mui

selfdrive/ui/.gitignore

@@ -1,6 +1,7 @@
 moc_*
 *.moc
 
+_mui
 watch3
 installer/installers/*
 replay/replay

selfdrive/ui/SConscript

@@ -73,6 +73,9 @@ if GetOption('extras'):
   # buidl updater UI
   qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
 
+  # build mui
+  qt_env.Program("_mui", ["mui.cc"], LIBS=qt_libs)
+
   # build installers
   senv = qt_env.Clone()
   senv['LINKFLAGS'].append('-Wl,-strip-debug')

selfdrive/ui/mui.cc

@@ -0,0 +1,51 @@
+#include <QApplication>
+#include <QtWidgets>
+#include <QTimer>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+int main(int argc, char *argv[]) {
+  QApplication a(argc, argv);
+  QWidget w;
+  setMainWindow(&w);
+
+  w.setStyleSheet("background-color: black;");
+
+  // our beautiful UI
+  QVBoxLayout *layout = new QVBoxLayout(&w);
+  QLabel *label = new QLabel("〇");
+  layout->addWidget(label, 0, Qt::AlignCenter);
+
+  QTimer timer;
+  QObject::connect(&timer, &QTimer::timeout, [=]() {
+    static SubMaster sm({"deviceState", "controlsState"});
+
+    bool onroad_prev = sm.allAliveAndValid({"deviceState"}) &&
+                       sm["deviceState"].getDeviceState().getStarted();
+    sm.update(0);
+
+    bool onroad = sm.allAliveAndValid({"deviceState"}) &&
+                  sm["deviceState"].getDeviceState().getStarted();
+
+    if (onroad) {
+      auto cs = sm["controlsState"].getControlsState();
+      UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT) {
+        status = STATUS_WARNING;
+      } else if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::CRITICAL) {
+        status = STATUS_ALERT;
+      }
+      label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name()));
+    }
+
+    if ((onroad != onroad_prev) || sm.frame < 2) {
+      Hardware::set_brightness(50);
+      Hardware::set_display_power(onroad);
+    }
+  });
+  timer.start(50);
+
+  return a.exec();
+}