clearpilot/selfdrive/ui/qt/body.org

#include "selfdrive/ui/qt/body.h"

#include <cmath> #include <algorithm>

#include <QPainter> #include <QStackedLayout>

#include "common/params.h" #include "common/timing.h"

RecordButton::RecordButton(QWidget *parent) : QPushButton(parent) { setCheckable(true); setChecked(false); setFixedSize(148, 148);

QObject::connect(this, &QPushButton::toggled, [=]() { setEnabled(false); }); }

void RecordButton::paintEvent(QPaintEvent *event) { QPainter p(this); p.setRenderHint(QPainter::Antialiasing);

QPoint center(width() / 2, height() / 2);

QColor bg(isChecked() ? "#FFFFFF" : "#737373"); QColor accent(isChecked() ? "#FF0000" : "#FFFFFF"); if (!isEnabled()) { bg = QColor("#404040"); accent = QColor("#FFFFFF"); }

if (isDown()) { accent.setAlphaF(0.7); }

p.setPen(Qt::NoPen); p.setBrush(bg); p.drawEllipse(center, 74, 74);

p.setPen(QPen(accent, 6)); p.setBrush(Qt::NoBrush); p.drawEllipse(center, 42, 42);

p.setPen(Qt::NoPen); p.setBrush(accent); p.drawEllipse(center, 22, 22); }

BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) { QStackedLayout *layout = new QStackedLayout(this); layout->setStackingMode(QStackedLayout::StackAll);

QWidget *w = new QWidget; QVBoxLayout *vlayout = new QVBoxLayout(w); vlayout->setMargin(45); layout->addWidget(w);

// face face = new QLabel(); face->setAlignment(Qt::AlignCenter); layout->addWidget(face); awake = new QMovie("../assets/body/awake.gif", {}, this); awake->setCacheMode(QMovie::CacheAll); sleep = new QMovie("../assets/body/sleep.gif", {}, this); sleep->setCacheMode(QMovie::CacheAll);

// record button btn = new RecordButton(this); vlayout->addWidget(btn, 0, Qt::AlignBottom | Qt::AlignRight); QObject::connect(btn, &QPushButton::clicked, [=](bool checked) { btn->setEnabled(false); Params().putBool("DisableLogging", !checked); last_button = nanos_since_boot(); }); w->raise();

QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState); }

void BodyWindow::paintEvent(QPaintEvent *event) { QPainter p(this); p.setRenderHint(QPainter::Antialiasing);

p.fillRect(rect(), QColor(0, 0, 0));

// battery outline + detail p.translate(width() - 136, 16); const QColor gray = QColor("#737373"); p.setBrush(Qt::NoBrush); p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); p.drawRoundedRect(2, 2, 78, 36, 8, 8);

p.setPen(Qt::NoPen); p.setBrush(gray); p.drawRoundedRect(84, 12, 6, 16, 4, 4); p.drawRect(84, 12, 3, 16);

// battery level double fuel = std::clamp(fuel_filter.x(), 0.2f, 1.0f); const int m = 5; // manual margin since we can't do an inner border p.setPen(Qt::NoPen); p.setBrush(fuel > 0.25 ? QColor("#32D74B") : QColor("#FF453A")); p.drawRoundedRect(2 + m, 2 + m, (78 - 2*m)*fuel, 36 - 2*m, 4, 4);

// charging status if (charging) { p.setPen(Qt::NoPen); p.setBrush(Qt::white); const QPolygonF charger({ QPointF(12.31, 0), QPointF(12.31, 16.92), QPointF(18.46, 16.92), QPointF(6.15, 40), QPointF(6.15, 23.08), QPointF(0, 23.08), }); p.drawPolygon(charger.translated(98, 0)); } }

void BodyWindow::offroadTransition(bool offroad) { btn->setChecked(true); btn->setEnabled(true); fuel_filter.reset(1.0); }

void BodyWindow::updateState(const UIState &s) { if (!isVisible()) { return; }

const SubMaster &sm = *(s.sm); auto cs = sm["carState"].getCarState();

charging = cs.getCharging(); fuel_filter.update(cs.getFuelGauge());

// TODO: use carState.standstill when that's fixed const bool standstill = std::abs(cs.getVEgo()) < 0.01; QMovie *m = standstill ? sleep : awake; if (m != face->movie()) { face->setMovie(m); face->movie()->start(); }

// update record button state if (sm.updated("managerState") && (sm.rcv_time("managerState") - last_button)*1e-9 > 0.5) { for (auto proc : sm["managerState"].getManagerState().getProcesses()) { if (proc.getName() == "loggerd") { btn->setEnabled(true); btn->setChecked(proc.getRunning()); } } }

update(); }