clearpilot: initial commit of full source

selfdrive/ui/qt/onroad.h

@@ -0,0 +1,190 @@
+#pragma once
+
+#include <memory>
+
+#include <QMovie>
+#include <QLabel>
+#include <QPushButton>
+#include <QStackedLayout>
+#include <QWidget>
+
+#include "common/util.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h"
+
+const int btn_size = 192;
+const int img_size = (btn_size / 4) * 3;
+
+static double fps;
+
+// ***** onroad widgets *****
+class OnroadAlerts : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent), scene(uiState()->scene) {}
+  void updateAlert(const Alert &a);
+
+protected:
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QColor bg;
+  Alert alert = {};
+
+  // FrogPilot variables
+  UIScene &scene;
+};
+
+
+// container window for the NVG UI
+class AnnotatedCameraWidget : public CameraWidget {
+  Q_OBJECT
+
+public:
+  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
+  void updateState(const UIState &s);
+  void updateLaneEdgeColor(QColor &bgColor);
+
+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);
+
+  QVBoxLayout *main_layout;
+  QPixmap dm_img;
+  float speed;
+  QString speedUnit;
+  float setSpeed;
+  float speedLimit;
+  bool is_cruise_set = false;
+  bool is_metric = false;
+  bool dmActive = false;
+  bool hideBottomIcons = false;
+  bool rightHandDM = false;
+  float dm_fade_state = 1.0;
+  bool has_us_speed_limit = false;
+  bool has_eu_speed_limit = false;
+  bool v_ego_cluster_seen = false;
+  int status = STATUS_DISENGAGED;
+  std::unique_ptr<PubMaster> pm;
+  QColor edgeColor = bg_colors[STATUS_DISENGAGED];
+
+  int skip_frame_count = 0;
+  bool wide_cam_requested = false;
+
+  // FrogPilot widgets
+  void initializeFrogPilotWidgets();
+  void paintFrogPilotWidgets(QPainter &p);
+  void updateFrogPilotWidgets();
+
+  void drawLeadInfo(QPainter &p);
+  void drawSLCConfirmation(QPainter &p);
+  void drawStatusBar(QPainter &p);
+  void drawTurnSignals(QPainter &p);
+
+  // FrogPilot variables
+  Params paramsMemory{"/dev/shm/params"};
+  UIScene &scene;
+
+  ScreenRecorder *recorder_btn;
+
+  QHBoxLayout *bottom_layout;
+
+  bool alwaysOnLateralActive;
+  bool blindSpotLeft;
+  bool blindSpotRight;
+  bool experimentalMode;
+  bool leadInfo;
+  bool roadNameUI;
+  bool showAlwaysOnLateralStatusBar;
+  bool showConditionalExperimentalStatusBar;
+  bool showSLCOffset;
+  bool slcOverridden;
+  bool speedLimitController;
+  bool trafficModeActive;
+  bool turnSignalLeft;
+  bool turnSignalRight;
+  bool useViennaSLCSign;
+  bool vtscControllingCurve;
+
+  float cruiseAdjustment;
+  float distanceConversion;
+  float laneDetectionWidth;
+  float laneWidthLeft;
+  float laneWidthRight;
+  float slcSpeedLimitOffset;
+  float speedConversion;
+
+  int alertSize;
+  int cameraView;
+  int conditionalStatus;
+  int currentHolidayTheme;
+  int customColors;
+  int customSignals;
+  int obstacleDistance;
+  int obstacleDistanceStock;
+  int totalFrames = 8;
+
+  QString leadDistanceUnit;
+  QString leadSpeedUnit;
+
+  size_t animationFrameIndex;
+
+  std::unordered_map<int, std::tuple<QString, QColor, std::map<double, QBrush>>> themeConfiguration;
+  std::unordered_map<int, std::tuple<QString, QColor, std::map<double, QBrush>>> holidayThemeConfiguration;
+  std::vector<QPixmap> signalImgVector;
+
+  QTimer *animationTimer;
+
+  inline QColor blueColor(int alpha = 255) { return QColor(0, 150, 255, alpha); }
+  inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
+
+protected:
+  void paintGL() override;
+  void initializeGL() override;
+  void showEvent(QShowEvent *event) override;
+  void updateFrameMat() override;
+  void drawLaneLines(QPainter &painter, const UIState *s);
+  void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd, const float v_ego);
+  void drawHud(QPainter &p);
+  void paintEvent(QPaintEvent *event) override;
+  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
+  inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
+  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
+
+  double prev_draw_t = 0;
+  FirstOrderFilter fps_filter;
+};
+
+// container for all onroad widgets
+class OnroadWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadWindow(QWidget* parent = 0);
+
+// signals:
+
+private:
+  void paintEvent(QPaintEvent *event);
+  void mousePressEvent(QMouseEvent* e) override;
+  OnroadAlerts *alerts;
+  AnnotatedCameraWidget *nvg;
+  QColor bg = bg_colors[STATUS_DISENGAGED];
+  QWidget *map = nullptr;
+  QHBoxLayout* split;
+
+  // FrogPilot variables
+  UIScene &scene;
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+
+  QPoint timeoutPoint = QPoint(420, 69);
+  QTimer clickTimer;
+
+private slots:
+  void offroadTransition(bool offroad);
+  void updateState(const UIState &s);
+};