wip

selfdrive/ui/ui.h

@@ -77,7 +77,12 @@ struct Alert {
       const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
 
       // Handle controls timeout
-      if (controls_frame < started_frame) {
+      if (std::ifstream("/data/community/crashes/error.txt")) {
+        alert = {"openpilot crashed", "Please post the error log in the FrogPilot Discord!",
+                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+                 cereal::ControlsState::AlertStatus::NORMAL,
+                 AudibleAlert::NONE};
+      } else if (controls_frame < started_frame) {
         // car is started, but controlsState hasn't been seen at all
         alert = {"openpilot Unavailable", "Waiting for controls to start",
                  "controlsWaiting", cereal::ControlsState::AlertSize::MID,
@@ -108,7 +113,9 @@ typedef enum UIStatus {
   STATUS_ENGAGED,
 
   // FrogPilot statuses
-  STATUS_LATERAL_ACTIVE,
+  STATUS_ALWAYS_ON_LATERAL_ACTIVE,
+  STATUS_TRAFFIC_MODE_ACTIVE,
+
 } UIStatus;
 
 enum PrimeType {
@@ -127,7 +134,8 @@ const QColor bg_colors [] = {
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 
   // FrogPilot colors
-  [STATUS_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1),
+  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1),
+  [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xf1),
 };
 
 static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
@@ -163,6 +171,7 @@ typedef struct UIScene {
   vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
 
   bool navigate_on_openpilot = false;
+  cereal::LongitudinalPersonality personality;
 
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
@@ -172,69 +181,117 @@ typedef struct UIScene {
   // FrogPilot variables
   bool acceleration_path;
   bool adjacent_path;
-  bool always_on_lateral;
+  bool adjacent_path_metrics;
   bool always_on_lateral_active;
+  bool big_map;
   bool blind_spot_left;
   bool blind_spot_path;
   bool blind_spot_right;
   bool compass;
   bool conditional_experimental;
-  bool custom_onroad_ui;
-  bool custom_theme;
+  bool disable_smoothing_mtsc;
+  bool disable_smoothing_vtsc;
   bool driver_camera;
+  bool dynamic_path_width;
   bool enabled;
   bool experimental_mode;
   bool experimental_mode_via_screen;
+  bool fahrenheit;
+  bool fps_counter;
   bool full_map;
+  bool has_auto_tune;
+  bool hide_alerts;
+  bool hide_lead_marker;
+  bool hide_map_icon;
+  bool hide_max_speed;
   bool hide_speed;
+  bool hide_speed_ui;
+  bool holiday_themes;
   bool lead_info;
+  bool live_valid;
   bool map_open;
   bool model_ui;
-  bool mute_dm;
-  bool personalities_via_screen;
-  bool quality_of_life_controls;
-  bool quality_of_life_visuals;
+  bool numerical_temp;
+  bool online;
+  bool onroad_distance_button;
+  bool parked;
+  bool pedals_on_ui;
   bool random_events;
+  bool reverse;
   bool reverse_cruise;
+  bool reverse_cruise_ui;
+  bool right_hand_drive;
   bool road_name_ui;
   bool rotating_wheel;
-  bool show_driver_camera;
+  bool screen_recorder;
+  bool show_aol_status_bar;
+  bool show_cem_status_bar;
+  bool show_jerk;
   bool show_slc_offset;
-  bool show_fps;
+  bool show_slc_offset_ui;
+  bool show_tuning;
+  bool speed_limit_changed;
   bool speed_limit_controller;
   bool speed_limit_overridden;
+  bool standby_mode;
+  bool standstill;
   bool tethering_enabled;
+  bool traffic_mode;
+  bool traffic_mode_active;
   bool turn_signal_left;
   bool turn_signal_right;
   bool unlimited_road_ui_length;
+  bool use_kaofui_icons;
   bool use_si;
   bool use_vienna_slc_sign;
+  bool vtsc_controlling_curve;
+  bool wake_up_screen;
+  bool wheel_speed;
+
+  float acceleration;
+  float acceleration_jerk;
+  float acceleration_jerk_difference;
   float adjusted_cruise;
+  float ego_jerk;
+  float ego_jerk_difference;
+  float friction;
+  float lane_detection_width;
   float lane_line_width;
   float lane_width_left;
   float lane_width_right;
+  float lat_accel;
   float path_edge_width;
   float path_width;
   float road_edge_width;
   float speed_limit;
   float speed_limit_offset;
   float speed_limit_overridden_speed;
+  float unconfirmed_speed_limit;
+
+  int alert_size;
   int bearing_deg;
   int camera_view;
   int conditional_speed;
   int conditional_speed_lead;
   int conditional_status;
+  int current_holiday_theme;
   int current_random_event;
   int custom_colors;
   int custom_icons;
   int custom_signals;
   int desired_follow;
+  int driver_camera_timer;
+  int map_style;
   int obstacle_distance;
   int obstacle_distance_stock;
   int screen_brightness;
+  int screen_brightness_onroad;
+  int screen_timeout;
+  int screen_timeout_onroad;
   int steering_angle_deg;
   int stopped_equivalence;
   int wheel_icon;
+
   QPolygonF track_adjacent_vertices[6];
   QPolygonF track_edge_vertices;
 
@@ -265,6 +322,9 @@ public:
 
   QTransform car_space_transform;
 
+  // FrogPilot variables
+  WifiManager *wifi = nullptr;
+
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
@@ -279,7 +339,8 @@ private:
   bool started_prev = false;
   PrimeType prime_type = PrimeType::UNKNOWN;
 
-  WifiManager *wifi = nullptr;
+  // FrogPilot variables
+  Params paramsMemory{"/dev/shm/params"};
 };
 
 UIState *uiState();
@@ -314,7 +375,7 @@ signals:
   void interactiveTimeout();
 
 public slots:
-  void resetInteractiveTimeout(int timeout = -1);
+  void resetInteractiveTimeout(int timeout = -1, int timeout_onroad = -1);
   void update(const UIState &s);
 };
 
@@ -326,6 +387,9 @@ void update_model(UIState *s,
                   const cereal::ModelDataV2::Reader &model,
                   const cereal::UiPlan::Reader &plan);
 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd);
-void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
+void update_leads(UIState *s, const cereal::ModelDataV2::Reader &model_data);
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);
+
+// FrogPilot functions
+void ui_update_frogpilot_params(UIState *s);