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reset to pre-modification baseline; restart feature work from clean state

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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:
Brian Hanson
2026-05-03 20:53:51 -05:00
parent f7e602c00b
commit c2ab0fa662
146 changed files with 950 additions and 10172 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/SConscript
+12 -3
View File
@@ -39,7 +39,7 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
"qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
"qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
"qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
"../frogpilot/screenrecorder/omx_encoder.cc", # kept for dashcamd .o dependency
"../frogpilot/screenrecorder/omx_encoder.cc", "../frogpilot/screenrecorder/screenrecorder.cc",
"qt/ready.cc"]
# build translation files
@@ -77,11 +77,20 @@ qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
# Clearpilot tools
# Clearpilot
# Add qtwebengine to build paths
qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebEngine"]
qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebEngineCore"]
qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebEngineWidgets"]
qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebChannel"]
qt_webengine_libs = qt_libs + ['Qt5WebEngineWidgets']
# Create clearpilot tools
qt_env.Program("/data/openpilot/system/clearpilot/tools/qt_shell", ["/data/openpilot/system/clearpilot/tools/qt_shell.cc"], LIBS=qt_libs)
# qt_env.Program("/data/openpilot/system/clearpilot/tools/qt_webview", ["/data/openpilot/system/clearpilot/tools/qt_webview.cc"], LIBS=qt_webengine_libs)
# build main UI
qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs)
qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_webengine_libs)
if GetOption('extras'):
qt_src.remove("main.cc") # replaced by test_runner
qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
selfdrive/ui/main.cc
-25
View File
@@ -1,9 +1,4 @@
#include <sys/resource.h>
#include <csignal>
#include <cstdio>
#include <cstdlib>
#include <execinfo.h>
#include <unistd.h>
#include <QApplication>
#include <QTranslator>
@@ -13,27 +8,7 @@
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/window.h"
// CLEARPILOT: crash handler — prints stack trace to stderr on SIGSEGV/SIGABRT
static void crash_handler(int sig) {
const char *sig_name = (sig == SIGSEGV) ? "SIGSEGV" : (sig == SIGABRT) ? "SIGABRT" : "SIGNAL";
fprintf(stderr, "\n=== CRASH: %s (signal %d) ===\n", sig_name, sig);
void *frames[64];
int count = backtrace(frames, 64);
fprintf(stderr, "Backtrace (%d frames):\n", count);
backtrace_symbols_fd(frames, count, STDERR_FILENO);
fprintf(stderr, "=== END CRASH ===\n");
fflush(stderr);
// Re-raise to get default behavior (core dump / exit)
signal(sig, SIG_DFL);
raise(sig);
}
int main(int argc, char *argv[]) {
signal(SIGSEGV, crash_handler);
signal(SIGABRT, crash_handler);
setpriority(PRIO_PROCESS, 0, -20);
qInstallMessageHandler(swagLogMessageHandler);
selfdrive/ui/qt/home.cc
+144 -328
View File
@@ -1,20 +1,16 @@
#include "selfdrive/ui/qt/home.h"
#include <cstdlib>
#include <QHBoxLayout>
#include <QMouseEvent>
#include <QStackedWidget>
#include <QVBoxLayout>
#include "common/swaglog.h"
#include "common/params.h"
#include "system/hardware/hw.h"
#include "selfdrive/ui/qt/offroad/experimental_mode.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/widgets/controls.h"
#include "selfdrive/ui/qt/widgets/input.h"
#include "selfdrive/ui/qt/widgets/scrollview.h"
#include "selfdrive/ui/qt/network/networking.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/ui/qt/widgets/drive_stats.h"
#include "system/hardware/hw.h"
#include <QWebEngineView>
// HomeWindow: the container for the offroad and onroad UIs
@@ -27,7 +23,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
main_layout->setSpacing(0);
sidebar = new Sidebar(this);
sidebar->setVisible(false);
main_layout->addWidget(sidebar);
QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
QObject::connect(sidebar, &Sidebar::openOnroad, this, &HomeWindow::showOnroad);
@@ -35,17 +30,8 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
slayout = new QStackedLayout();
main_layout->addLayout(slayout);
home = new ClearPilotPanel(this);
QObject::connect(home, &ClearPilotPanel::openSettings, this, &HomeWindow::openSettings);
QObject::connect(home, &ClearPilotPanel::openStatus, this, &HomeWindow::openStatus);
QObject::connect(home, &ClearPilotPanel::closePanel, [=]() {
// Return to splash or onroad depending on state
if (uiState()->scene.started) {
slayout->setCurrentWidget(onroad);
} else {
slayout->setCurrentWidget(ready);
}
});
home = new OffroadHome(this);
QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
slayout->addWidget(home);
onroad = new OnroadWindow(this);
@@ -54,8 +40,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
// CLEARPILOT
ready = new ReadyWindow(this);
slayout->addWidget(ready);
slayout->setCurrentWidget(ready); // show splash immediately, not ClearPilotPanel
driver_view = new DriverViewWindow(this);
connect(driver_view, &DriverViewWindow::done, [=] {
showDriverView(false);
@@ -81,79 +66,52 @@ void HomeWindow::showSidebar(bool show) {
}
void HomeWindow::updateState(const UIState &s) {
// const SubMaster &sm = *(s.sm);
if (s.scene.started) {
showDriverView(s.scene.driver_camera_timer >= 10, true);
// CLEARPILOT: show splash screen when onroad but in park
bool parked = s.scene.parked;
int screenMode = paramsMemory.getInt("ScreenDisplayMode");
bool nightrider = (screenMode == 1 || screenMode == 4);
if (parked && !was_parked_onroad) {
LOGW("CLP UI: park transition -> showing splash");
slayout->setCurrentWidget(ready);
// If we were in nightrider mode, switch to screen off
if (nightrider) {
paramsMemory.putInt("ScreenDisplayMode", 3);
}
} else if (!parked && was_parked_onroad) {
LOGW("CLP UI: drive transition -> showing onroad");
slayout->setCurrentWidget(onroad);
ready->has_driven = true;
}
was_parked_onroad = parked;
// CLEARPILOT: honor display on/off while showing splash in park (normal mode only)
if (parked && ready->isVisible()) {
if (screenMode == 3) {
Hardware::set_display_power(false);
} else {
Hardware::set_display_power(true);
}
}
}
}
void HomeWindow::offroadTransition(bool offroad) {
sidebar->setVisible(false);
if (offroad) {
LOGW("CLP UI: offroad transition -> showing splash");
was_parked_onroad = false;
sidebar->setVisible(false);
slayout->setCurrentWidget(ready);
} else {
// CLEARPILOT: start onroad in splash — updateState will switch to
// camera view once the car shifts out of park. Reset has_driven so
// fresh ignition shows the READY text (not the post-drive textless splash).
LOGW("CLP UI: onroad transition -> showing splash (parked)");
was_parked_onroad = true;
ready->has_driven = false;
slayout->setCurrentWidget(ready);
sidebar->setVisible(false);
slayout->setCurrentWidget(onroad);
}
}
void HomeWindow::showDriverView(bool show, bool started) {
if (show) {
LOGW("CLP UI: showDriverView(true) -> driver_view");
emit closeSettings();
slayout->setCurrentWidget(driver_view);
sidebar->setVisible(false);
} else if (!started) {
// Offroad, not started — show home menu
slayout->setCurrentWidget(home);
sidebar->setVisible(false);
sidebar->setVisible(show == false);
} else {
if (started) {
slayout->setCurrentWidget(onroad);
sidebar->setVisible(params.getBool("Sidebar"));
} else {
slayout->setCurrentWidget(home);
sidebar->setVisible(show == false);
}
}
// CLEARPILOT: when started, don't touch slayout here —
// updateState handles park->splash and drive->onroad transitions
}
void HomeWindow::mousePressEvent(QMouseEvent* e) {
// CLEARPILOT: tap from any view goes to ClearPilotPanel
if (ready->isVisible() || onroad->isVisible()) {
LOGW("CLP UI: tap -> showing ClearPilotPanel");
sidebar->setVisible(false);
home->resetToGeneral();
// CLEARPILOT todo - tap on main goes straight to settings
// Unless we click a debug widget.
// CLEARPILOT - click ready shows home
if (!onroad->isVisible() && ready->isVisible()) {
sidebar->setVisible(true);
slayout->setCurrentWidget(home);
}
// Todo: widgets
if (onroad->isVisible()) {
emit openSettings();
}
}
void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
@@ -161,274 +119,132 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
// const SubMaster &sm = *(uiState()->sm);
}
// CLEARPILOT: ClearPilotPanel — settings-style sidebar menu
// OffroadHome: the offroad home page
static const char *clpSidebarBtnStyle = R"(
QPushButton {
color: grey;
border: none;
background: none;
font-size: 65px;
font-weight: 500;
OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
QVBoxLayout* main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(40, 40, 40, 40);
// top header
QHBoxLayout* header_layout = new QHBoxLayout();
header_layout->setContentsMargins(0, 0, 0, 0);
header_layout->setSpacing(16);
update_notif = new QPushButton(tr("UPDATE"));
update_notif->setVisible(false);
update_notif->setStyleSheet("background-color: #364DEF;");
QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
alert_notif = new QPushButton();
alert_notif->setVisible(false);
alert_notif->setStyleSheet("background-color: #E22C2C;");
QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
date = new ElidedLabel();
header_layout->addWidget(date, 0, Qt::AlignHCenter | Qt::AlignLeft);
version = new ElidedLabel();
header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
main_layout->addLayout(header_layout);
// main content
main_layout->addSpacing(25);
center_layout = new QStackedLayout();
QWidget *home_widget = new QWidget(this);
{
QHBoxLayout *home_layout = new QHBoxLayout(home_widget);
home_layout->setContentsMargins(0, 0, 0, 0);
home_layout->setSpacing(30);
// // // Create a QWebEngineView
// QWebEngineView *web_view = new QWebEngineView();
// web_view->load(QUrl("http://fark.com"));
// // Add the QWebEngineView to the layout
// home_layout->addWidget(web_view);
}
QPushButton:checked {
color: white;
}
QPushButton:pressed {
color: #ADADAD;
}
)";
center_layout->addWidget(home_widget);
// clpActionBtnStyle removed — no longer used
// add update & alerts widgets
update_widget = new UpdateAlert();
QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
center_layout->addWidget(update_widget);
alerts_widget = new OffroadAlert();
QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
center_layout->addWidget(alerts_widget);
main_layout->addLayout(center_layout, 1);
ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
// Sidebar
QWidget *sidebar_widget = new QWidget;
QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
sidebar_layout->setContentsMargins(50, 50, 100, 50);
// Close button
QPushButton *close_btn = new QPushButton("← Back");
close_btn->setStyleSheet(R"(
QPushButton {
color: white;
border-radius: 25px;
background: #292929;
font-size: 50px;
font-weight: 500;
}
QPushButton:pressed {
color: #ADADAD;
}
)");
close_btn->setFixedSize(300, 125);
sidebar_layout->addSpacing(10);
sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight);
QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closePanel(); });
// Panel content area
panel_widget = new QStackedWidget();
// ── General panel ──
ListWidget *general_panel = new ListWidget(this);
general_panel->setContentsMargins(50, 25, 50, 25);
// Status button
auto *status_btn = new ButtonControl("System Status", "VIEW", "");
connect(status_btn, &ButtonControl::clicked, [=]() { emit openStatus(); });
general_panel->addItem(status_btn);
// Reset Calibration
auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", "");
connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, [=]() {
QString desc = "openpilot requires the device to be mounted within 4° left or right and "
"within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.";
std::string calib_bytes = Params().get("CalibrationParams");
if (!calib_bytes.empty()) {
try {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
desc += QString(" Your device is pointed %1° %2 and %3° %4.")
.arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up",
QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right");
}
} catch (...) {
qInfo() << "invalid CalibrationParams";
}
}
qobject_cast<ButtonControl *>(sender())->setDescription(desc);
});
connect(resetCalibBtn, &ButtonControl::clicked, [=]() {
if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", "Reset", this)) {
Params().remove("CalibrationParams");
Params().remove("LiveTorqueParameters");
}
});
general_panel->addItem(resetCalibBtn);
// Power buttons
QHBoxLayout *power_layout = new QHBoxLayout();
power_layout->setSpacing(30);
QPushButton *reboot_btn = new QPushButton("Reboot");
reboot_btn->setObjectName("reboot_btn");
power_layout->addWidget(reboot_btn);
QPushButton *softreboot_btn = new QPushButton("Soft Reboot");
softreboot_btn->setObjectName("softreboot_btn");
power_layout->addWidget(softreboot_btn);
QPushButton *poweroff_btn = new QPushButton("Power Off");
poweroff_btn->setObjectName("poweroff_btn");
power_layout->addWidget(poweroff_btn);
QObject::connect(reboot_btn, &QPushButton::clicked, [=]() {
if (!uiState()->engaged()) {
if (ConfirmationDialog::confirm("Are you sure you want to reboot?", "Reboot", this)) {
if (!uiState()->engaged()) {
Params().putBool("DoReboot", true);
}
}
} else {
ConfirmationDialog::alert("Disengage to Reboot", this);
}
});
QObject::connect(softreboot_btn, &QPushButton::clicked, [=]() {
if (!uiState()->engaged()) {
if (ConfirmationDialog::confirm("Are you sure you want to soft reboot?", "Soft Reboot", this)) {
if (!uiState()->engaged()) {
Params().putBool("DoSoftReboot", true);
}
}
} else {
ConfirmationDialog::alert("Disengage to Soft Reboot", this);
}
});
QObject::connect(poweroff_btn, &QPushButton::clicked, [=]() {
if (!uiState()->engaged()) {
if (ConfirmationDialog::confirm("Are you sure you want to power off?", "Power Off", this)) {
if (!uiState()->engaged()) {
Params().putBool("DoShutdown", true);
}
}
} else {
ConfirmationDialog::alert("Disengage to Power Off", this);
}
});
general_panel->addItem(power_layout);
// ── Network panel ──
Networking *network_panel = new Networking(this);
// Hide APN button — find by searching QPushButton labels inside AdvancedNetworking
for (auto *btn : network_panel->findChildren<QPushButton *>()) {
if (btn->text().contains("APN", Qt::CaseInsensitive)) {
// Hide the parent AbstractControl frame, not just the button
if (auto *frame = qobject_cast<QFrame *>(btn->parentWidget())) {
frame->setVisible(false);
}
}
}
// ── Dashcam panel ──
QWidget *dashcam_panel = new QWidget(this);
QVBoxLayout *dash_layout = new QVBoxLayout(dashcam_panel);
dash_layout->setContentsMargins(50, 25, 50, 25);
QLabel *dash_label = new QLabel("Dashcam viewer coming soon");
dash_label->setStyleSheet("color: grey; font-size: 40px;");
dash_label->setAlignment(Qt::AlignCenter);
dash_layout->addWidget(dash_label);
dash_layout->addStretch();
// ── Debug panel ──
ListWidget *debug_panel = new ListWidget(this);
debug_panel->setContentsMargins(50, 25, 50, 25);
auto *telemetry_toggle = new ToggleControl("Telemetry Logging",
"Record telemetry data to CSV in the session log directory. "
"Captures only changed values for efficiency.", "",
Params("/dev/shm/params").getBool("TelemetryEnabled"), this);
QObject::connect(telemetry_toggle, &ToggleControl::toggleFlipped, [](bool on) {
Params("/dev/shm/params").putBool("TelemetryEnabled", on);
});
debug_panel->addItem(telemetry_toggle);
auto *health_metrics_toggle = new ToggleControl("System Health Overlay",
"Show controls lag, model frame drops, temperature, CPU, and memory usage "
"in the lower-right of the onroad UI. For diagnosing slowdown issues.", "",
Params().getBool("ClearpilotShowHealthMetrics"), this);
QObject::connect(health_metrics_toggle, &ToggleControl::toggleFlipped, [](bool on) {
Params().putBool("ClearpilotShowHealthMetrics", on);
});
debug_panel->addItem(health_metrics_toggle);
auto *vpn_toggle = new ToggleControl("VPN",
"Connect to vpn.hanson.xyz for remote SSH access. "
"Disabling kills the active tunnel and stops reconnection attempts.", "",
Params("/dev/shm/params").getBool("VpnEnabled"), this);
QObject::connect(vpn_toggle, &ToggleControl::toggleFlipped, [](bool on) {
Params("/dev/shm/params").putBool("VpnEnabled", on);
if (on) {
std::system("sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'");
} else {
std::system("sudo pkill -TERM -f vpn-monitor.sh; sudo killall openvpn");
}
});
debug_panel->addItem(vpn_toggle);
// ── Register panels with sidebar buttons ──
QList<QPair<QString, QWidget *>> panels = {
{"General", general_panel},
{"Network", network_panel},
{"Dashcam", dashcam_panel},
{"Debug", debug_panel},
};
nav_group = new QButtonGroup(this);
nav_group->setExclusive(true);
for (auto &[name, panel] : panels) {
QPushButton *btn = new QPushButton(name);
btn->setCheckable(true);
btn->setStyleSheet(clpSidebarBtnStyle);
btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
nav_group->addButton(btn);
// Network panel handles its own scrolling/margins
if (name == "Network") {
panel_widget->addWidget(panel);
QObject::connect(btn, &QPushButton::clicked, [=, w = panel]() {
panel_widget->setCurrentWidget(w);
});
} else {
ScrollView *panel_frame = new ScrollView(panel, this);
panel_widget->addWidget(panel_frame);
QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
panel_widget->setCurrentWidget(w);
});
}
}
// Select General by default
nav_group->buttons().first()->setChecked(true);
panel_widget->setCurrentIndex(0);
// Main layout: sidebar + panels
QHBoxLayout *main_layout = new QHBoxLayout(this);
sidebar_widget->setFixedWidth(500);
main_layout->addWidget(sidebar_widget);
main_layout->addWidget(panel_widget);
// set up refresh timer
timer = new QTimer(this);
timer->callOnTimeout(this, &OffroadHome::refresh);
setStyleSheet(R"(
* {
color: white;
font-size: 50px;
}
ClearPilotPanel {
OffroadHome {
background-color: black;
}
QStackedWidget, ScrollView, Networking {
background-color: #292929;
border-radius: 30px;
OffroadHome > QPushButton {
padding: 15px 30px;
border-radius: 5px;
font-size: 40px;
font-weight: 500;
}
OffroadHome > QLabel {
font-size: 55px;
}
#softreboot_btn { height: 120px; border-radius: 15px; background-color: #e2e22c; }
#softreboot_btn:pressed { background-color: #ffe224; }
#reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
#reboot_btn:pressed { background-color: #4a4a4a; }
#poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
#poweroff_btn:pressed { background-color: #FF2424; }
)");
}
void ClearPilotPanel::resetToGeneral() {
panel_widget->setCurrentIndex(0);
nav_group->buttons().first()->setChecked(true);
/* Refresh data on screen every 5 seconds. */
void OffroadHome::showEvent(QShowEvent *event) {
refresh();
timer->start(5 * 1000);
}
void OffroadHome::hideEvent(QHideEvent *event) {
timer->stop();
}
void OffroadHome::refresh() {
QString model = QString::fromStdString(params.get("ModelName"));
date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + model);
// bool updateAvailable = update_widget->refresh();
int alerts = alerts_widget->refresh();
if (alerts > 0 && !alerts_widget->isVisible()) {
alerts_widget->setVisible(true);
} else if (alerts == 0 && alerts_widget->isVisible()) {
alerts_widget->setVisible(false);
}
// pop-up new notification
// CLEARPILOT temp disabled update notifications
// int idx = center_layout->currentIndex();
// if (!updateAvailable && !alerts && false) {
// idx = 0;
// } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
// idx = 1;
// } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
// idx = 2;
// }
// center_layout->setCurrentIndex(idx);
// CLEARPILOT temp disabled update notifications
// update_notif->setVisible(updateAvailable);
// alert_notif->setVisible(alerts);
alert_notif->setVisible(false);
if (alerts) {
alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
}
}
selfdrive/ui/qt/home.h
+20 -15
View File
@@ -1,11 +1,9 @@
#pragma once
#include <QButtonGroup>
#include <QFrame>
#include <QLabel>
#include <QPushButton>
#include <QStackedLayout>
#include <QStackedWidget>
#include <QTimer>
#include <QWidget>
@@ -18,23 +16,32 @@
#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
#include "selfdrive/ui/ui.h"
class ClearPilotPanel : public QFrame {
class OffroadHome : public QFrame {
Q_OBJECT
public:
explicit ClearPilotPanel(QWidget* parent = 0);
explicit OffroadHome(QWidget* parent = 0);
signals:
void openSettings(int index = 0, const QString &param = "");
void openStatus();
void closePanel();
public:
void resetToGeneral();
private:
QStackedWidget *panel_widget;
QButtonGroup *nav_group;
void showEvent(QShowEvent *event) override;
void hideEvent(QHideEvent *event) override;
void refresh();
Params params;
QTimer* timer;
ElidedLabel* version;
QStackedLayout* center_layout;
UpdateAlert *update_widget;
OffroadAlert* alerts_widget;
QPushButton* alert_notif;
QPushButton* update_notif;
// FrogPilot variables
ElidedLabel* date;
};
class HomeWindow : public QWidget {
@@ -46,7 +53,6 @@ public:
signals:
void openSettings(int index = 0, const QString &param = "");
void openStatus();
void closeSettings();
public slots:
@@ -61,18 +67,17 @@ protected:
private:
Sidebar *sidebar;
ClearPilotPanel *home;
OffroadHome *home;
OnroadWindow *onroad;
DriverViewWindow *driver_view;
QStackedLayout *slayout;
// FrogPilot variables
Params params;
Params paramsMemory{"/dev/shm/params"};
// CLEARPILOT
// bool show_ready;
ReadyWindow *ready;
bool was_parked_onroad = false;
private slots:
void updateState(const UIState &s);
selfdrive/ui/qt/onroad.cc
+72 -418
View File
@@ -7,7 +7,6 @@
#include <sstream>
#include <QApplication>
#include <QDateTime>
#include <QDebug>
#include <QMouseEvent>
@@ -76,13 +75,12 @@ void OnroadWindow::updateState(const UIState &s) {
alerts->updateAlert(alert);
nvg->updateState(s);
nvg->update(); // CLEARPILOT: force repaint every frame for HUD elements
QColor bgColor = bg_colors[s.status];
// CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
if ((*s.sm)["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange()) {
if (paramsMemory.getBool("no_lat_lane_change") == 1 || screenDisplayMode == 2) {
bgColor = bg_colors[STATUS_DISENGAGED];
}
}
if (bg != bgColor) {
bg = bgColor;
@@ -178,14 +176,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
void OnroadWindow::paintEvent(QPaintEvent *event) {
QPainter p(this);
// CLEARPILOT: hide engagement border in nightrider mode
int dm = paramsMemory.getInt("ScreenDisplayMode");
bool nightrider = (dm == 1 || dm == 4);
if (nightrider) {
p.fillRect(rect(), Qt::black);
} else {
p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
}
p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
QString logicsDisplayString = QString();
if (scene.show_jerk) {
@@ -225,13 +216,6 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
}
}
// void OnroadWindow::update_screen_on_off() {
// int screenDisaplayMode = paramsMemory.getInt("ScreenDisaplayMode");
// if (screenDisaplayMode == 1) {
// // Conditionally off
// }
// }
// ***** onroad widgets *****
@@ -324,7 +308,10 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
QHBoxLayout *buttons_layout = new QHBoxLayout();
buttons_layout->setSpacing(0);
// Neokii screen recorder — DISABLED: using dashcamd instead
// Neokii screen recorder
recorder_btn = new ScreenRecorder(this);
recorder_btn->setVisible(false);
// buttons_layout->addWidget(recorder_btn);
QVBoxLayout *top_right_layout = new QVBoxLayout();
top_right_layout->setSpacing(0);
@@ -340,13 +327,24 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
}
void AnnotatedCameraWidget::updateState(const UIState &s) {
screenDisplayMode = paramsMemory.getInt("ScreenDisplayMode");
if (screenDisplayMode == 2 && !alert_is_visible) {
// Draw black, filled, full-size rectangle to blank the screen
// p.fillRect(0, 0, width(), height(), Qt::black);
// p.restore();
Hardware::set_display_power(false);
return;
} else {
Hardware::set_display_power(true);
}
const int SET_SPEED_NA = 255;
const SubMaster &sm = *(s.sm);
const bool cs_alive = sm.alive("controlsState");
const auto cs = sm["controlsState"].getControlsState();
const auto car_state = sm["carState"].getCarState();
(void)car_state; // CLEARPILOT: suppress unused warning, will use later
// Handle older routes where vCruiseCluster is not set
float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -356,16 +354,11 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
setSpeed *= KM_TO_MILE;
}
// CLEARPILOT: read speed and speed limit from params (written by speed_logic.py ~2Hz)
clpParamFrame++;
if (clpParamFrame % 10 == 0) { // ~2Hz at 20Hz UI update rate
clpHasSpeed = paramsMemory.get("ClearpilotHasSpeed") == "1";
clpSpeedDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedDisplay"));
clpSpeedLimitDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedLimitDisplay"));
clpSpeedUnit = QString::fromStdString(paramsMemory.get("ClearpilotSpeedUnit"));
clpCruiseWarning = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarning"));
clpCruiseWarningSpeed = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarningSpeed"));
}
// Handle older routes where vEgoCluster is not set
v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
// auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
// speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
@@ -401,28 +394,9 @@ if (edgeColor != bgColor) {
}
void AnnotatedCameraWidget::drawHud(QPainter &p) {
// CLEARPILOT: display power control based on ScreenDisplayMode
// Blank when screenDisplayMode=1
p.save();
if (displayMode == 3 && !alert_is_visible) {
Hardware::set_display_power(false);
p.restore();
return;
} else {
Hardware::set_display_power(true);
}
// CLEARPILOT: blinking blue circle when telemetry is recording
if (paramsMemory.getBool("TelemetryEnabled")) {
// Blink: visible for 500ms, hidden for 500ms
int phase = (QDateTime::currentMSecsSinceEpoch() / 500) % 2;
if (phase == 0) {
p.setPen(Qt::NoPen);
p.setBrush(QColor(30, 100, 220));
p.drawEllipse(width() - 150, 50, 100, 100);
}
}
// Header gradient
QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
@@ -433,7 +407,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
// QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
// QString speedLimitOffsetStr = slcSpeedLimitOffset == 0 ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend(slcSpeedLimitOffset > 0 ? "+" : "");
// QString speedStr = QString::number(std::nearbyint(speed));
QString speedStr = QString::number(std::nearbyint(speed));
QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
p.restore();
@@ -457,21 +431,17 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
// Todo: lead speed
// Todo: Experimental speed
// CLEARPILOT: show speed from speed_logic params, hide when no speed or speed=0
if (clpHasSpeed && !clpSpeedDisplay.isEmpty() && !scene.hide_speed) {
// // current speed
if (!(scene.hide_speed)) {
// CLEARPILOT changes to 120 from ~176
// Maybe we want to hide this?
p.setFont(InterFont(140, QFont::Bold));
drawText(p, rect().center().x(), 210, clpSpeedDisplay);
drawText(p, rect().center().x(), 210, speedStr);
// CLEARPILOT changes to 40 from 66
p.setFont(InterFont(50));
drawText(p, rect().center().x(), 290, clpSpeedUnit, 200);
drawText(p, rect().center().x(), 290, speedUnit, 200);
}
// CLEARPILOT: speed limit sign in lower-left, cruise warning above it
drawSpeedLimitSign(p);
drawCruiseWarningSign(p);
// CLEARPILOT: system health metrics in lower-right (debug overlay)
drawHealthMetrics(p);
// Draw FrogPilot widgets
paintFrogPilotWidgets(p);
}
@@ -565,164 +535,6 @@ void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QSt
}
void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
// Hide when no speed limit or speed limit is 0
if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
p.save();
const int signW = 189;
const int signH = 239;
const int margin = 20;
const int borderW = 6;
const int innerBorderW = 4;
const int innerMargin = 10;
const int cornerR = 15;
// Position: 20px from lower-left corner
QRect signRect(margin, height() - signH - margin, signW, signH);
if (nightriderMode) {
// Nightrider: black background, light gray-blue border and text
QColor borderColor(160, 180, 210);
QColor textColor(160, 180, 210);
// Outer border
p.setPen(QPen(borderColor, borderW));
p.setBrush(QColor(0, 0, 0, 220));
p.drawRoundedRect(signRect, cornerR, cornerR);
// Inner border
QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
p.setPen(QPen(borderColor, innerBorderW));
p.setBrush(Qt::NoBrush);
p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
// "SPEED" text
p.setPen(textColor);
p.setFont(InterFont(30, QFont::Bold));
p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
// "LIMIT" text
p.setFont(InterFont(30, QFont::Bold));
p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
// Speed limit number — shifted down ~10% of innerRect height via extra top inset
p.setFont(InterFont(90, QFont::Bold));
p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
} else {
// Normal: white background, black border and text
QColor borderColor(0, 0, 0);
QColor textColor(0, 0, 0);
// Outer border
p.setPen(QPen(borderColor, borderW));
p.setBrush(QColor(255, 255, 255, 240));
p.drawRoundedRect(signRect, cornerR, cornerR);
// Inner border
QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
p.setPen(QPen(borderColor, innerBorderW));
p.setBrush(Qt::NoBrush);
p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
// "SPEED" text
p.setPen(textColor);
p.setFont(InterFont(30, QFont::Bold));
p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
// "LIMIT" text
p.setFont(InterFont(30, QFont::Bold));
p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
// Speed limit number — shifted down ~10% of innerRect height via extra top inset
p.setFont(InterFont(90, QFont::Bold));
p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
}
p.restore();
}
void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
// Only show when there's an active warning and the speed limit sign is visible
if (clpCruiseWarning.isEmpty() || clpCruiseWarningSpeed.isEmpty()) return;
if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
bool isOver = (clpCruiseWarning == "over");
if (!isOver && clpCruiseWarning != "under") return;
p.save();
// Same dimensions as speed limit sign
const int signW = 189;
const int signH = 239;
const int margin = 20;
const int borderW = 6;
const int innerBorderW = 4;
const int innerMargin = 10;
const int cornerR = 15;
const int gap = 20;
// Position: directly above the speed limit sign
int speedLimitY = height() - signH - margin;
QRect signRect(margin, speedLimitY - signH - gap, signW, signH);
if (nightriderMode) {
// Nightrider: black background with colored border/text
QColor accentColor = isOver ? QColor(220, 50, 50) : QColor(50, 180, 80);
p.setPen(QPen(accentColor, borderW));
p.setBrush(QColor(0, 0, 0, 220));
p.drawRoundedRect(signRect, cornerR, cornerR);
QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
p.setPen(QPen(accentColor, innerBorderW));
p.setBrush(Qt::NoBrush);
p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
// "CRUISE" text
p.setPen(accentColor);
p.setFont(InterFont(26, QFont::Bold));
p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
// "SET" text
p.setFont(InterFont(26, QFont::Bold));
p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
// Cruise speed number
p.setFont(InterFont(90, QFont::Bold));
p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
} else {
// Normal: colored background with white border/text
QColor bgColor = isOver ? QColor(200, 30, 30, 240) : QColor(40, 160, 60, 240);
QColor fgColor(255, 255, 255);
p.setPen(QPen(fgColor, borderW));
p.setBrush(bgColor);
p.drawRoundedRect(signRect, cornerR, cornerR);
QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
p.setPen(QPen(fgColor, innerBorderW));
p.setBrush(Qt::NoBrush);
p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
// "CRUISE" text
p.setPen(fgColor);
p.setFont(InterFont(26, QFont::Bold));
p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
// "SET" text
p.setFont(InterFont(26, QFont::Bold));
p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
// Cruise speed number
p.setFont(InterFont(90, QFont::Bold));
p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
}
p.restore();
}
void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
QRect real_rect = p.fontMetrics().boundingRect(text);
real_rect.moveCenter({x, y - real_rect.height() / 2});
@@ -731,87 +543,6 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t
p.drawText(real_rect.x(), real_rect.bottom(), text);
}
// CLEARPILOT: System health overlay — shows metrics that indicate the system
// is overburdened or behind. Toggled via ClearpilotShowHealthMetrics param.
// Metrics (top→bottom): FPS, DROP, TEMP, CPU, MEM, FAN
// FPS: modeld framerate — 20 normally, 0 in park. Read from ModelFps memory
// param which modeld writes only on transition.
// DROP (%): modelV2 frameDropPerc — modeld losing frames; controlsd errors >20%
// TEMP (°C): deviceState.maxTempC — thermal throttling starts ~75, serious >88
// CPU (%): max core from deviceState.cpuUsagePercent
// MEM (%): deviceState.memoryUsagePercent
// FAN (%): actual fan duty from peripheralState RPM (scaled to 6500 RPM = 100%)
// Each value color-codes green/yellow/red by severity.
void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
static bool enabled = Params().getBool("ClearpilotShowHealthMetrics");
static int check_counter = 0;
// re-check the param every ~2s without a toggle signal path
if (++check_counter >= 40) {
check_counter = 0;
enabled = Params().getBool("ClearpilotShowHealthMetrics");
}
if (!enabled) return;
SubMaster &sm = *(uiState()->sm);
auto ds = sm["deviceState"].getDeviceState();
auto mv = sm["modelV2"].getModelV2();
auto ps = sm["peripheralState"].getPeripheralState();
int model_fps = paramsMemory.getInt("ModelFps");
float drop_pct = mv.getFrameDropPerc();
float temp_c = ds.getMaxTempC();
int mem_pct = ds.getMemoryUsagePercent();
int cpu_pct = 0;
for (auto v : ds.getCpuUsagePercent()) cpu_pct = std::max(cpu_pct, (int)v);
// 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) {
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];
selfdrive/ui/qt/onroad.h
+4 -17
View File
@@ -12,7 +12,7 @@
#include "selfdrive/ui/ui.h"
#include "selfdrive/ui/qt/widgets/cameraview.h"
// #include "selfdrive/frogpilot/screenrecorder/screenrecorder.h" // DISABLED: using dashcamd instead
#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h"
const int btn_size = 192;
const int img_size = (btn_size / 4) * 3;
@@ -47,31 +47,16 @@ public:
explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
void updateState(const UIState &s);
void updateLaneEdgeColor(QColor &bgColor);
int screenDisplayMode = 0;
private:
void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176);
void drawSpeedLimitSign(QPainter &p);
void drawCruiseWarningSign(QPainter &p);
void drawHealthMetrics(QPainter &p);
QVBoxLayout *main_layout;
QPixmap dm_img;
float speed;
bool has_gps_speed = false;
bool nightriderMode = false;
int displayMode = 0;
QString speedUnit;
// ClearPilot speed state (from params_memory, updated ~2Hz)
bool clpHasSpeed = false;
QString clpSpeedDisplay;
QString clpSpeedLimitDisplay;
QString clpSpeedUnit;
QString clpCruiseWarning;
QString clpCruiseWarningSpeed;
int clpParamFrame = 0;
float setSpeed;
float speedLimit;
bool is_cruise_set = false;
@@ -104,6 +89,8 @@ private:
Params paramsMemory{"/dev/shm/params"};
UIScene &scene;
ScreenRecorder *recorder_btn;
QHBoxLayout *bottom_layout;
bool alwaysOnLateralActive;
selfdrive/ui/qt/ready.cc
+13 -74
View File
@@ -30,12 +30,11 @@ ReadyWindow::ReadyWindow(QWidget *parent) : QWidget(parent) {
timer = new QTimer(this);
timer->callOnTimeout(this, &ReadyWindow::refresh);
uptime.start();
}
void ReadyWindow::showEvent(QShowEvent *event) {
refresh();
timer->start(2 * 1000);
timer->start(5 * 1000);
}
void ReadyWindow::hideEvent(QHideEvent *event) {
@@ -44,94 +43,34 @@ void ReadyWindow::hideEvent(QHideEvent *event) {
void ReadyWindow::paintEvent(QPaintEvent *event) {
QPainter painter(this);
painter.fillRect(rect(), Qt::black);
QPixmap *img_shown = nullptr;
if (is_hot) {
if (img_hot.isNull()) {
img_hot.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/hot.png");
}
int x = (width() - img_hot.width()) / 2;
int y = (height() - img_hot.height()) / 2;
painter.drawPixmap(x, y, img_hot);
img_shown = &img_hot;
} else {
// Boot logo — same rotation as spinner (bg.jpg is pre-rotated 90° CW for framebuffer)
if (img_bg.isNull()) {
QPixmap raw("/usr/comma/bg.jpg");
if (!raw.isNull()) {
QTransform rot;
rot.rotate(-90);
img_bg = raw.transformed(rot);
}
}
if (!img_bg.isNull()) {
QPixmap scaled = img_bg.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
int x = (width() - scaled.width()) / 2;
int y = (height() - scaled.height()) / 2;
painter.drawPixmap(x, y, scaled);
}
if (error_msg.isEmpty() && !has_driven) {
// "READY!" 8-bit text sprite, 15% below center — only before first drive
static QPixmap ready_text("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png");
if (!ready_text.isNull()) {
int tx = (width() - ready_text.width()) / 2;
int ty = height() / 2 + height() * 15 / 100;
painter.drawPixmap(tx, ty, ready_text);
}
} else {
// Error state: red text at 25% below center
QFont font("Inter", 50, QFont::Bold);
painter.setFont(font);
painter.setPen(QColor(0xFF, 0x44, 0x44));
int ty = height() / 2 + height() * 25 / 100;
QRect text_rect(0, ty, width(), 100);
painter.drawText(text_rect, Qt::AlignHCenter | Qt::AlignTop, error_msg);
if (img_ready.isNull()) {
img_ready.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready.png");
}
img_shown = &img_ready;
}
int x = (width() - img_shown->width()) / 2;
int y = (height() - img_shown->height()) / 2;
painter.drawPixmap(x, y, *img_shown);
}
void ReadyWindow::refresh() {
bool changed = false;
// Temperature check
std::string bytes = params.get("Offroad_TemperatureTooHigh");
bool was_hot = is_hot;
if (!bytes.empty()) {
auto doc = QJsonDocument::fromJson(bytes.data());
is_hot = true;
cur_temp = doc["extra"].toString();
} else {
update();
} else if (is_hot) {
is_hot = false;
update();
}
if (is_hot != was_hot) changed = true;
// Error state checks (only when not hot — hot has its own display)
if (!is_hot) {
QString prev_error = error_msg;
// Panda check — same logic as sidebar, with 10s grace period on startup
if (uptime.elapsed() > 10000 &&
uiState()->scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
error_msg = "PANDA NOT CONNECTED";
}
// Car unrecognized check
else if (!params.get("Offroad_CarUnrecognized").empty()) {
error_msg = "CAR NOT RECOGNIZED";
}
else {
error_msg = "";
}
if (error_msg != prev_error) changed = true;
}
// Reset has_driven on ignition off→on (power cycle)
bool started = uiState()->scene.started;
if (!last_started && started) {
has_driven = false;
changed = true;
}
last_started = started;
if (changed) update();
}
selfdrive/ui/qt/ready.h
+2 -7
View File
@@ -8,9 +8,8 @@
#include <QSocketNotifier>
#include <QVariantAnimation>
#include <QWidget>
#include <QElapsedTimer>
#include <QTimer>
#include "common/util.h"
#include "selfdrive/ui/ui.h"
@@ -18,7 +17,6 @@ class ReadyWindow : public QWidget {
Q_OBJECT
public:
ReadyWindow(QWidget* parent = nullptr);
bool has_driven = false;
private:
void showEvent(QShowEvent *event) override;
void hideEvent(QHideEvent *event) override;
@@ -28,9 +26,6 @@ private:
QTimer* timer;
bool is_hot = false;
QString cur_temp;
QString error_msg; // non-empty = show red error instead of READY!
QElapsedTimer uptime;
bool last_started = false;
QPixmap img_bg;
QPixmap img_ready;
QPixmap img_hot;
};
selfdrive/ui/qt/spinner
BIN
View File
Binary file not shown.
selfdrive/ui/qt/spinner.cc
+38 -28
View File
@@ -15,24 +15,48 @@
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/util.h"
// CLEARPILOT: full-screen boot logo background with progress bar overlay
TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) {
setAttribute(Qt::WA_OpaquePaintEvent);
setFixedSize(spinner_size);
Spinner::Spinner(QWidget *parent) : QWidget(parent) {
// Load boot logo as full-screen background, rotated 90° CCW
// (bg.jpg is pre-rotated 90° CW for the raw framebuffer)
QPixmap boot_logo("/usr/comma/bg.jpg");
if (!boot_logo.isNull()) {
QTransform rot;
rot.rotate(-90);
bg_img = boot_logo.transformed(rot);
// pre-compute all the track imgs. make this a gif instead?
QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size);
QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size);
QTransform transform(1, 0, 0, 1, width() / 2, height() / 2);
QPixmap pm(spinner_size);
QPainter p(&pm);
p.setRenderHint(QPainter::SmoothPixmapTransform);
for (int i = 0; i < track_imgs.size(); ++i) {
p.resetTransform();
p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black);
p.drawPixmap(0, 0, comma_img);
p.setTransform(transform.rotate(360 / spinner_fps));
p.drawPixmap(-width() / 2, -height() / 2, track_img);
track_imgs[i] = pm.copy();
}
m_anim.setDuration(1000);
m_anim.setStartValue(0);
m_anim.setEndValue(int(track_imgs.size() -1));
m_anim.setLoopCount(-1);
m_anim.start();
connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
}
void TrackWidget::paintEvent(QPaintEvent *event) {
QPainter painter(this);
painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]);
}
// Spinner
Spinner::Spinner(QWidget *parent) : QWidget(parent) {
QGridLayout *main_layout = new QGridLayout(this);
main_layout->setSpacing(0);
main_layout->setMargin(0);
main_layout->setMargin(200);
// Spacer to push progress bar toward bottom
main_layout->setRowStretch(0, 1);
main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
text = new QLabel();
text->setWordWrap(true);
@@ -45,10 +69,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
progress_bar->setTextVisible(false);
progress_bar->setVisible(false);
progress_bar->setFixedHeight(20);
main_layout->addWidget(progress_bar, 2, 0, Qt::AlignHCenter | Qt::AlignBottom);
// Bottom margin for progress bar
main_layout->setContentsMargins(0, 0, 0, 80);
main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter);
setStyleSheet(R"(
Spinner {
@@ -67,7 +88,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
}
QProgressBar::chunk {
border-radius: 10px;
background-color: white;
background-color: rgba(23, 134, 68, 255);
}
)");
@@ -75,17 +96,6 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
}
void Spinner::paintEvent(QPaintEvent *event) {
QPainter p(this);
p.fillRect(rect(), Qt::black);
if (!bg_img.isNull()) {
QPixmap scaled = bg_img.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
int x = (width() - scaled.width()) / 2;
int y = (height() - scaled.height()) / 2;
p.drawPixmap(x, y, scaled);
}
}
void Spinner::update(int n) {
std::string line;
std::getline(std::cin, line);
selfdrive/ui/qt/spinner.h
+17 -4
View File
@@ -1,23 +1,36 @@
#include <array>
#include <QLabel>
#include <QPixmap>
#include <QProgressBar>
#include <QSocketNotifier>
#include <QVariantAnimation>
#include <QWidget>
constexpr int spinner_fps = 30;
constexpr QSize spinner_size = QSize(360, 360);
class TrackWidget : public QWidget {
Q_OBJECT
public:
TrackWidget(QWidget *parent = nullptr);
private:
void paintEvent(QPaintEvent *event) override;
std::array<QPixmap, spinner_fps> track_imgs;
QVariantAnimation m_anim;
};
class Spinner : public QWidget {
Q_OBJECT
public:
explicit Spinner(QWidget *parent = 0);
protected:
void paintEvent(QPaintEvent *event) override;
private:
QLabel *text;
QProgressBar *progress_bar;
QSocketNotifier *notifier;
QPixmap bg_img;
public slots:
void update(int n);
selfdrive/ui/qt/window.cc
+3 -310
View File
@@ -1,9 +1,6 @@
#include "selfdrive/ui/qt/window.h"
#include <QFontDatabase>
#include <QMouseEvent>
#include <zmq.h>
#include "system/hardware/hw.h"
@@ -14,7 +11,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
homeWindow = new HomeWindow(this);
main_layout->addWidget(homeWindow);
QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
QObject::connect(homeWindow, &HomeWindow::openStatus, this, &MainWindow::openStatus);
QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
settingsWindow = new SettingsWindow(this);
@@ -28,11 +24,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
homeWindow->showDriverView(true);
});
// CLEARPILOT: Status window
statusWindow = new StatusWindow(this);
main_layout->addWidget(statusWindow);
QObject::connect(statusWindow, &StatusWindow::closeStatus, this, &MainWindow::closeSettings);
onboardingWindow = new OnboardingWindow(this);
main_layout->addWidget(onboardingWindow);
QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
@@ -44,17 +35,13 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
if (!offroad) {
// CLEARPILOT: just switch to homeWindow, don't show sidebar
// HomeWindow::offroadTransition handles the internal view
main_layout->setCurrentWidget(homeWindow);
closeSettings();
}
});
QObject::connect(device(), &Device::interactiveTimeout, [=]() {
// CLEARPILOT: on timeout, return to splash/onroad (not ClearPilotPanel)
if (main_layout->currentWidget() != homeWindow) {
main_layout->setCurrentWidget(homeWindow);
if (main_layout->currentWidget() == settingsWindow) {
closeSettings();
}
homeWindow->offroadTransition(!uiState()->scene.started);
});
// load fonts
@@ -76,74 +63,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
}
)");
setAttribute(Qt::WA_NoSystemBackground);
// CLEARPILOT: UI introspection RPC server
zmq_ctx = zmq_ctx_new();
zmq_sock = zmq_socket(zmq_ctx, ZMQ_REP);
zmq_bind(zmq_sock, "ipc:///tmp/clearpilot_ui_rpc");
int fd;
size_t fd_sz = sizeof(fd);
zmq_getsockopt(zmq_sock, ZMQ_FD, &fd, &fd_sz);
rpc_notifier = new QSocketNotifier(fd, QSocketNotifier::Read, this);
connect(rpc_notifier, &QSocketNotifier::activated, this, &MainWindow::handleRpcRequest);
}
void MainWindow::handleRpcRequest() {
int events = 0;
size_t events_sz = sizeof(events);
zmq_getsockopt(zmq_sock, ZMQ_EVENTS, &events, &events_sz);
if (!(events & ZMQ_POLLIN)) return;
char buf[256];
int rc = zmq_recv(zmq_sock, buf, sizeof(buf) - 1, ZMQ_DONTWAIT);
if (rc < 0) return;
buf[rc] = 0;
QString response;
if (strcmp(buf, "dump") == 0) {
response = dumpWidgetTree(this);
} else {
response = "unknown command";
}
QByteArray resp = response.toUtf8();
zmq_send(zmq_sock, resp.data(), resp.size(), 0);
}
QString MainWindow::dumpWidgetTree(QWidget *w, int depth) {
QString result;
QString indent(depth * 2, ' ');
QString className = w->metaObject()->className();
QString name = w->objectName().isEmpty() ? "(no name)" : w->objectName();
bool visible = w->isVisible();
QRect geo = w->geometry();
result += QString("%1%2 [%3] vis=%4 geo=%5,%6 %7x%8")
.arg(indent, className, name)
.arg(visible ? "Y" : "N")
.arg(geo.x()).arg(geo.y()).arg(geo.width()).arg(geo.height());
// Show stacked layout/widget current index
if (auto *sl = w->findChild<QStackedLayout *>(QString(), Qt::FindDirectChildrenOnly)) {
QWidget *cur = sl->currentWidget();
QString curClass = cur ? cur->metaObject()->className() : "null";
result += QString(" stack_cur=%1/%2(%3)").arg(sl->currentIndex()).arg(sl->count()).arg(curClass);
}
if (auto *sw = qobject_cast<QStackedWidget *>(w)) {
QWidget *cur = sw->currentWidget();
QString curClass = cur ? cur->metaObject()->className() : "null";
result += QString(" stack_cur=%1/%2(%3)").arg(sw->currentIndex()).arg(sw->count()).arg(curClass);
}
result += "\n";
for (QObject *child : w->children()) {
QWidget *cw = qobject_cast<QWidget *>(child);
if (cw && depth < 4) {
result += dumpWidgetTree(cw, depth + 1);
}
}
return result;
}
void MainWindow::openSettings(int index, const QString &param) {
@@ -151,10 +70,6 @@ void MainWindow::openSettings(int index, const QString &param) {
settingsWindow->setCurrentPanel(index, param);
}
void MainWindow::openStatus() {
main_layout->setCurrentWidget(statusWindow);
}
void MainWindow::closeSettings() {
main_layout->setCurrentWidget(homeWindow);
@@ -171,16 +86,6 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
case QEvent::TouchEnd:
case QEvent::MouseButtonPress:
case QEvent::MouseMove: {
// CLEARPILOT: tap while screen-off (mode 3) -> wake to auto-normal (mode 0)
Params pmem{"/dev/shm/params"};
if (!device()->isAwake()) {
if (pmem.getInt("ScreenDisplayMode") == 3) {
pmem.putInt("ScreenDisplayMode", 0);
}
}
// CLEARPILOT: reset shutdown timer on any screen touch
static int touch_counter = 0;
pmem.put("ShutdownTouchReset", std::to_string(++touch_counter));
// ignore events when device is awakened by resetInteractiveTimeout
ignore = !device()->isAwake();
device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);
@@ -191,215 +96,3 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
}
return ignore;
}
// CLEARPILOT: Status window — live system stats, collected on background thread
#include <QFile>
#include <QProcess>
#include <QDateTime>
#include <QtConcurrent>
static QString readFile(const QString &path) {
QFile f(path);
if (f.open(QIODevice::ReadOnly)) return QString(f.readAll()).trimmed();
return "";
}
static QString shellCmd(const QString &cmd) {
QProcess p;
p.start("bash", QStringList() << "-c" << cmd);
p.waitForFinished(1000);
return QString(p.readAllStandardOutput()).trimmed();
}
static StatusWindow::StatusData collectStatus() {
StatusWindow::StatusData d;
d.time = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss");
d.storage = shellCmd("df -h /data | tail -1 | awk '{print $3 \" / \" $2 \" (\" $5 \" used)\"}'");
// RAM from /proc/meminfo (no subprocess needed)
QString meminfo = readFile("/proc/meminfo");
long total = 0, avail = 0;
for (const QString &line : meminfo.split('\n')) {
if (line.startsWith("MemTotal:")) total = line.split(QRegExp("\\s+"))[1].toLong();
if (line.startsWith("MemAvailable:")) avail = line.split(QRegExp("\\s+"))[1].toLong();
}
if (total > 0) {
long used = total - avail;
d.ram = QString("%1 / %2 MB").arg(used / 1024).arg(total / 1024);
}
// Load from /proc/loadavg
QString loadavg = readFile("/proc/loadavg");
QStringList parts = loadavg.split(' ');
if (parts.size() >= 3) {
d.load = QString("%1 %2 %3").arg(parts[0], parts[1], parts[2]);
}
// Temperature
QString temps = shellCmd("cat /sys/class/thermal/thermal_zone*/temp 2>/dev/null | sort -rn | head -1");
if (!temps.isEmpty()) {
d.temp_c = temps.toLong() / 1000.0f;
d.temp = QString("%1\u00B0C").arg(d.temp_c, 0, 'f', 1);
}
// Fan
QString fan = shellCmd("cat /sys/class/hwmon/hwmon*/fan1_input 2>/dev/null | head -1");
if (fan.isEmpty()) fan = readFile("/dev/shm/params/d/LastFanSpeed");
d.fan = fan.isEmpty() ? QString::fromUtf8("\u2014") : fan + " RPM";
// Network
d.ip = shellCmd("ip route get 1.1.1.1 2>/dev/null | head -1 | awk '{print $7}'");
d.wifi = shellCmd("iwconfig wlan0 2>/dev/null | grep -oP 'ESSID:\"\\K[^\"]*'");
// VPN
QString tun = shellCmd("ip link show tun0 2>/dev/null | head -1");
if (tun.contains("UP")) {
d.vpn_status = "up";
d.vpn_ip = shellCmd("ip addr show tun0 2>/dev/null | grep 'inet ' | awk '{print $2}'");
}
// GPS
d.gps = readFile("/data/params/d/LastGPSPosition");
// Telemetry
d.telemetry = readFile("/data/params/d/TelemetryEnabled");
// Dashcam
d.dashcam_state = readFile("/dev/shm/params/d/DashcamState");
if (d.dashcam_state.isEmpty()) d.dashcam_state = "stopped";
d.dashcam_frames = readFile("/dev/shm/params/d/DashcamFrames");
// Panda: checked on UI thread in applyResults() via scene.pandaType
return d;
}
StatusWindow::StatusWindow(QWidget *parent) : QFrame(parent) {
QVBoxLayout *layout = new QVBoxLayout(this);
layout->setContentsMargins(50, 60, 50, 40);
layout->setSpacing(0);
// Status rows
auto makeRow = [&](const QString &label) -> QLabel* {
QHBoxLayout *row = new QHBoxLayout();
row->setContentsMargins(20, 0, 20, 0);
QLabel *name = new QLabel(label);
name->setStyleSheet("color: grey; font-size: 38px;");
name->setFixedWidth(350);
row->addWidget(name);
QLabel *value = new QLabel("—");
value->setStyleSheet("color: white; font-size: 38px;");
row->addWidget(value);
row->addStretch();
layout->addLayout(row);
layout->addSpacing(12);
return value;
};
time_label = makeRow("Time");
storage_label = makeRow("Storage");
ram_label = makeRow("Memory");
load_label = makeRow("Load");
temp_label = makeRow("Temperature");
fan_label = makeRow("Fan Speed");
panda_label = makeRow("Panda");
ip_label = makeRow("IP Address");
wifi_label = makeRow("WiFi");
vpn_label = makeRow("VPN");
gps_label = makeRow("GPS");
telemetry_label = makeRow("Telemetry");
dashcam_label = makeRow("Dashcam");
layout->addStretch();
setStyleSheet("StatusWindow { background-color: black; }");
connect(&watcher, &QFutureWatcher<StatusData>::finished, this, &StatusWindow::applyResults);
QTimer *timer = new QTimer(this);
connect(timer, &QTimer::timeout, this, &StatusWindow::kickRefresh);
timer->start(1000);
}
void StatusWindow::kickRefresh() {
if (!isVisible() || collecting) return;
collecting = true;
watcher.setFuture(QtConcurrent::run(collectStatus));
}
void StatusWindow::applyResults() {
collecting = false;
StatusData d = watcher.result();
time_label->setText(d.time);
storage_label->setText(d.storage);
if (!d.ram.isEmpty()) ram_label->setText(d.ram);
if (!d.load.isEmpty()) load_label->setText(d.load);
if (!d.temp.isEmpty()) {
temp_label->setText(d.temp);
temp_label->setStyleSheet(d.temp_c > 70 ? "color: #ff4444; font-size: 38px;" :
d.temp_c > 55 ? "color: #ffaa00; font-size: 38px;" :
"color: white; font-size: 38px;");
}
fan_label->setText(d.fan);
// Panda: same check as sidebar — read scene.pandaType on UI thread
if (uiState()->scene.pandaType != cereal::PandaState::PandaType::UNKNOWN) {
panda_label->setText("Connected");
panda_label->setStyleSheet("color: #17c44d; font-size: 38px;");
} else {
panda_label->setText("Not connected");
panda_label->setStyleSheet("color: #ff4444; font-size: 38px;");
}
ip_label->setText(d.ip.isEmpty() ? "No connection" : d.ip);
wifi_label->setText(d.wifi.isEmpty() ? "Not connected" : d.wifi);
if (d.vpn_status == "up") {
vpn_label->setText("Connected (" + d.vpn_ip + ")");
vpn_label->setStyleSheet("color: #17c44d; font-size: 38px;");
} else {
vpn_label->setText("Not connected");
vpn_label->setStyleSheet("color: #ff4444; font-size: 38px;");
}
if (d.gps.isEmpty()) {
gps_label->setText("No fix");
gps_label->setStyleSheet("color: #ff4444; font-size: 38px;");
} else {
gps_label->setText(d.gps);
gps_label->setStyleSheet("color: white; font-size: 38px;");
}
if (d.telemetry == "1") {
telemetry_label->setText("Enabled");
telemetry_label->setStyleSheet("color: #17c44d; font-size: 38px;");
} else {
telemetry_label->setText("Disabled");
telemetry_label->setStyleSheet("color: grey; font-size: 38px;");
}
if (d.dashcam_state == "recording") {
QString text = "Recording";
if (!d.dashcam_frames.isEmpty() && d.dashcam_frames != "0") text += " (" + d.dashcam_frames + " frames)";
dashcam_label->setText(text);
dashcam_label->setStyleSheet("color: #17c44d; font-size: 38px;");
} else if (d.dashcam_state == "waiting") {
dashcam_label->setText("Waiting");
dashcam_label->setStyleSheet("color: #ffaa00; font-size: 38px;");
} else {
dashcam_label->setText("Stopped");
dashcam_label->setStyleSheet("color: #ff4444; font-size: 38px;");
}
}
void StatusWindow::mousePressEvent(QMouseEvent *e) {
emit closeStatus();
}
selfdrive/ui/qt/window.h
-58
View File
@@ -1,59 +1,12 @@
#pragma once
#include <QFutureWatcher>
#include <QStackedLayout>
#include <QLabel>
#include <QSocketNotifier>
#include <QTimer>
#include <QWidget>
#include "selfdrive/ui/qt/home.h"
#include "selfdrive/ui/qt/offroad/onboarding.h"
#include "selfdrive/ui/qt/offroad/settings.h"
class StatusWindow : public QFrame {
Q_OBJECT
public:
explicit StatusWindow(QWidget *parent = 0);
struct StatusData {
QString time, storage, ram, load, temp, fan, ip, wifi;
QString vpn_status, vpn_ip, gps, telemetry;
QString dashcam_state, dashcam_frames;
float temp_c = 0;
};
protected:
void mousePressEvent(QMouseEvent *e) override;
signals:
void closeStatus();
private slots:
void kickRefresh();
void applyResults();
private:
QFutureWatcher<StatusData> watcher;
bool collecting = false;
QLabel *storage_label;
QLabel *ram_label;
QLabel *load_label;
QLabel *temp_label;
QLabel *fan_label;
QLabel *ip_label;
QLabel *wifi_label;
QLabel *vpn_label;
QLabel *gps_label;
QLabel *time_label;
QLabel *telemetry_label;
QLabel *dashcam_label;
QLabel *panda_label;
};
class MainWindow : public QWidget {
Q_OBJECT
@@ -63,24 +16,13 @@ public:
private:
bool eventFilter(QObject *obj, QEvent *event) override;
void openSettings(int index = 0, const QString &param = "");
void openStatus();
void closeSettings();
QString dumpWidgetTree(QWidget *w, int depth = 0);
QStackedLayout *main_layout;
HomeWindow *homeWindow;
SettingsWindow *settingsWindow;
StatusWindow *statusWindow;
OnboardingWindow *onboardingWindow;
// CLEARPILOT: UI introspection RPC
void *zmq_ctx = nullptr;
void *zmq_sock = nullptr;
QSocketNotifier *rpc_notifier = nullptr;
// FrogPilot variables
Params params;
private slots:
void handleRpcRequest();
};
selfdrive/ui/soundd.py
+1 -43
View File
@@ -93,27 +93,6 @@ class Soundd:
self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
# ClearPilot ding (plays independently of alerts)
self.ding_sound = None
self.ding_frame = 0
self.ding_playing = False
self.ding_check_counter = 0
self._load_ding()
def _load_ding(self):
ding_path = BASEDIR + "/selfdrive/clearpilot/sounds/ding.wav"
try:
wavefile = wave.open(ding_path, 'r')
assert wavefile.getnchannels() == 1
assert wavefile.getsampwidth() == 2
assert wavefile.getframerate() == SAMPLE_RATE
length = wavefile.getnframes()
self.ding_sound = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2)
cloudlog.info(f"ClearPilot ding loaded: {length} frames")
except Exception as e:
cloudlog.error(f"Failed to load ding sound: {e}")
self.ding_sound = None
def load_sounds(self):
self.loaded_sounds: dict[int, np.ndarray] = {}
@@ -158,20 +137,7 @@ class Soundd:
written_frames += frames_to_write
self.current_sound_frame += frames_to_write
ret = ret * self.current_volume
# Mix in ClearPilot ding (independent of alerts, always max volume)
if self.ding_playing and self.ding_sound is not None:
ding_remaining = len(self.ding_sound) - self.ding_frame
if ding_remaining > 0:
frames_to_write = min(ding_remaining, frames)
ret[:frames_to_write] += self.ding_sound[self.ding_frame:self.ding_frame + frames_to_write] * MAX_VOLUME
self.ding_frame += frames_to_write
else:
self.ding_playing = False
self.ding_frame = 0
return ret
return ret * self.current_volume
def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
if status:
@@ -231,14 +197,6 @@ class Soundd:
self.get_audible_alert(sm)
# ClearPilot: check for ding trigger at ~2Hz
self.ding_check_counter += 1
if self.ding_check_counter % 10 == 0 and self.ding_sound is not None:
if self.params_memory.get("ClearpilotPlayDing") == b"1":
self.params_memory.put("ClearpilotPlayDing", "0")
self.ding_playing = True
self.ding_frame = 0
rk.keep_time()
assert stream.active
selfdrive/ui/spinner
-5
View File
@@ -1,10 +1,5 @@
#!/bin/sh
# CLEARPILOT: prefer freshly built _spinner over prebuilt qt/spinner
if [ -f ./_spinner ]; then
exec ./_spinner "$1"
fi
if [ -f /TICI ] && [ ! -f qt/spinner ]; then
cp qt/spinner_larch64 qt/spinner
fi
selfdrive/ui/translations/main_ar.ts
+3 -3
View File
@@ -818,15 +818,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">تحديث</translation>
<translation>تحديث</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> التنبهات</translation>
<translation> التنبهات</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> تنبيه</translation>
<translation> تنبيه</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_de.ts
+3 -3
View File
@@ -771,15 +771,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">Aktualisieren</translation>
<translation>Aktualisieren</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> HINWEISE</translation>
<translation> HINWEISE</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> HINWEIS</translation>
<translation> HINWEIS</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_fr.ts
+3 -3
View File
@@ -814,15 +814,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">MISE À JOUR</translation>
<translation>MISE À JOUR</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> ALERTES</translation>
<translation> ALERTES</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> ALERTE</translation>
<translation> ALERTE</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_ja.ts
+3 -3
View File
@@ -770,15 +770,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">更新</translation>
<translation>更新</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> 警告</translation>
<translation> 警告</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> 警告</translation>
<translation> 警告</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_ko.ts
+3 -3
View File
@@ -813,15 +813,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">업데이트</translation>
<translation>업데이트</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> 알림</translation>
<translation> 알림</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> 알림</translation>
<translation> 알림</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_pt-BR.ts
+3 -3
View File
@@ -814,15 +814,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">ATUALIZAÇÃO</translation>
<translation>ATUALIZAÇÃO</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> ALERTAS</translation>
<translation> ALERTAS</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> ALERTA</translation>
<translation> ALERTA</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_th.ts
+3 -3
View File
@@ -813,15 +813,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">อัปเดต</translation>
<translation>อัปเดต</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> การแจ้งเตือน</translation>
<translation> การแจ้งเตือน</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> การแจ้งเตือน</translation>
<translation> การแจ้งเตือน</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_tr.ts
+3 -3
View File
@@ -770,15 +770,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">GÜNCELLE</translation>
<translation>GÜNCELLE</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> UYARILAR</translation>
<translation> UYARILAR</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> UYARI</translation>
<translation> UYARI</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_zh-CHS.ts
+3 -3
View File
@@ -813,15 +813,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">更新</translation>
<translation>更新</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> 警报</translation>
<translation> 警报</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> 警报</translation>
<translation> 警报</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_zh-CHT.ts
+3 -3
View File
@@ -813,15 +813,15 @@
<name>OffroadHome</name>
<message>
<source>UPDATE</source>
<translation type="vanished">更新</translation>
<translation>更新</translation>
</message>
<message>
<source> ALERTS</source>
<translation type="vanished"> 提醒</translation>
<translation> 提醒</translation>
</message>
<message>
<source> ALERT</source>
<translation type="vanished"> 提醒</translation>
<translation> 提醒</translation>
</message>
</context>
<context>
selfdrive/ui/ui.cc
+4 -17
View File
@@ -93,9 +93,6 @@ void update_model(UIState *s,
if (plan_position.getX().size() < model.getPosition().getX().size()) {
plan_position = model.getPosition();
}
// CLEARPILOT: guard against empty model data (bench mode, no modeld running)
if (plan_position.getX().size() == 0) return;
float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
std::clamp(*(plan_position.getX().end() - 1),
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
@@ -118,10 +115,8 @@ void update_model(UIState *s,
}
// update path
// CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
bool no_lat_lane_change = (*s->sm)["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange();
float path;
if (no_lat_lane_change) {
if (paramsMemory.getBool("no_lat_lane_change")) {
path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20; // Release: better calc for EU users
} else {
path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users
@@ -396,7 +391,6 @@ void ui_update_frogpilot_params(UIState *s) {
scene.screen_brightness = screen_management ? params.getInt("ScreenBrightness") : 101;
scene.screen_brightness_onroad = screen_management ? params.getInt("ScreenBrightnessOnroad") : 101;
scene.screen_recorder = screen_management && params.getBool("ScreenRecorder");
scene.screen_recorder_debug = params.getBool("ScreenRecorderDebug");
scene.screen_timeout = screen_management ? params.getInt("ScreenTimeout") : 120;
scene.screen_timeout_onroad = screen_management ? params.getInt("ScreenTimeoutOnroad") : 10;
scene.standby_mode = screen_management && params.getBool("StandbyMode");
@@ -441,10 +435,9 @@ void UIState::updateStatus() {
UIState::UIState(QObject *parent) : QObject(parent) {
sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
"pandaStates", "peripheralState", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
"pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
"wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
"frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
"gpsLocation",
});
Params params;
@@ -558,10 +551,7 @@ void Device::updateWakefulness(const UIState &s) {
}
if (ignition_state_changed) {
if (!ignition_on) {
// CLEARPILOT: ignition on→off blanks the screen immediately (tap still wakes).
resetInteractiveTimeout(0, 0);
} else if (s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
if (ignition_on && s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
resetInteractiveTimeout(0, 0);
} else {
resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad);
@@ -570,10 +560,7 @@ void Device::updateWakefulness(const UIState &s) {
emit interactiveTimeout();
}
// CLEARPILOT: ScreenDisplayMode 3 = screen off — override awake state
if (paramsMemory.getInt("ScreenDisplayMode") == 3) {
setAwake(false);
} else if (s.scene.screen_brightness_onroad != 0) {
if (s.scene.screen_brightness_onroad != 0) {
setAwake(s.scene.ignition || interactive_timeout > 0);
} else {
setAwake(interactive_timeout > 0);
selfdrive/ui/ui.h
-1
View File
@@ -231,7 +231,6 @@ typedef struct UIScene {
bool road_name_ui;
bool rotating_wheel;
bool screen_recorder;
bool screen_recorder_debug;
bool show_aol_status_bar;
bool show_cem_status_bar;
bool show_jerk;