdr_is + 100;
+  const int alr_w = scene->viz_rect.w + (bdr_is*2) - 200;
+  const int alr_h = alr_s+(va_size==cereal::ControlsState::AlertSize::NONE?0:bdr_is) - 100;
   const int alr_y = s->fb_h-alr_h - 100;
 
   ui_draw_rect(s->vg, alr_x, alr_y, alr_w, alr_h, color, 20);
@@ -702,6 +798,10 @@ void ui_nvg_init(UIState *s) {
 
   s->img_wheel = nvgCreateImage(s->vg, "../assets/img_chffr_wheel.png", 1);
   assert(s->img_wheel != 0);
+  s->img_map = nvgCreateImage(s->vg, "../assets/img_map.png", 1);
+  assert(s->img_map != 0);
+  s->img_speed = nvgCreateImage(s->vg, "../assets/img_trafficSign_speedahead.png", 1);
+  assert(s->img_speed != 0);
   s->img_turn = nvgCreateImage(s->vg, "../assets/img_trafficSign_turn.png", 1);
   assert(s->img_turn != 0);
   s->img_face = nvgCreateImage(s->vg, "../assets/img_driver_face.png", 1);

selfdrive/ui/paint_dp.cc

@@ -354,12 +354,12 @@ void bb_ui_draw_measures_right(UIState *s, int bb_x, int bb_y, int bb_w ) {
 
 void ui_draw_bbui(UIState *s) {
     const int bb_dml_w = 184;
-    const int bb_dml_x = s->scene.viz_rect.x + (bdr_s*2);
-    const int bb_dml_y = s->scene.viz_rect.y + (bdr_s*1.5) + 220;
+    const int bb_dml_x = s->scene.viz_rect.x + (bdr_is*2);
+    const int bb_dml_y = s->scene.viz_rect.y + (bdr_is*1.5) + 220;
     const int bb_dmr_w = 184;
-    const int bb_dmr_x =s->scene.viz_rect.x + s->scene.viz_rect.w - bb_dmr_w - (bdr_s * 2);
-    const int bb_dmr_y = s->scene.viz_rect.y + (bdr_s*1.5) + 220;
+    const int bb_dmr_x =s->scene.viz_rect.x + s->scene.viz_rect.w - bb_dmr_w - (bdr_is * 2);
+    const int bb_dmr_y = s->scene.viz_rect.y + (bdr_is*1.5) + 220;
 
     bb_ui_draw_measures_right(s, bb_dml_x, bb_dml_y, bb_dml_w);
     bb_ui_draw_measures_left(s, bb_dmr_x, bb_dmr_y, bb_dmr_w);
-}
+}

selfdrive/ui/ui.cc

@@ -25,7 +25,7 @@ int write_param_float(float param, const char* param_name, bool persistent_param
 }
 
 void ui_init(UIState *s) {
-  s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal",
+  s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal", "liveMapData",
                          "health", "carParams", "ubloxGnss", "driverState", "dMonitoringState", "sensorEvents",
                          "dragonConf", "carState"});
 
@@ -204,6 +204,13 @@ void update_sockets(UIState *s) {
   if (sm.updated("thermal")) {
     scene.thermal = sm["thermal"].getThermal();
   }
+  if (sm.updated("liveMapData")) {
+    scene.map_valid = sm["liveMapData"].getLiveMapData().getMapValid();
+    scene.speedlimit = sm["liveMapData"].getLiveMapData().getSpeedLimit();
+    scene.speedlimit_valid = sm["liveMapData"].getLiveMapData().getSpeedLimitValid();
+    scene.speedlimitahead_valid = sm["liveMapData"].getLiveMapData().getSpeedLimitAheadValid();
+    scene.speedlimitaheaddistance = sm["liveMapData"].getLiveMapData().getSpeedLimitAheadDistance();
+  }
   if (sm.updated("ubloxGnss")) {
     auto data = sm["ubloxGnss"].getUbloxGnss();
     if (data.which() == cereal::UbloxGnss::MEASUREMENT_REPORT) {
@@ -332,6 +339,10 @@ void ui_update(UIState *s) {
   // Read params
   if ((s->sm)->frame % (5*UI_FREQ) == 0) {
     read_param(&s->is_metric, "IsMetric");
+  } else if ((s->sm)->frame % (7*UI_FREQ) == 0) {
+    read_param(&s->speed_lim_off, "SpeedLimitOffset");
+  } else if ((s->sm)->frame % (11*UI_FREQ) == 0) {
+    read_param(&s->limit_set_speed, "LimitSetSpeed");
   } else if ((s->sm)->frame % (6*UI_FREQ) == 0) {
     int param_read = read_param(&s->last_athena_ping, "LastAthenaPingTime");
     if (param_read != 0) { // Failed to read param

selfdrive/ui/ui.hpp

@@ -34,6 +34,8 @@
 #define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
 #define COLOR_RED nvgRGBA(201, 34, 49, 255)
 #define COLOR_RED_ALPHA(x) nvgRGBA(201, 34, 49, x)
+#define COLOR_OCHRE nvgRGBA(218, 111, 37, 255)
+#define COLOR_OCHRE_ALPHA(x) nvgRGBA(218, 111, 37, x)
 
 #define UI_BUF_COUNT 4
 
@@ -48,7 +50,8 @@ typedef struct Rect {
 } Rect;
 
 const int sbr_w = 300;
-const int bdr_s = 30;
+const int bdr_s = 10;
+const int bdr_is = 30;
 const int header_h = 420;
 const int footer_h = 280;
 const Rect settings_btn = {50, 35, 200, 117};
@@ -107,6 +110,12 @@ typedef struct UIScene {
   mat4 extrinsic_matrix;      // Last row is 0 so we can use mat4.
   bool world_objects_visible;
 
+  float speedlimit;
+  bool speedlimit_valid;
+  float speedlimitaheaddistance;
+  bool speedlimitahead_valid;
+  bool map_valid;
+
   bool is_rhd;
   bool frontview;
   bool uilayout_sidebarcollapsed;
@@ -219,6 +228,8 @@ typedef struct UIState {
   int img_battery;
   int img_battery_charging;
   int img_network[6];
+  int img_map;
+  int img_speed;
 
   SubMaster *sm;
 
@@ -250,6 +261,9 @@ typedef struct UIState {
   bool ignition;
   bool is_metric;
   bool longitudinal_control;
+  bool limit_set_speed;
+  bool is_ego_over_limit;
+  float speed_lim_off;
   uint64_t last_athena_ping;
   uint64_t started_frame;