Custom themes

Added toggles for the "Custom Themes" configuration. Colors, icons, sounds, and turn signal animations are all individually toggleable.

selfdrive/ui/qt/onroad.cc

@@ -327,7 +327,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
   is_metric = s.scene.is_metric;
   speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
-  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
+  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight));
   status = s.status;
 
   // update engageability/experimental mode button
@@ -489,13 +489,21 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
+    if (customColors != 0) {
+      painter.setBrush(std::get<3>(themeConfiguration[customColors]).begin()->second);
+    } else {
+      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
+    }
     painter.drawPolygon(scene.lane_line_vertices[i]);
   }
 
   // road edges
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
+    if (customColors != 0) {
+      painter.setBrush(std::get<3>(themeConfiguration[customColors]).begin()->second);
+    } else {
+      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
+    }
     painter.drawPolygon(scene.road_edge_vertices[i]);
   }
 
@@ -504,8 +512,14 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   if (sm["controlsState"].getControlsState().getExperimentalMode() || scene.acceleration_path) {
     // The first half of track_vertices are the points for the right side of the path
     // and the indices match the positions of accel from uiPlan
-    const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
-    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
+    const auto &acceleration_const = sm["uiPlan"].getUiPlan().getAccel();
+    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration_const.size());
+
+    // Copy of the acceleration vector
+    std::vector<float> acceleration;
+    for (int i = 0; i < acceleration_const.size(); i++) {
+      acceleration.push_back(acceleration_const[i]);
+    }
 
     for (int i = 0; i < max_len; ++i) {
       // Some points are out of frame
@@ -514,20 +528,33 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
       // Flip so 0 is bottom of frame
       float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
 
-      // speed up: 120, slow down: 0
-      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
-      // FIXME: painter.drawPolygon can be slow if hue is not rounded
-      path_hue = int(path_hue * 100 + 0.5) / 100;
+      // If acceleration is between -0.2 and 0.2, resort to the theme color
+      if (std::abs(acceleration[i]) < 0.2 && (customColors != 0)) {
+        const auto &colorMap = std::get<3>(themeConfiguration[customColors]);
+        for (const auto &[position, brush] : colorMap) {
+          bg.setColorAt(position, brush.color());
+        }
+      } else {
+        // speed up: 120, slow down: 0
+        float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+        // FIXME: painter.drawPolygon can be slow if hue is not rounded
+        path_hue = int(path_hue * 100 + 0.5) / 100;
 
-      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
-      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
-      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
-      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+        float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+        float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
+        float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
+        bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
 
-      // Skip a point, unless next is last
-      i += (i + 2) < max_len ? 1 : 0;
+        // Skip a point, unless next is last
+        i += (i + 2) < max_len ? 1 : 0;
+      }
     }
 
+  } else if (customColors != 0) {
+    const auto &colorMap = std::get<3>(themeConfiguration[customColors]);
+    for (const auto &[position, brush] : colorMap) {
+      bg.setColorAt(position, brush.color());
+    }
   } else {
     bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
     bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
@@ -601,8 +628,8 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
 void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
   painter.save();
 
-  const float speedBuff = 10.;
-  const float leadBuff = 40.;
+  const float speedBuff = customColors ? 25. : 10.;  // Make the center of the chevron appear sooner if a custom theme is active
+  const float leadBuff = customColors ? 100. : 40.;  // Make the center of the chevron appear sooner if a custom theme is active
   const float d_rel = lead_data.getDRel();
   const float v_rel = lead_data.getVRel();
 
@@ -628,7 +655,11 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState
 
   // chevron
   QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(redColor(fillAlpha));
+  if (customColors != 0) {
+    painter.setBrush(std::get<3>(themeConfiguration[customColors]).begin()->second);
+  } else {
+    painter.setBrush(redColor(fillAlpha));
+  }
   painter.drawPolygon(chevron, std::size(chevron));
 
   painter.restore();
@@ -751,6 +782,25 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
   bottom_layout->addWidget(map_settings_btn_bottom);
 
   main_layout->addLayout(bottom_layout);
+
+  // Custom themes configuration
+  themeConfiguration = {
+    {1, {"frog_theme", 4, QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},
+                                                      {0.5, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.5))},
+                                                      {1.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.1))}}}},
+    {2, {"tesla_theme", 4, QColor(0, 72, 255, 255), {{0.0, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.9))},
+                                                      {0.5, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.5))},
+                                                      {1.0, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.1))}}}},
+    {3, {"stalin_theme", 6, QColor(255, 0, 0, 255), {{0.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.9))},
+                                                      {0.5, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.5))},
+                                                      {1.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.1))}}}}
+  };
+
+  // Initialize the timer for the turn signal animation
+  animationTimer = new QTimer(this);
+  connect(animationTimer, &QTimer::timeout, this, [this] {
+    animationFrameIndex = (animationFrameIndex + 1) % totalFrames;
+  });
 }
 
 void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
@@ -767,17 +817,59 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
   conditionalSpeedLead = scene.conditional_speed_lead;
   conditionalStatus = scene.conditional_status;
 
+  customColors = scene.custom_colors;
+
   experimentalMode = scene.experimental_mode;
 
+  turnSignalLeft = scene.turn_signal_left;
+  turnSignalRight = scene.turn_signal_right;
+
   if (alwaysOnLateral || conditionalExperimental) {
     drawStatusBar(p);
   }
 
+  if (customSignals && (turnSignalLeft || turnSignalRight)) {
+    if (!animationTimer->isActive()) {
+      animationTimer->start(totalFrames * 11);  // 440 milliseconds per loop; syncs up perfectly with my 2019 Lexus ES 350 turn signal clicks
+    }
+    drawTurnSignals(p);
+  } else if (animationTimer->isActive()) {
+    animationTimer->stop();
+  }
+
   map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
   if (map_settings_btn_bottom->isEnabled()) {
     map_settings_btn_bottom->setVisible(!hideBottomIcons);
     bottom_layout->setAlignment(map_settings_btn_bottom, rightHandDM ? Qt::AlignLeft : Qt::AlignRight);
   }
+
+  // Update the turn signal animation images upon toggle change
+  if (customSignals != scene.custom_signals) {
+    customSignals = scene.custom_signals;
+
+    QString theme_path = QString("../frogpilot/assets/custom_themes/%1/images").arg(themeConfiguration.find(customSignals) != themeConfiguration.end() ?
+                                 std::get<0>(themeConfiguration[customSignals]) : "");
+
+    QStringList imagePaths;
+    int availableImages = std::get<1>(themeConfiguration[customSignals]);
+
+    for (int i = 1; i <= totalFrames; ++i) {
+      int imageIndex = ((i - 1) % availableImages) + 1;
+      QString imagePath = theme_path + QString("/turn_signal_%1.png").arg(imageIndex);
+      imagePaths.push_back(imagePath);
+    }
+
+    signalImgVector.clear();
+    signalImgVector.reserve(2 * imagePaths.size());  // Reserve space for both regular and flipped images
+    for (const QString &imagePath : imagePaths) {
+      QPixmap pixmap(imagePath);
+      signalImgVector.push_back(pixmap);  // Regular image
+      signalImgVector.push_back(pixmap.transformed(QTransform().scale(-1, 1)));  // Flipped image
+    }
+
+    signalImgVector.push_back(QPixmap(theme_path + "/turn_signal_1_red.png"));  // Regular blindspot image
+    signalImgVector.push_back(QPixmap(theme_path + "/turn_signal_1_red.png").transformed(QTransform().scale(-1, 1)));  // Flipped blindspot image
+  }
 }
 
 void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
@@ -854,3 +946,35 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
 
   p.restore();
 }
+
+void AnnotatedCameraWidget::drawTurnSignals(QPainter &p) {
+  // Declare the turn signal size
+  constexpr int signalHeight = 480;
+  constexpr int signalWidth = 360;
+
+  // Enable Antialiasing
+  p.setRenderHint(QPainter::Antialiasing);
+
+  // Calculate the vertical position for the turn signals
+  int baseYPosition = (height() - signalHeight) / 2 + (alwaysOnLateral || conditionalExperimental || roadNameUI ? 225 : 300);
+  // Calculate the x-coordinates for the turn signals
+  int leftSignalXPosition = 75 + width() - signalWidth - 300 * (blindSpotLeft ? 0 : animationFrameIndex);
+  int rightSignalXPosition = -75 + 300 * (blindSpotRight ? 0 : animationFrameIndex);
+
+  // Draw the turn signals
+  if (animationFrameIndex < signalImgVector.size()) {
+    auto drawSignal = [&](bool signalActivated, int xPosition, bool flip, bool blindspot) {
+      if (signalActivated) {
+        // Get the appropriate image from the signalImgVector
+        int uniqueImages = signalImgVector.size() / 4;  // Each image has a regular, flipped, and two blindspot versions
+        int index = (blindspot ? 2 * uniqueImages : 2 * animationFrameIndex % totalFrames) + (flip ? 1 : 0);
+        QPixmap &signal = signalImgVector[index];
+        p.drawPixmap(xPosition, baseYPosition, signalWidth, signalHeight, signal);
+      }
+    };
+
+    // Display the animation based on which signal is activated
+    drawSignal(turnSignalLeft, leftSignalXPosition, false, blindSpotLeft);
+    drawSignal(turnSignalRight, rightSignalXPosition, true, blindSpotRight);
+  }
+}

selfdrive/ui/qt/onroad.h

@@ -110,6 +110,7 @@ private:
   void updateFrogPilotWidgets(QPainter &p);
 
   void drawStatusBar(QPainter &p);
+  void drawTurnSignals(QPainter &p);
 
   // FrogPilot variables
   Params paramsMemory{"/dev/shm/params"};
@@ -124,11 +125,23 @@ private:
   bool blindSpotRight;
   bool conditionalExperimental;
   bool experimentalMode;
+  bool turnSignalLeft;
+  bool turnSignalRight;
 
   int cameraView;
   int conditionalSpeed;
   int conditionalSpeedLead;
   int conditionalStatus;
+  int customColors;
+  int customSignals;
+  int totalFrames = 8;
+
+  size_t animationFrameIndex;
+
+  std::unordered_map<int, std::tuple<QString, int, QColor, std::map<double, QBrush>>> themeConfiguration;
+  std::vector<QPixmap> signalImgVector;
+
+  QTimer *animationTimer;
 
 protected:
   void paintGL() override;

selfdrive/ui/qt/sidebar.cc

@@ -40,6 +40,28 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"});
 
   // FrogPilot variables
+  themeConfiguration = {
+    {0, {"stock", {QColor(255, 255, 255)}}},
+    {1, {"frog_theme", {QColor(23, 134, 68)}}},
+    {2, {"tesla_theme", {QColor(0, 72, 255)}}},
+    {3, {"stalin_theme", {QColor(255, 0, 0)}}}
+  };
+
+  for (auto &[key, themeData] : themeConfiguration) {
+    QString &themeName = themeData.first;
+    QString base = themeName == "stock" ? "../assets/images" : QString("../frogpilot/assets/custom_themes/%1/images").arg(themeName);
+    std::vector<QString> paths = {base + "/button_home.png", base + "/button_flag.png", base + "/button_settings.png"};
+
+    home_imgs[key] = loadPixmap(paths[0], home_btn.size());
+    flag_imgs[key] = loadPixmap(paths[1], home_btn.size());
+    settings_imgs[key] = loadPixmap(paths[2], settings_btn.size(), Qt::IgnoreAspectRatio);
+  }
+
+  home_img = home_imgs[scene.custom_icons];
+  flag_img = flag_imgs[scene.custom_icons];
+  settings_img = settings_imgs[scene.custom_icons];
+
+  currentColors = themeConfiguration[scene.custom_colors].second;
 }
 
 void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -82,15 +104,23 @@ void Sidebar::updateState(const UIState &s) {
   setProperty("netStrength", strength > 0 ? strength + 1 : 0);
 
   // FrogPilot properties
+  home_img = home_imgs[scene.custom_icons];
+  flag_img = flag_imgs[scene.custom_icons];
+  settings_img = settings_imgs[scene.custom_icons];
+
+  currentColors = themeConfiguration[scene.custom_colors].second;
+
   auto frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState();
 
+  QColor theme_color = currentColors[0];
+
   ItemStatus connectStatus;
   auto last_ping = deviceState.getLastAthenaPingTime();
   if (last_ping == 0) {
     connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
   } else {
     connectStatus = nanos_since_boot() - last_ping < 80e9
-                        ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color}
+                        ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, theme_color}
                         : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color};
   }
   setProperty("connectStatus", QVariant::fromValue(connectStatus));
@@ -98,13 +128,13 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color};
   auto ts = deviceState.getThermalStatus();
   if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
-    tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color};
+    tempStatus = {{tr("TEMP"), tr("GOOD")}, theme_color};
   } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
     tempStatus = {{tr("TEMP"), tr("OK")}, warning_color};
   }
   setProperty("tempStatus", QVariant::fromValue(tempStatus));
 
-  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
+  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, theme_color};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
     pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
   } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {

selfdrive/ui/qt/sidebar.h

@@ -65,4 +65,10 @@ private:
   // FrogPilot variables
   Params params;
   UIScene &scene;
+
+  std::unordered_map<int, std::pair<QString, std::vector<QColor>>> themeConfiguration;
+  std::unordered_map<int, QPixmap> flag_imgs;
+  std::unordered_map<int, QPixmap> home_imgs;
+  std::unordered_map<int, QPixmap> settings_imgs;
+  std::vector<QColor> currentColors;
 };