clearpilot/selfdrive/ui/qt/home.cc

#include "selfdrive/ui/qt/home.h"

#include <QHBoxLayout>
#include <QMouseEvent>
#include <QStackedWidget>
#include <QVBoxLayout>

#include "selfdrive/ui/qt/util.h"

// HomeWindow: the container for the offroad and onroad UIs

HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
  // CLEARPILOT Sidebar set to invisible in drive view.
  params.putBool("Sidebar", false);

  QHBoxLayout *main_layout = new QHBoxLayout(this);
  main_layout->setMargin(0);
  main_layout->setSpacing(0);

  sidebar = new Sidebar(this);
  main_layout->addWidget(sidebar);
  QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
  QObject::connect(sidebar, &Sidebar::openOnroad, this, &HomeWindow::showOnroad);

  slayout = new QStackedLayout();
  main_layout->addLayout(slayout);

  home = new OffroadHome(this);
  QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
  slayout->addWidget(home);

  onroad = new OnroadWindow(this);
  slayout->addWidget(onroad);

  // CLEARPILOT
  ready = new ReadyWindow(this);
  slayout->addWidget(ready);
  
  driver_view = new DriverViewWindow(this);
  connect(driver_view, &DriverViewWindow::done, [=] {
    showDriverView(false);
  });
  slayout->addWidget(driver_view);

  setAttribute(Qt::WA_NoSystemBackground);

  QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
  QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
  QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition);
}

// Debug function to activate onroad UI
void HomeWindow::showOnroad() {
  sidebar->setVisible(false);
  slayout->setCurrentWidget(onroad);
  // sidebar->setVisible(params.getBool("Sidebar"));
}

void HomeWindow::showSidebar(bool show) {
  sidebar->setVisible(show);
}

void HomeWindow::updateState(const UIState &s) {
  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;
    if (parked && !was_parked_onroad) {
      // just shifted into park — show splash
      slayout->setCurrentWidget(ready);
    } else if (!parked && was_parked_onroad) {
      // just shifted out of park — show onroad camera
      slayout->setCurrentWidget(onroad);
    }
    was_parked_onroad = parked;

    // CLEARPILOT: honor display on/off while showing splash in park
    if (parked && ready->isVisible()) {
      int screenMode = paramsMemory.getInt("ScreenDisaplayMode");
      if (screenMode == 1) {
        Hardware::set_display_power(false);
      } else {
        Hardware::set_display_power(true);
      }
    }
  }
}

void HomeWindow::offroadTransition(bool offroad) {
  sidebar->setVisible(false);
  if (offroad) {
    was_parked_onroad = false;
    slayout->setCurrentWidget(ready);
  } else {
    // CLEARPILOT: start onroad in splash — updateState will switch to
    // camera view once the car shifts out of park
    was_parked_onroad = true;
    slayout->setCurrentWidget(ready);
  }
}

void HomeWindow::showDriverView(bool show, bool started) {
  if (show) {
    emit closeSettings();
    slayout->setCurrentWidget(driver_view);
    sidebar->setVisible(show == false);
  } else {
    if (started) {
      slayout->setCurrentWidget(onroad);
      sidebar->setVisible(params.getBool("Sidebar"));
    } else {
      slayout->setCurrentWidget(home);
      sidebar->setVisible(show == false);
    }
  }
}

void HomeWindow::mousePressEvent(QMouseEvent* e) {
  // CLEARPILOT todo - tap on main goes straight to settings
  // Unless we click a debug widget.

  // CLEARPILOT - click ready shows home (no sidebar)
  if (!onroad->isVisible() && ready->isVisible()) {
    sidebar->setVisible(false);
    slayout->setCurrentWidget(home);
  }

  // Todo: widgets
  if (onroad->isVisible()) {
    emit openSettings();
  }
}

void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
  HomeWindow::mousePressEvent(e);
  // const SubMaster &sm = *(uiState()->sm);
}

// CLEARPILOT: OffroadHome — clean grid launcher

OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
  QVBoxLayout* main_layout = new QVBoxLayout(this);
  main_layout->setContentsMargins(80, 80, 80, 80);
  main_layout->setSpacing(0);

  // grid of launcher buttons
  QGridLayout *grid = new QGridLayout();
  grid->setSpacing(40);

  // Dashcam viewer button
  QPushButton *dashcam_btn = new QPushButton("Dashcam");
  dashcam_btn->setFixedSize(400, 300);
  dashcam_btn->setStyleSheet(R"(
    QPushButton {
      background-color: #333333;
      color: white;
      border-radius: 20px;
      font-size: 48px;
      font-weight: 600;
    }
    QPushButton:pressed {
      background-color: #555555;
    }
  )");
  grid->addWidget(dashcam_btn, 0, 0);

  // Settings button
  QPushButton *settings_btn = new QPushButton("Settings");
  settings_btn->setFixedSize(400, 300);
  settings_btn->setStyleSheet(R"(
    QPushButton {
      background-color: #333333;
      color: white;
      border-radius: 20px;
      font-size: 48px;
      font-weight: 600;
    }
    QPushButton:pressed {
      background-color: #555555;
    }
  )");
  QObject::connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(); });
  grid->addWidget(settings_btn, 0, 1);

  main_layout->addStretch();
  main_layout->addLayout(grid);
  main_layout->addStretch();

  setStyleSheet(R"(
    OffroadHome {
      background-color: black;
    }
  )");
}