wip

selfdrive/ui/ui.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+import os
+import signal
+
+signal.signal(signal.SIGINT, signal.SIG_DFL)
+
+import cereal.messaging as messaging
+from openpilot.system.hardware import HARDWARE
+
+from PyQt5.QtCore import Qt, QTimer
+from PyQt5.QtWidgets import QLabel, QWidget, QVBoxLayout, QStackedLayout, QApplication
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
+
+
+if __name__ == "__main__":
+  app = QApplication([])
+  win = QWidget()
+  set_main_window(win)
+
+  bg = QLabel("", alignment=Qt.AlignCenter)
+
+  alert1 = QLabel()
+  alert2 = QLabel()
+  vlayout = QVBoxLayout()
+  vlayout.addWidget(alert1, alignment=Qt.AlignCenter)
+  vlayout.addWidget(alert2, alignment=Qt.AlignCenter)
+
+  tmp = QWidget()
+  tmp.setLayout(vlayout)
+
+  stack = QStackedLayout(win)
+  stack.addWidget(tmp)
+  stack.addWidget(bg)
+  stack.setStackingMode(QStackedLayout.StackAll)
+
+  win.setObjectName("win")
+  win.setStyleSheet("""
+    #win {
+      background-color: black;
+    }
+    QLabel {
+      color: white;
+      font-size: 40px;
+    }
+  """)
+
+  sm = messaging.SubMaster(['deviceState', 'controlsState'])
+
+  def update():
+    sm.update(0)
+
+    onroad = sm.all_checks(['deviceState']) and sm['deviceState'].started
+    if onroad:
+      cs = sm['controlsState']
+      color = ("grey" if str(cs.state) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue"
+      bg.setText("\U0001F44D" if cs.engageable else "\U0001F6D1")
+      bg.setStyleSheet(f"font-size: 100px; background-color: {color};")
+      bg.show()
+
+      alert1.setText(cs.alertText1)
+      alert2.setText(cs.alertText2)
+
+      if not sm.alive['controlsState']:
+        alert1.setText("waiting for controls...")
+    else:
+      bg.hide()
+      alert1.setText("")
+      alert2.setText("offroad")
+
+    HARDWARE.set_screen_brightness(100 if onroad else 40)
+    os.system("echo 0 > /sys/class/backlight/panel0-backlight/bl_power")
+
+  timer = QTimer()
+  timer.timeout.connect(update)
+  timer.start(50)
+
+  app.exec_()