FrogPilot setup

selfdrive/ui/qt/offroad/settings.cc

@@ -7,6 +7,7 @@
 #include <vector>
 
 #include <QDebug>
+#include <QScrollBar>
 
 #include "selfdrive/ui/qt/network/networking.h"
 
@@ -23,6 +24,10 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 
+#include "selfdrive/frogpilot/ui/control_settings.h"
+#include "selfdrive/frogpilot/ui/vehicle_settings.h"
+#include "selfdrive/frogpilot/ui/visual_settings.h"
+
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
   std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
@@ -117,6 +122,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
     updateToggles();
   });
+
+  connect(toggles["IsMetric"], &ToggleControl::toggleFlipped, [=]() {
+    updateMetric();
+  });
 }
 
 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -368,7 +377,14 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   close_btn->setFixedSize(200, 200);
   sidebar_layout->addSpacing(45);
   sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter);
-  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
+  QObject::connect(close_btn, &QPushButton::clicked, [this]() {
+    if (frogPilotTogglesOpen) {
+      frogPilotTogglesOpen = false;
+      this->closeParentToggle();
+    } else {
+      this->closeSettings();
+    }
+  });
 
   // setup panels
   DevicePanel *device = new DevicePanel(this);
@@ -377,12 +393,24 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
   TogglesPanel *toggles = new TogglesPanel(this);
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+  QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric);
+
+  FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this);
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});
+
+  FrogPilotVisualsPanel *frogpilotVisuals = new FrogPilotVisualsPanel(this);
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});
 
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
     {tr("Network"), new Networking(this)},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
+    {tr("Controls"), frogpilotControls},
+    {tr("Vehicles"), new FrogPilotVehiclesPanel(this)},
+    {tr("Visuals"), frogpilotVisuals},
   };
 
   nav_btns = new QButtonGroup(this);
@@ -415,7 +443,22 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     ScrollView *panel_frame = new ScrollView(panel, this);
     panel_widget->addWidget(panel_frame);
 
+    if (name == tr("Controls") || name == tr("Visuals")) {
+      QScrollBar *scrollbar = panel_frame->verticalScrollBar();
+
+      QObject::connect(scrollbar, &QScrollBar::valueChanged, this, [this](int value) {
+        if (!frogPilotTogglesOpen) {
+          previousScrollPosition = value;
+        }
+      });
+
+      QObject::connect(scrollbar, &QScrollBar::rangeChanged, this, [this, panel_frame]() {
+        panel_frame->restorePosition(previousScrollPosition);
+      });
+    }
+
     QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      previousScrollPosition = 0;
       btn->setChecked(true);
       panel_widget->setCurrentWidget(w);
     });

selfdrive/ui/qt/offroad/settings.h

@@ -31,11 +31,18 @@ signals:
   void showDriverView();
   void expandToggleDescription(const QString &param);
 
+  // FrogPilot signals
+  void closeParentToggle();
+  void updateMetric();
 private:
   QPushButton *sidebar_alert_widget;
   QWidget *sidebar_widget;
   QButtonGroup *nav_btns;
   QStackedWidget *panel_widget;
+
+  // FrogPilot variables
+  bool frogPilotTogglesOpen;
+  int previousScrollPosition;
 };
 
 class DevicePanel : public ListWidget {
@@ -61,6 +68,10 @@ public:
   explicit TogglesPanel(SettingsWindow *parent);
   void showEvent(QShowEvent *event) override;
 
+signals:
+  // FrogPilot signals
+  void updateMetric();
+
 public slots:
   void expandToggleDescription(const QString &param);