Brian Hanson
698a1647a0
- Nightrider: lines 1px wider (3px outline), engagement border hidden, planner lines hidden when disengaged, stay on onroad view in park - Normal mode only: return to ready splash on park - Ready text sprite at native 1x size - Nice monitor: keeps claude processes at nice 19, runs every 30s Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
129 lines
4.0 KiB
C++
Executable File
129 lines
4.0 KiB
C++
Executable File
#include "selfdrive/ui/qt/ready.h"
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#include <cmath>
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#include <algorithm>
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#include <QPainter>
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#include <QStackedLayout>
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#include <QApplication>
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#include <QGridLayout>
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#include <QString>
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#include <QTransform>
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#include <QPixmap>
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#include "common/params.h"
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#include "common/timing.h"
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#include "system/hardware/hw.h"
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#include "selfdrive/ui/qt/qt_window.h"
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#include "selfdrive/ui/qt/util.h"
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ReadyWindow::ReadyWindow(QWidget *parent) : QWidget(parent) {
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QGridLayout *layout = new QGridLayout(this);
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layout->setSpacing(0);
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layout->setMargin(0);
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setAttribute(Qt::WA_OpaquePaintEvent);
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setStyleSheet("ReadyWindow { background-color: black; }");
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timer = new QTimer(this);
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timer->callOnTimeout(this, &ReadyWindow::refresh);
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uptime.start();
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}
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void ReadyWindow::showEvent(QShowEvent *event) {
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refresh();
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timer->start(2 * 1000);
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}
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void ReadyWindow::hideEvent(QHideEvent *event) {
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timer->stop();
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}
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void ReadyWindow::paintEvent(QPaintEvent *event) {
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QPainter painter(this);
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painter.fillRect(rect(), Qt::black);
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if (is_hot) {
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if (img_hot.isNull()) {
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img_hot.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/hot.png");
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}
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int x = (width() - img_hot.width()) / 2;
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int y = (height() - img_hot.height()) / 2;
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painter.drawPixmap(x, y, img_hot);
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} else {
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// Boot logo — same rotation as spinner (bg.jpg is pre-rotated 90° CW for framebuffer)
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if (img_bg.isNull()) {
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QPixmap raw("/usr/comma/bg.jpg");
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if (!raw.isNull()) {
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QTransform rot;
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rot.rotate(-90);
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img_bg = raw.transformed(rot);
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}
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}
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if (!img_bg.isNull()) {
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QPixmap scaled = img_bg.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
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int x = (width() - scaled.width()) / 2;
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int y = (height() - scaled.height()) / 2;
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painter.drawPixmap(x, y, scaled);
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}
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if (error_msg.isEmpty()) {
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// "READY!" 8-bit text sprite, 2x size, 15% below center
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static QPixmap ready_text("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png");
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if (!ready_text.isNull()) {
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int tx = (width() - ready_text.width()) / 2;
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int ty = height() / 2 + height() * 15 / 100;
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painter.drawPixmap(tx, ty, ready_text);
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}
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} else {
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// Error state: red text at 25% below center
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QFont font("Inter", 50, QFont::Bold);
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painter.setFont(font);
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painter.setPen(QColor(0xFF, 0x44, 0x44));
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int ty = height() / 2 + height() * 25 / 100;
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QRect text_rect(0, ty, width(), 100);
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painter.drawText(text_rect, Qt::AlignHCenter | Qt::AlignTop, error_msg);
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}
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}
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}
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void ReadyWindow::refresh() {
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bool changed = false;
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// Temperature check
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std::string bytes = params.get("Offroad_TemperatureTooHigh");
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bool was_hot = is_hot;
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if (!bytes.empty()) {
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auto doc = QJsonDocument::fromJson(bytes.data());
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is_hot = true;
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cur_temp = doc["extra"].toString();
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} else {
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is_hot = false;
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}
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if (is_hot != was_hot) changed = true;
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// Error state checks (only when not hot — hot has its own display)
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if (!is_hot) {
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QString prev_error = error_msg;
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// Panda check — same logic as sidebar, with 10s grace period on startup
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if (uptime.elapsed() > 10000 &&
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uiState()->scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
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error_msg = "PANDA NOT CONNECTED";
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}
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// Car unrecognized check
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else if (!params.get("Offroad_CarUnrecognized").empty()) {
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error_msg = "CAR NOT RECOGNIZED";
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}
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else {
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error_msg = "";
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}
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if (error_msg != prev_error) changed = true;
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}
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if (changed) update();
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} |