clearpilot/selfdrive/ui/qt/home.cc

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

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

#include "common/swaglog.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/widgets/scrollview.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 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);
  
  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) {
      LOGW("CLP UI: park transition -> showing splash");
      slayout->setCurrentWidget(ready);
    } else if (!parked && was_parked_onroad) {
      LOGW("CLP UI: drive transition -> showing onroad");
      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) {
    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);
    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;
  }
)";

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();

  // Define panels: sidebar label -> content widget
  // Home panel: buttons for Status and System Settings
  QWidget *home_panel = new QWidget(this);
  QVBoxLayout *home_layout = new QVBoxLayout(home_panel);
  home_layout->setContentsMargins(50, 25, 50, 25);
  home_layout->setSpacing(20);

  QPushButton *status_btn = new QPushButton("Status");
  status_btn->setFixedHeight(120);
  status_btn->setStyleSheet(R"(
    QPushButton {
      background-color: #393939;
      color: white;
      border-radius: 15px;
      font-size: 50px;
      font-weight: 500;
      text-align: left;
      padding-left: 30px;
    }
    QPushButton:pressed { background-color: #4a4a4a; }
  )");
  QObject::connect(status_btn, &QPushButton::clicked, [=]() { emit openStatus(); });
  home_layout->addWidget(status_btn);

  QPushButton *sysset_btn = new QPushButton("System Settings");
  sysset_btn->setFixedHeight(120);
  sysset_btn->setStyleSheet(status_btn->styleSheet());
  QObject::connect(sysset_btn, &QPushButton::clicked, [=]() { emit openSettings(); });
  home_layout->addWidget(sysset_btn);

  home_layout->addStretch();

  // Dashcam panel: placeholder
  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 ParamControl("TelemetryEnabled", "Telemetry Logging",
    "Record telemetry data to CSV in the session log directory. "
    "Captures only changed values for efficiency.", "", this);
  debug_panel->addItem(telemetry_toggle);

  // Register panels with sidebar buttons
  QList<QPair<QString, QWidget *>> panels = {
    {"Home", home_panel},
    {"Dashcam", dashcam_panel},
    {"Debug", debug_panel},
  };

  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);

    ScrollView *panel_frame = new ScrollView(panel, this);
    panel_widget->addWidget(panel_frame);

    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
      btn->setChecked(true);
      panel_widget->setCurrentWidget(w);
    });
  }

  // Select Home by default
  if (auto *first_btn = sidebar_widget->findChild<QPushButton *>(QString(), Qt::FindDirectChildrenOnly)) {
    // Skip close_btn, find first sidebar btn
  }
  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 {
      background-color: #292929;
      border-radius: 30px;
    }
  )");
}