wip

selfdrive/clearpilot/notes.txt

@@ -1,3 +0,0 @@
-example of using stdin and stdout as a message buffer:
-
-selfdrive/manager/build.py

selfdrive/frogpilot/controls/lib/model_manager.py

@@ -6,12 +6,14 @@ import urllib.request
 from openpilot.common.params import Params
 from openpilot.system.version import get_short_branch
 
+# CLEARPILOT this doesnt really matter.
 VERSION = 'v1' if get_short_branch() == "clearpilot" else 'v2'
 REPOSITORY_URL = 'https://privategit.hanson.xyz/brianhansonxyz/clearpilot'
 
 DEFAULT_MODEL = "wd-40"
 DEFAULT_MODEL_NAME = "WD40 (Default)"
-MODELS_PATH = '/data/models'
+# CLEARPILOT changed path.
+MODELS_PATH = '/data/openpilot/selfdrive/clearpilot/models'
 
 NAVIGATIONLESS_MODELS = {"radical-turtle", "wd-40"}
 RADARLESS_MODELS = {"radical-turtle"}
@@ -77,26 +79,24 @@ def download_model():
     print(f"Failed to download the {model} model after {attempt + 1} attempts. Giving up... :(")
 
 def populate_models():
-  model_names_url = f"https://raw.githubusercontent.com/FrogAi/FrogPilot-Resources/master/model_names_{VERSION}.txt"
+  # CLEARPILOT hardcoded list
+  models = """
+wd-40 - WD40 (Default)
+duck-amigo - Duck Amigo
+"""
+  # todo - get farmville working
+  # farmville - FarmVille
 
-  for attempt in range(5):
-    try:
-      with urllib.request.urlopen(model_names_url) as response:
-        model_info = [line.decode('utf-8').strip().split(' - ') for line in response.readlines() if ' - ' in line.decode('utf-8')]
+  model_info = [line.decode('utf-8').strip().split(' - ') for line in models.readlines() if ' - ' in line.decode('utf-8')]
 
-      available_models = ','.join(model[0] for model in model_info)
-      available_models_names = [model[1] for model in model_info]
+  available_models = ','.join(model[0] for model in model_info)
+  available_models_names = [model[1] for model in model_info]
 
-      params.put("AvailableModels", available_models)
-      params.put("AvailableModelsNames", ','.join(available_models_names))
+  params.put("AvailableModels", available_models)
+  params.put("AvailableModelsNames", ','.join(available_models_names))
 
-      current_model_name = params.get("ModelName", encoding='utf-8')
-      if current_model_name not in available_models_names and "(Default)" in current_model_name:
-        updated_model_name = current_model_name.replace("(Default)", "").strip()
-        params.put("ModelName", updated_model_name)
+  current_model_name = params.get("ModelName", encoding='utf-8')
+  if current_model_name not in available_models_names and "(Default)" in current_model_name:
+    updated_model_name = current_model_name.replace("(Default)", "").strip()
+    params.put("ModelName", updated_model_name)
 
-    except Exception as e:
-      print(f"Failed to update models list. Error: {e}. Retrying...")
-      time.sleep(5)
-  else:
-    print(f"Failed to update models list after 5 attempts. Giving up... :(")

selfdrive/frogpilot/ui/qt/offroad/control_settings.cc

@@ -422,7 +422,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
       });
       toggle = modelsToggle;
 
-      QDir modelDir("/data/models/");
+      // CLEARPILOT changed path.
+      QDir modelDir("/data/openpilot/selfdrive/clearpilot/models/");
 
       deleteModelBtn = new ButtonControl(tr("Delete Model"), tr("DELETE"), "");
       QObject::connect(deleteModelBtn, &ButtonControl::clicked, [=]() {

selfdrive/ui/qt/home.cc

@@ -39,6 +39,11 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   body = new BodyWindow(this);
   slayout->addWidget(body);
 
+  // CLEARPILOT
+  // show_ready = true;
+  ready = new ReadyWindow(this);
+  slayout->addWidget(ready);
+  
   driver_view = new DriverViewWindow(this);
   connect(driver_view, &DriverViewWindow::done, [=] {
     showDriverView(false);
@@ -61,11 +66,12 @@ void HomeWindow::showMapPanel(bool show) {
 void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
+  // CLEARPILOT
   // switch to the generic robot UI
-  if (onroad->isVisible() && !body->isEnabled() && sm["carParams"].getCarParams().getNotCar()) {
-    body->setEnabled(true);
-    slayout->setCurrentWidget(body);
-  }
+  // if (onroad->isVisible() && !body->isEnabled() && sm["carParams"].getCarParams().getNotCar()) {
+  //   body->setEnabled(true);
+  //   slayout->setCurrentWidget(body);
+  // }
 
   if (s.scene.started) {
     showDriverView(s.scene.driver_camera_timer >= 10, true);
@@ -76,7 +82,8 @@ void HomeWindow::offroadTransition(bool offroad) {
   body->setEnabled(false);
   sidebar->setVisible(offroad);
   if (offroad) {
-    slayout->setCurrentWidget(home);
+    slayout->setCurrentWidget(ready);
+    // slayout->setCurrentWidget(home);
   } else {
     slayout->setCurrentWidget(onroad);
     uiState()->scene.map_open = onroad->isMapVisible();
@@ -101,11 +108,18 @@ void HomeWindow::showDriverView(bool show, bool started) {
 
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
+  // CLEARPILOT todo - tap on main goes straight to settings
+  // Unless we click a debug widget.
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
     sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
     uiState()->scene.map_open = onroad->isMapVisible();
     params.putBool("Sidebar", sidebar->isVisible());
   }
+
+  // CLEARPILOT - click ready shows home
+  if (!onroad->isVisible() && ready->isVisible()) {
+    slayout->setCurrentWidget(home);
+  }
 }
 
 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
@@ -234,7 +248,8 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
 
 void OffroadHome::showEvent(QShowEvent *event) {
   refresh();
-  timer->start(10 * 1000);
+  // CLEARPILOT changed timeout to 2 min
+  timer->start(120 * 1000);
 }
 
 void OffroadHome::hideEvent(QHideEvent *event) {
@@ -251,8 +266,9 @@ void OffroadHome::refresh() {
   int alerts = alerts_widget->refresh();
 
   // pop-up new notification
+  // CLEARPILOT temp disabled update notifications
   int idx = center_layout->currentIndex();
-  if (!updateAvailable && !alerts) {
+  if (!updateAvailable && !alerts && false) {
     idx = 0;
   } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
     idx = 1;
@@ -261,8 +277,11 @@ void OffroadHome::refresh() {
   }
   center_layout->setCurrentIndex(idx);
 
-  update_notif->setVisible(updateAvailable);
-  alert_notif->setVisible(alerts);
+  // CLEARPILOT temp disabled update notifications
+//  update_notif->setVisible(updateAvailable);
+//  alert_notif->setVisible(alerts);
+  update_notif->setVisible(false);
+  alert_notif->setVisible(false);
   if (alerts) {
     alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
   }

selfdrive/ui/qt/home.h

@@ -10,6 +10,7 @@
 #include "common/params.h"
 #include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
+#include "selfdrive/ui/qt/ready.h"
 #include "selfdrive/ui/qt/onroad.h"
 #include "selfdrive/ui/qt/sidebar.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
@@ -75,6 +76,10 @@ private:
   // FrogPilot variables
   Params params;
 
+  // CLEARPILOT
+  // bool show_ready;
+  ReadyWindow *ready;
+
 private slots:
   void updateState(const UIState &s);
 };

selfdrive/ui/qt/ready.cc

@@ -0,0 +1,64 @@
+#include "selfdrive/ui/qt/ready.h"
+
+#include <cmath>
+#include <algorithm>
+
+#include <QPainter> 
+#include <QStackedLayout>
+
+#include <QApplication>
+#include <QGridLayout>
+#include <QString>
+#include <QTransform>
+#include <QPixmap>
+
+#include "common/params.h"
+#include "common/timing.h"
+
+#include "system/hardware/hw.h" 
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/util.h"
+
+ReadyWindow::ReadyWindow(QWidget *parent) : QWidget(parent) {
+  QGridLayout *layout = new QGridLayout(this);
+  layout->setSpacing(0);
+  layout->setMargin(0);
+
+  setAttribute(Qt::WA_OpaquePaintEvent);
+
+  setStyleSheet(R"(
+    BodyWindow {
+      background-color: black;
+    }
+  )");
+
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
+}
+
+void ReadyWindow::paintEvent(QPaintEvent *event) {
+  QPainter painter(this);
+
+  QPixmap comma_img = loadPixmap("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready.png");
+
+  // Calculate the top-left position to center the image in the window.
+  int x = (this->width() - comma_img.width()) / 2;
+  int y = (this->height() - comma_img.height()) / 2;
+
+  // Draw the pixmap at the calculated position.
+  painter.drawPixmap(x, y, comma_img);
+}
+
+void ReadyWindow::showEvent(QShowEvent *event) {
+  refresh();
+  timer->start(180 * 1000);
+}
+
+void ReadyWindow::hideEvent(QHideEvent *event) {
+  timer->stop();
+}
+
+void ReadyWindow::updateState(const UIState &s) {
+}
+
+void ReadyWindow::offroadTransition(bool offroad) {
+}

selfdrive/ui/qt/ready.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <QMovie>
+#include <QLabel>
+#include <QPushButton>
+#include <QPixmap>
+#include <QProgressBar>
+#include <QSocketNotifier>
+#include <QVariantAnimation>
+#include <QWidget>
+#include <QTimer>
+ 
+#include "common/util.h"
+#include "selfdrive/ui/ui.h"
+
+class ReadyWindow : public QWidget {
+  Q_OBJECT
+public:
+  BodyWindow(QWidget* parent = 0);
+private:
+  void paintEvent(QPaintEvent*) override;
+private slots:
+  void updateState(const UIState &s);
+  void offroadTransition(bool onroad);
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void refresh();
+  
+  QTimer* timer;
+};

system/clearpilot/configure/provision.sh

@@ -20,3 +20,5 @@ pip3 install termqt
 cd /data/openpilot/third_party/libyuv
 bash build.sh
 cd libyuv && make && make install
+
+pip install PyQt5-sip