UI: DM Icon shows engaged IF always-on

commaai · Aug 5, 2024 · 65965cf · 65965cf
1 parent 54cd2a6
commit 65965cf
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Showing 2 changed files with 15 additions and 3 deletions.
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -5,6 +5,7 @@
 #include <algorithm>
 #include <cmath>
 
+#include "common/params.h"
 #include "common/swaglog.h"
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/util.h"
@@ -23,6 +24,12 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
 }
 
+// Checks if "Always-On Driver Monitoring" toggle is enabled in settings
+bool AnnotatedCameraWidget::isDMAlwaysOn() const {
+ Params params;
+ return params.getBool("AlwaysOnDM");
+}
+
 void AnnotatedCameraWidget::updateState(const UIState &s) {
  const int SET_SPEED_NA = 255;
  const SubMaster &sm = *(s.sm);
@@ -236,9 +243,12 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
  const int arc_l = 133;
  const float arc_t_default = 6.7;
  const float arc_t_extend = 12.0;
- QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(),
- 0.545 + 0.4 * s->engaged(),
- 0.545 - 0.285 * s->engaged(),
+
+ bool show_dm_engaged = s->engaged() || isDMAlwaysOn();
+
+ QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * show_dm_engaged,
+ 0.545 + 0.4 * show_dm_engaged,
+ 0.545 - 0.285 * show_dm_engaged,
  0.4 * (1.0 - dm_fade_state));
  float delta_x = -scene.driver_pose_sins[1] * arc_l / 2;
  float delta_y = -scene.driver_pose_sins[0] * arc_l / 2;

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -35,6 +35,8 @@ class AnnotatedCameraWidget : public CameraWidget {
  int skip_frame_count = 0;
  bool wide_cam_requested = false;
 
+ bool isDMAlwaysOn() const;
+
 protected:
  void paintGL() override;
  void initializeGL() override;