oscarpilot/selfdrive/frogpilot/ui/frogpilot_functions.h.org

#pragma once

#include "selfdrive/ui/qt/widgets/controls.h"

class FrogPilotConfirmationDialog : public ConfirmationDialog { Q_OBJECT

public: explicit FrogPilotConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text, const bool rich, QWidget* parent); static bool toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent); static bool toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent); static bool yesorno(const QString &prompt_text, QWidget *parent); };

class FrogPilotListWidget : public QWidget { Q_OBJECT public: explicit FrogPilotListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) { outer_layout.setMargin(0); outer_layout.setSpacing(0); outer_layout.addLayout(&inner_layout); inner_layout.setMargin(0); inner_layout.setSpacing(25); // default spacing is 25 outer_layout.addStretch(); } inline void addItem(QWidget *w) { inner_layout.addWidget(w); } inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); } inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }

private: void paintEvent(QPaintEvent *) override { QPainter p(this); p.setPen(Qt::gray);

int visibleWidgetCount = 0; std::vector<QRect> visibleRects;

for (int i = 0; i < inner_layout.count(); ++i) { QWidget *widget = inner_layout.itemAt(i)->widget(); if (widget && widget->isVisible()) { visibleWidgetCount++; visibleRects.push_back(inner_layout.itemAt(i)->geometry()); } }

for (int i = 0; i < visibleWidgetCount - 1; ++i) { int bottom = visibleRects[i].bottom() + inner_layout.spacing() / 2; p.drawLine(visibleRects[i].left() + 40, bottom, visibleRects[i].right() - 40, bottom); } } QVBoxLayout outer_layout; QVBoxLayout inner_layout; };

class FrogPilotButtonIconControl : public AbstractControl { Q_OBJECT

public: FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr); inline void setText(const QString &text) { btn.setText(text); } inline QString text() const { return btn.text(); }

signals: void clicked();

public slots: void setEnabled(bool enabled) { btn.setEnabled(enabled); }

private: QPushButton btn; };

class FrogPilotButtonParamControl : public ParamControl { Q_OBJECT public: FrogPilotButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, const std::vector<QString> &button_texts, const int minimum_button_width = 225)

ParamControl(param, title, desc, icon) {

const QString style = R"( QPushButton { border-radius: 50px; font-size: 40px; font-weight: 500; height:100px; padding: 0 25 0 25; color: #E4E4E4; background-color: #393939; } QPushButton:pressed { background-color: #4a4a4a; } QPushButton:checked:enabled { background-color: #0048FF; } QPushButton:disabled { color: #33E4E4E4; } )";

key = param.toStdString(); int value = atoi(params.get(key).c_str());

button_group = new QButtonGroup(this); button_group->setExclusive(true); for (size_t i = 0; i < button_texts.size(); i++) { QPushButton *button = new QPushButton(button_texts[i], this); button->setCheckable(true); button->setChecked(i == value); button->setStyleSheet(style); button->setMinimumWidth(minimum_button_width); hlayout->addWidget(button); button_group->addButton(button, i); }

QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) { if (checked) { params.put(key, std::to_string(id)); refresh(); emit buttonClicked(id); } });

toggle.hide(); }

void setEnabled(bool enable) { for (auto btn : button_group->buttons()) { btn->setEnabled(enable); } }

signals: void buttonClicked(int id);

private: std::string key; Params params; QButtonGroup *button_group; };

class FrogPilotParamManageControl : public ParamControl { Q_OBJECT

public: FrogPilotParamManageControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr)

ParamControl(param, title, desc, icon, parent),

key(param.toStdString()), manageButton(new ButtonControl(tr(""), tr("MANAGE"), tr(""))) { hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, manageButton);

connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) { refresh(); });

connect(manageButton, &ButtonControl::clicked, this, &FrogPilotParamManageControl::manageButtonClicked); }

void refresh() { ParamControl::refresh(); manageButton->setVisible(params.getBool(key)); }

void showEvent(QShowEvent *event) override { ParamControl::showEvent(event); refresh(); }

signals: void manageButtonClicked();

private: std::string key; Params params; ButtonControl *manageButton; };

class FrogPilotParamToggleControl : public ParamControl { Q_OBJECT public: FrogPilotParamToggleControl(const QString &param, const QString &title, const QString &desc, const QString &icon, const std::vector<QString> &button_params, const std::vector<QString> &button_texts, QWidget *parent = nullptr, const int minimum_button_width = 225)

ParamControl(param, title, desc, icon, parent) {

connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) { refreshButtons(state); });

const QString style = R"( QPushButton { border-radius: 50px; font-size: 40px; font-weight: 500; height:100px; padding: 0 25 0 25; color: #E4E4E4; background-color: #393939; } QPushButton:pressed { background-color: #4a4a4a; } QPushButton:checked:enabled { background-color: #0048FF; } QPushButton:disabled { color: #33E4E4E4; } )";

button_group = new QButtonGroup(this); button_group->setExclusive(false);

std::map<QString, bool> paramState; for (const QString &button_param : button_params) { paramState[button_param] = params.getBool(button_param.toStdString()); }

for (int i = 0; i < button_texts.size(); ++i) { QPushButton *button = new QPushButton(button_texts[i], this); button->setCheckable(true); button->setChecked(paramState[button_params[i]]); button->setStyleSheet(style); button->setMinimumWidth(minimum_button_width); button_group->addButton(button, i);

connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) { params.putBool(button_params[i].toStdString(), checked); button_group->button(i)->setChecked(checked); emit buttonClicked(checked); });

hlayout->insertWidget(hlayout->indexOf(&toggle), button); } }

void refreshButtons(bool state) { for (QAbstractButton *button : button_group->buttons()) { button->setVisible(state); } }

signals: void buttonClicked(const bool checked);

private: Params params; QButtonGroup *button_group; };

class FrogPilotParamValueControl : public ParamControl { Q_OBJECT

public: FrogPilotParamValueControl(const QString &param, const QString &title, const QString &desc, const QString &icon, const int &minValue, const int &maxValue, const std::map<int, QString> &valueLabels, QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const int &division = 1)

ParamControl(param, title, desc, icon, parent),

minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) { key = param.toStdString();

valueLabel = new QLabel(this); hlayout->addWidget(valueLabel);

QPushButton *decrementButton = createButton("-", this); QPushButton *incrementButton = createButton("+", this);

hlayout->addWidget(decrementButton); hlayout->addWidget(incrementButton);

connect(decrementButton, &QPushButton::clicked, this, [=]() { updateValue(-1); });

connect(incrementButton, &QPushButton::clicked, this, [=]() { updateValue(1); });

toggle.hide(); }

void updateValue(int increment) { value = value + increment;

if (loop) { if (value < minValue) value = maxValue; else if (value > maxValue) value = minValue; } else { value = std::max(minValue, std::min(maxValue, value)); }

params.putInt(key, value); refresh(); emit buttonPressed(); emit valueChanged(value); }

void refresh() { value = params.getInt(key);

QString text; auto it = valueLabelMappings.find(value); if (division > 1) { text = QString::number(value / (division * 1.0), 'g'); } else { text = it != valueLabelMappings.end() ? it->second : QString::number(value); } if (!labelText.isEmpty()) { text += labelText; } valueLabel->setText(text); valueLabel->setStyleSheet("QLabel { color: #E0E879; }"); }

void updateControl(int newMinValue, int newMaxValue, const QString &newLabel, int newDivision = 1) { minValue = newMinValue; maxValue = newMaxValue; labelText = newLabel; division = newDivision; }

void showEvent(QShowEvent *event) override { refresh(); }

signals: void buttonPressed(); void valueChanged(int value);

private: bool loop; int division; int maxValue; int minValue; int value; QLabel *valueLabel; QString labelText; std::map<int, QString> valueLabelMappings; std::string key; Params params;

QPushButton *createButton(const QString &text, QWidget *parent) { QPushButton *button = new QPushButton(text, parent); button->setFixedSize(150, 100); button->setAutoRepeat(true); button->setAutoRepeatInterval(150); button->setStyleSheet(R"( QPushButton { border-radius: 50px; font-size: 50px; font-weight: 500; height: 100px; padding: 0 25 0 25; color: #E4E4E4; background-color: #393939; } QPushButton:pressed { background-color: #4a4a4a; } )"); return button; } };

class FrogPilotParamValueControlFloat : public ParamControl { Q_OBJECT

public: FrogPilotParamValueControlFloat(const QString &param, const QString &title, const QString &desc, const QString &icon, const float &minValue, const float &maxValue, const std::map<int, QString> &valueLabels, QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const float &division = 1.0f)

ParamControl(param, title, desc, icon, parent),

minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) { key = param.toStdString();

valueLabel = new QLabel(this); hlayout->addWidget(valueLabel);

QPushButton *decrementButton = createButton("-", this); QPushButton *incrementButton = createButton("+", this);

hlayout->addWidget(decrementButton); hlayout->addWidget(incrementButton);

connect(decrementButton, &QPushButton::clicked, this, [=]() { updateValue(-1.0f); });

connect(incrementButton, &QPushButton::clicked, this, [=]() { updateValue(1.0f); });

toggle.hide(); }

void updateValue(float increment) { value += increment * 0.1f;

if (loop) { if (value < minValue) value = maxValue; else if (value > maxValue) value = minValue; } else { value = std::max(minValue, std::min(maxValue, value)); }

params.putFloat(key, value); refresh(); emit buttonPressed(); emit valueChanged(value); }

void refresh() { value = params.getFloat(key);

QString text; auto it = valueLabelMappings.find(value); if (division > 0.1f) { text = QString::number(value, 'f', 1); } else { text = it != valueLabelMappings.end() ? it->second : QString::number(value, 'f', 1); } if (!labelText.isEmpty()) { text += labelText; } valueLabel->setText(text); valueLabel->setStyleSheet("QLabel { color: #E0E879; }"); }

void updateControl(float newMinValue, float newMaxValue, const QString &newLabel, float newDivision = 1.0f) { minValue = newMinValue; maxValue = newMaxValue; labelText = newLabel; division = newDivision; }

void showEvent(QShowEvent *event) override { refresh(); }

signals: void buttonPressed(); void valueChanged(float value);

private: bool loop; float division; float maxValue; float minValue; float value; QLabel *valueLabel; QString labelText; std::map<int, QString> valueLabelMappings; std::string key; Params params;

QPushButton *createButton(const QString &text, QWidget *parent) { QPushButton *button = new QPushButton(text, parent); button->setFixedSize(150, 100); button->setAutoRepeat(true); button->setAutoRepeatInterval(150); button->setStyleSheet(R"( QPushButton { border-radius: 50px; font-size: 50px; font-weight: 500; height: 100px; padding: 0 25 0 25; color: #E4E4E4; background-color: #393939; } QPushButton:pressed { background-color: #4a4a4a; } )"); return button; } };

class FrogPilotDualParamControl : public QFrame { Q_OBJECT

public: FrogPilotDualParamControl(ParamControl *control1, ParamControl *control2, QWidget *parent = nullptr, bool split=false)

QFrame(parent) {

QHBoxLayout *hlayout = new QHBoxLayout(this);

control1->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred); control1->setMaximumWidth(split ? 800 : 700);

control2->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred); control2->setMaximumWidth(800);

hlayout->addWidget(control1); hlayout->addWidget(control2); } };

class FrogPilotParamValueToggleControl : public ParamControl { Q_OBJECT

public: FrogPilotParamValueToggleControl(const QString &param, const QString &title, const QString &desc, const QString &icon, const int &minValue, const int &maxValue, const std::map<int, QString> &valueLabels, QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const int &division = 1, const std::vector<QString> &button_params = std::vector<QString>(), const std::vector<QString> &button_texts = std::vector<QString>(), const int minimum_button_width = 225)

ParamControl(param, title, desc, icon, parent),

minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) { key = param.toStdString();

const QString style = R"( QPushButton { border-radius: 50px; font-size: 40px; font-weight: 500; height:100px; padding: 0 25 0 25; color: #E4E4E4; background-color: #393939; } QPushButton:pressed { background-color: #4a4a4a; } QPushButton:checked:enabled { background-color: #0048FF; } QPushButton:disabled { color: #33E4E4E4; } )";

button_group = new QButtonGroup(this); button_group->setExclusive(false);

std::map<QString, bool> paramState; for (const QString &button_param : button_params) { paramState[button_param] = params.getBool(button_param.toStdString()); }

for (int i = 0; i < button_texts.size(); ++i) { QPushButton *button = new QPushButton(button_texts[i], this); button->setCheckable(true); button->setChecked(paramState[button_params[i]]); button->setStyleSheet(style); button->setMinimumWidth(minimum_button_width); button_group->addButton(button, i);

connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) { params.putBool(button_params[i].toStdString(), checked); button_group->button(i)->setChecked(checked); });

hlayout->addWidget(button); }

valueLabel = new QLabel(this); hlayout->addWidget(valueLabel);

QPushButton *decrementButton = createButton("-", this); QPushButton *incrementButton = createButton("+", this);

hlayout->addWidget(decrementButton); hlayout->addWidget(incrementButton);

connect(decrementButton, &QPushButton::clicked, this, [=]() { updateValue(-1); });

connect(incrementButton, &QPushButton::clicked, this, [=]() { updateValue(1); });

toggle.hide(); }

void updateValue(int increment) { value = value + increment;

if (loop) { if (value < minValue) value = maxValue; else if (value > maxValue) value = minValue; } else { value = std::max(minValue, std::min(maxValue, value)); }

params.putInt(key, value); refresh(); emit buttonPressed(); emit valueChanged(value); }

void refresh() { value = params.getInt(key);

QString text; auto it = valueLabelMappings.find(value); if (division > 1) { text = QString::number(value / (division * 1.0), 'g'); } else { text = it != valueLabelMappings.end() ? it->second : QString::number(value); } if (!labelText.isEmpty()) { text += labelText; } valueLabel->setText(text); valueLabel->setStyleSheet("QLabel { color: #E0E879; }"); }

void updateControl(int newMinValue, int newMaxValue, const QString &newLabel, int newDivision) { minValue = newMinValue; maxValue = newMaxValue; labelText = newLabel; division = newDivision; }

void showEvent(QShowEvent *event) override { refresh(); }

signals: void buttonPressed(); void valueChanged(int value);

private: bool loop; int division; int maxValue; int minValue; int value; QButtonGroup *button_group; QLabel *valueLabel; QString labelText; std::map<int, QString> valueLabelMappings; std::string key; Params params;

QPushButton *createButton(const QString &text, QWidget *parent) { QPushButton *button = new QPushButton(text, parent); button->setFixedSize(150, 100); button->setAutoRepeat(true); button->setAutoRepeatInterval(150); button->setStyleSheet(R"( QPushButton { border-radius: 50px; font-size: 50px; font-weight: 500; height: 100px; padding: 0 25 0 25; color: #E4E4E4; background-color: #393939; } QPushButton:pressed { background-color: #4a4a4a; } )"); return button; } };

void setDefaultParams();