clearpilot/selfdrive/ui/qt/window.cc

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

#include <QFontDatabase>
#include <QMouseEvent>

#include <zmq.h>

#include "system/hardware/hw.h"

MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
  main_layout = new QStackedLayout(this);
  main_layout->setMargin(0);

  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);
  main_layout->addWidget(settingsWindow);
  QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
  QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
    onboardingWindow->showTrainingGuide();
    main_layout->setCurrentWidget(onboardingWindow);
  });
  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
    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, [=]() {
    main_layout->setCurrentWidget(homeWindow);
  });
  if (!onboardingWindow->completed()) {
    main_layout->setCurrentWidget(onboardingWindow);
  }

  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);
    }
  });
  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
    // CLEARPILOT: on timeout, return to splash/onroad (not ClearPilotPanel)
    if (main_layout->currentWidget() != homeWindow) {
      main_layout->setCurrentWidget(homeWindow);
    }
    homeWindow->offroadTransition(!uiState()->scene.started);
  });

  // load fonts
  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Black.ttf");
  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Bold.ttf");
  QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraBold.ttf");
  QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraLight.ttf");
  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Medium.ttf");
  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Regular.ttf");
  QFontDatabase::addApplicationFont("../assets/fonts/Inter-SemiBold.ttf");
  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Thin.ttf");
  QFontDatabase::addApplicationFont("../assets/fonts/JetBrainsMono-Medium.ttf");

  // no outline to prevent the focus rectangle
  setStyleSheet(R"(
    * {
      font-family: Inter;
      outline: none;
    }
  )");
  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) {
  main_layout->setCurrentWidget(settingsWindow);
  settingsWindow->setCurrentPanel(index, param);
}

void MainWindow::openStatus() {
  main_layout->setCurrentWidget(statusWindow);
}

void MainWindow::closeSettings() {
  main_layout->setCurrentWidget(homeWindow);

  if (uiState()->scene.started) {
    homeWindow->showSidebar(params.getBool("Sidebar"));
  }
}

bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
  bool ignore = false;
  switch (event->type()) {
    case QEvent::TouchBegin:
    case QEvent::TouchUpdate:
    case QEvent::TouchEnd:
    case QEvent::MouseButtonPress:
    case QEvent::MouseMove: {
      // CLEARPILOT: tap while screen-off (mode 3) -> wake to auto-normal (mode 0)
      if (!device()->isAwake()) {
        Params pmem{"/dev/shm/params"};
        if (pmem.getInt("ScreenDisplayMode") == 3) {
          pmem.putInt("ScreenDisplayMode", 0);
        }
      }
      // ignore events when device is awakened by resetInteractiveTimeout
      ignore = !device()->isAwake();
      device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);
      break;
    }
    default:
      break;
  }
  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");

  // 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");

  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;");
  }
}

void StatusWindow::mousePressEvent(QMouseEvent *e) {
  emit closeStatus();
}