clearpilot/selfdrive/ui/qt/home.cc

#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/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"

// 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);
  sidebar->setVisible(false);
  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 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);
    }
  });
  slayout->addWidget(home);

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

  // 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);
  });
  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;
    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;
    slayout->setCurrentWidget(ready);
  } else {
    // CLEARPILOT: start onroad in splash — updateState will switch to
    // camera view once the car shifts out of park
    LOGW("CLP UI: onroad transition -> showing splash (parked)");
    was_parked_onroad = true;
    slayout->setCurrentWidget(ready);
  }
}

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);
  }
  // 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();
    slayout->setCurrentWidget(home);
  }
}

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

// CLEARPILOT: ClearPilotPanel — settings-style sidebar menu

static const char *clpSidebarBtnStyle = R"(
  QPushButton {
    color: grey;
    border: none;
    background: none;
    font-size: 65px;
    font-weight: 500;
  }
  QPushButton:checked {
    color: white;
  }
  QPushButton:pressed {
    color: #ADADAD;
  }
)";

// clpActionBtnStyle removed — no longer used

// Shutdown timer: param value -> display label
static QString shutdownLabel(int val) {
  if (val == 0) return "5 mins";
  if (val <= 3) return QString::number(val * 15) + " mins";
  int hours = val - 3;
  return QString::number(hours) + (hours == 1 ? " hour" : " hours");
}

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);

  // Shutdown Timer
  int cur_shutdown = Params().getInt("DeviceShutdown");
  auto shutdownBtn = new ButtonControl("Shutdown Timer", shutdownLabel(cur_shutdown),
    "How long the device stays on after the car is turned off.");
  connect(shutdownBtn, &ButtonControl::clicked, [=]() {
    QStringList options;
    for (int i = 0; i <= 33; i++) {
      options << shutdownLabel(i);
    }
    int current = Params().getInt("DeviceShutdown");
    QString sel = MultiOptionDialog::getSelection("Shutdown Timer", options, shutdownLabel(current), this);
    if (!sel.isEmpty()) {
      int idx = options.indexOf(sel);
      if (idx >= 0) {
        Params().putInt("DeviceShutdown", idx);
        shutdownBtn->setValue(shutdownLabel(idx));
      }
    }
  });
  general_panel->addItem(shutdownBtn);

  // 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 *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);

  setStyleSheet(R"(
    * {
      color: white;
      font-size: 50px;
    }
    ClearPilotPanel {
      background-color: black;
    }
    QStackedWidget, ScrollView, Networking {
      background-color: #292929;
      border-radius: 30px;
    }
    #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);
}