openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
276
selfdrive/ui/qt/util.cc
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276
selfdrive/ui/qt/util.cc
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#include "selfdrive/ui/qt/util.h"
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#include <map>
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#include <string>
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#include <vector>
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#include <QApplication>
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#include <QDir>
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#include <QFile>
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#include <QFileInfo>
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#include <QHash>
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#include <QJsonDocument>
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#include <QJsonObject>
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#include <QLayoutItem>
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#include <QStyleOption>
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#include <QPainterPath>
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#include <QTextStream>
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#include <QtXml/QDomDocument>
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#include "common/swaglog.h"
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#include "system/hardware/hw.h"
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QString getVersion() {
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static QString version = QString::fromStdString(Params().get("Version"));
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return version;
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}
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QString getBrand() {
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return QObject::tr("openpilot");
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}
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QString getUserAgent() {
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return "openpilot-" + getVersion();
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}
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std::optional<QString> getDongleId() {
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std::string id = Params().get("DongleId");
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if (!id.empty() && (id != "UnregisteredDevice")) {
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return QString::fromStdString(id);
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} else {
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return {};
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}
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}
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QMap<QString, QString> getSupportedLanguages() {
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QFile f(":/languages.json");
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f.open(QIODevice::ReadOnly | QIODevice::Text);
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QString val = f.readAll();
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QJsonObject obj = QJsonDocument::fromJson(val.toUtf8()).object();
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QMap<QString, QString> map;
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for (auto key : obj.keys()) {
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map[key] = obj[key].toString();
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}
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return map;
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}
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QString timeAgo(const QDateTime &date) {
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int diff = date.secsTo(QDateTime::currentDateTimeUtc());
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QString s;
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if (diff < 60) {
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s = "now";
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} else if (diff < 60 * 60) {
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int minutes = diff / 60;
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s = QObject::tr("%n minute(s) ago", "", minutes);
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} else if (diff < 60 * 60 * 24) {
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int hours = diff / (60 * 60);
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s = QObject::tr("%n hour(s) ago", "", hours);
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} else if (diff < 3600 * 24 * 7) {
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int days = diff / (60 * 60 * 24);
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s = QObject::tr("%n day(s) ago", "", days);
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} else {
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s = date.date().toString();
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}
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return s;
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}
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void setQtSurfaceFormat() {
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QSurfaceFormat fmt;
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#ifdef __APPLE__
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fmt.setVersion(3, 2);
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fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile);
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fmt.setRenderableType(QSurfaceFormat::OpenGL);
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#else
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fmt.setRenderableType(QSurfaceFormat::OpenGLES);
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#endif
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fmt.setSamples(16);
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fmt.setStencilBufferSize(1);
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QSurfaceFormat::setDefaultFormat(fmt);
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}
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void sigTermHandler(int s) {
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std::signal(s, SIG_DFL);
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qApp->quit();
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}
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void initApp(int argc, char *argv[], bool disable_hidpi) {
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Hardware::set_display_power(true);
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Hardware::set_brightness(65);
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// setup signal handlers to exit gracefully
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std::signal(SIGINT, sigTermHandler);
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std::signal(SIGTERM, sigTermHandler);
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if (disable_hidpi) {
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#ifdef __APPLE__
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// Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
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QApplication tmp(argc, argv);
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qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio() ).toLocal8Bit());
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#endif
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}
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qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
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// ensure the current dir matches the exectuable's directory
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QApplication tmp(argc, argv);
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QString appDir = QCoreApplication::applicationDirPath();
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QDir::setCurrent(appDir);
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setQtSurfaceFormat();
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}
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void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
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static std::map<QtMsgType, int> levels = {
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{QtMsgType::QtDebugMsg, CLOUDLOG_DEBUG},
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{QtMsgType::QtInfoMsg, CLOUDLOG_INFO},
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{QtMsgType::QtWarningMsg, CLOUDLOG_WARNING},
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{QtMsgType::QtCriticalMsg, CLOUDLOG_ERROR},
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{QtMsgType::QtSystemMsg, CLOUDLOG_ERROR},
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{QtMsgType::QtFatalMsg, CLOUDLOG_CRITICAL},
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};
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std::string file, function;
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if (context.file != nullptr) file = context.file;
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if (context.function != nullptr) function = context.function;
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auto bts = msg.toUtf8();
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cloudlog_e(levels[type], file.c_str(), context.line, function.c_str(), "%s", bts.constData());
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}
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QWidget* topWidget(QWidget* widget) {
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while (widget->parentWidget() != nullptr) widget=widget->parentWidget();
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return widget;
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}
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QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMode aspectRatioMode) {
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if (size.isEmpty()) {
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return QPixmap(fileName);
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} else {
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return QPixmap(fileName).scaled(size, aspectRatioMode, Qt::SmoothTransformation);
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}
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}
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void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){
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qreal w_2 = rect.width() / 2;
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qreal h_2 = rect.height() / 2;
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xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2;
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yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2;
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xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2;
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yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2;
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qreal x = rect.x();
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qreal y = rect.y();
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qreal w = rect.width();
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qreal h = rect.height();
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qreal rxx2Top = w*xRadiusTop/100;
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qreal ryy2Top = h*yRadiusTop/100;
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qreal rxx2Bottom = w*xRadiusBottom/100;
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qreal ryy2Bottom = h*yRadiusBottom/100;
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QPainterPath path;
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path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180);
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path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90);
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path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90);
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path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90);
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path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90);
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path.closeSubpath();
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painter.drawPath(path);
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}
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QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
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assert(xp.size() == fp.size());
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int N = xp.size();
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int hi = 0;
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while (hi < N and xv > xp[hi]) hi++;
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int low = hi - 1;
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if (hi == N && xv > xp[low]) {
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return fp[fp.size() - 1];
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} else if (hi == 0){
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return fp[0];
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} else {
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return QColor(
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(xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(),
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(xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(),
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(xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(),
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(xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha());
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}
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}
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static QHash<QString, QByteArray> load_bootstrap_icons() {
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QHash<QString, QByteArray> icons;
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QFile f(":/bootstrap-icons.svg");
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if (f.open(QIODevice::ReadOnly | QIODevice::Text)) {
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QDomDocument xml;
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xml.setContent(&f);
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QDomNode n = xml.documentElement().firstChild();
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while (!n.isNull()) {
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QDomElement e = n.toElement();
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if (!e.isNull() && e.hasAttribute("id")) {
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QString svg_str;
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QTextStream stream(&svg_str);
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n.save(stream, 0);
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svg_str.replace("<symbol", "<svg");
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svg_str.replace("</symbol>", "</svg>");
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icons[e.attribute("id")] = svg_str.toUtf8();
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}
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n = n.nextSibling();
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}
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}
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return icons;
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}
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QPixmap bootstrapPixmap(const QString &id) {
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static QHash<QString, QByteArray> icons = load_bootstrap_icons();
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QPixmap pixmap;
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if (auto it = icons.find(id); it != icons.end()) {
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pixmap.loadFromData(it.value(), "svg");
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}
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return pixmap;
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}
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bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
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// Using the experimental longitudinal toggle, returns whether longitudinal control
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// will be active without needing a restart of openpilot
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return car_params.getExperimentalLongitudinalAvailable()
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? Params().getBool("ExperimentalLongitudinalEnabled")
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: car_params.getOpenpilotLongitudinalControl();
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}
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// ParamWatcher
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ParamWatcher::ParamWatcher(QObject *parent) : QObject(parent) {
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watcher = new QFileSystemWatcher(this);
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QObject::connect(watcher, &QFileSystemWatcher::fileChanged, this, &ParamWatcher::fileChanged);
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}
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void ParamWatcher::fileChanged(const QString &path) {
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auto param_name = QFileInfo(path).fileName();
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auto param_value = QString::fromStdString(params.get(param_name.toStdString()));
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auto it = params_hash.find(param_name);
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bool content_changed = (it == params_hash.end()) || (it.value() != param_value);
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params_hash[param_name] = param_value;
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// emit signal when the content changes.
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if (content_changed) {
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emit paramChanged(param_name, param_value);
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}
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}
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void ParamWatcher::addParam(const QString ¶m_name) {
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watcher->addPath(QString::fromStdString(params.getParamPath(param_name.toStdString())));
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}
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