openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/ui/qt/onroad.h

@@ -0,0 +1,142 @@
+#pragma once
+
+#include <memory>
+
+#include <QPushButton>
+#include <QStackedLayout>
+#include <QWidget>
+
+#include "common/util.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+
+const int btn_size = 192;
+const int img_size = (btn_size / 4) * 3;
+
+
+// ***** onroad widgets *****
+class OnroadAlerts : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
+  void updateAlert(const Alert &a);
+
+protected:
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QColor bg;
+  Alert alert = {};
+};
+
+class ExperimentalButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit ExperimentalButton(QWidget *parent = 0);
+  void updateState(const UIState &s);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+  void changeMode();
+
+  Params params;
+  QPixmap engage_img;
+  QPixmap experimental_img;
+  bool experimental_mode;
+  bool engageable;
+};
+
+
+class MapSettingsButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit MapSettingsButton(QWidget *parent = 0);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap settings_img;
+};
+
+// container window for the NVG UI
+class AnnotatedCameraWidget : public CameraWidget {
+  Q_OBJECT
+
+public:
+  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
+  void updateState(const UIState &s);
+
+  MapSettingsButton *map_settings_btn;
+
+private:
+  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
+
+  QVBoxLayout *main_layout;
+  ExperimentalButton *experimental_btn;
+  QPixmap dm_img;
+  float speed;
+  QString speedUnit;
+  float setSpeed;
+  float speedLimit;
+  bool is_cruise_set = false;
+  bool is_metric = false;
+  bool dmActive = false;
+  bool hideBottomIcons = false;
+  bool rightHandDM = false;
+  float dm_fade_state = 1.0;
+  bool has_us_speed_limit = false;
+  bool has_eu_speed_limit = false;
+  bool v_ego_cluster_seen = false;
+  int status = STATUS_DISENGAGED;
+  std::unique_ptr<PubMaster> pm;
+
+  int skip_frame_count = 0;
+  bool wide_cam_requested = false;
+
+protected:
+  void paintGL() override;
+  void initializeGL() override;
+  void showEvent(QShowEvent *event) override;
+  void updateFrameMat() override;
+  void drawLaneLines(QPainter &painter, const UIState *s);
+  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
+  void drawHud(QPainter &p);
+  void drawDriverState(QPainter &painter, const UIState *s);
+  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
+  inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
+  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
+
+  double prev_draw_t = 0;
+  FirstOrderFilter fps_filter;
+};
+
+// container for all onroad widgets
+class OnroadWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadWindow(QWidget* parent = 0);
+  bool isMapVisible() const { return map && map->isVisible(); }
+  void showMapPanel(bool show) { if (map) map->setVisible(show); }
+
+signals:
+  void mapPanelRequested();
+
+private:
+  void paintEvent(QPaintEvent *event);
+  void mousePressEvent(QMouseEvent* e) override;
+  OnroadAlerts *alerts;
+  AnnotatedCameraWidget *nvg;
+  QColor bg = bg_colors[STATUS_DISENGAGED];
+  QWidget *map = nullptr;
+  QHBoxLayout* split;
+
+private slots:
+  void offroadTransition(bool offroad);
+  void primeChanged(bool prime);
+  void updateState(const UIState &s);
+};