MUI should be a status bar (#23287)
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f2c17bbcde
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a1e201ef5a
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@ -1,11 +1,83 @@
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#include <QApplication>
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#include <QApplication>
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#include <QtWidgets>
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#include <QtWidgets>
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#include <QTimer>
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#include <QTimer>
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#include <QGraphicsScene>
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#include "cereal/messaging/messaging.h"
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/ui/ui.h"
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#include "selfdrive/ui/ui.h"
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#include "selfdrive/ui/qt/qt_window.h"
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#include "selfdrive/ui/qt/qt_window.h"
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class StatusBar : public QGraphicsRectItem {
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private:
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QLinearGradient linear_gradient;
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QRadialGradient radial_gradient;
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QTimer animation_timer;
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const int animation_length = 10;
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int animation_index = 0;
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public:
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StatusBar(double x, double y, double width, double height) : QGraphicsRectItem {x, y, width, height} {
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linear_gradient = QLinearGradient(0, 0, 0, height/2);
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linear_gradient.setSpread(QGradient::ReflectSpread);
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radial_gradient = QRadialGradient(width/2, height/2, width/8);
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QObject::connect(&animation_timer, &QTimer::timeout, [=]() {
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animation_index++;
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animation_index %= animation_length;
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});
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animation_timer.start(50);
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}
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void solidColor(QColor color) {
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QColor dark_color = QColor(color);
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dark_color.setAlphaF(0.5);
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linear_gradient.setColorAt(0, dark_color);
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linear_gradient.setColorAt(1, color);
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setBrush(QBrush(linear_gradient));
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}
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// these need to be called continuously for the animations to work.
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// can probably clean that up with some more abstractions
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void blinkingColor(QColor color) {
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QColor dark_color = QColor(color);
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dark_color.setAlphaF(0.1);
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int radius = (rect().width() / animation_length) * animation_index;
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QPoint center = QPoint(rect().width()/2, rect().height()/2);
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radial_gradient.setCenter(center);
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radial_gradient.setFocalPoint(center);
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radial_gradient.setRadius(radius);
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radial_gradient.setColorAt(1, dark_color);
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radial_gradient.setColorAt(0, color);
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setBrush(QBrush(radial_gradient));
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}
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void laneChange(cereal::LateralPlan::LaneChangeDirection direction) {
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QColor dark_color = QColor(bg_colors[STATUS_ENGAGED]);
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dark_color.setAlphaF(0.1);
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int x = (rect().width() / animation_length) * animation_index;
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QPoint center = QPoint(((direction == cereal::LateralPlan::LaneChangeDirection::RIGHT) ? x : (rect().width() - x)), rect().height()/2);
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radial_gradient.setCenter(center);
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radial_gradient.setFocalPoint(center);
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radial_gradient.setRadius(rect().width()/5);
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radial_gradient.setColorAt(1, dark_color);
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radial_gradient.setColorAt(0, bg_colors[STATUS_ENGAGED]);
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setBrush(QBrush(radial_gradient));
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}
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void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget = nullptr) override {
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painter->setPen(QPen());
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painter->setBrush(brush());
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double rounding_radius = rect().height()/2;
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painter->drawRoundedRect(rect(), rounding_radius, rounding_radius);
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}
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};
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int main(int argc, char *argv[]) {
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int main(int argc, char *argv[]) {
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QApplication a(argc, argv);
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QApplication a(argc, argv);
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QWidget w;
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QWidget w;
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@ -15,12 +87,18 @@ int main(int argc, char *argv[]) {
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// our beautiful UI
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// our beautiful UI
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QVBoxLayout *layout = new QVBoxLayout(&w);
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QVBoxLayout *layout = new QVBoxLayout(&w);
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QLabel *label = new QLabel("〇");
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layout->addWidget(label, 0, Qt::AlignCenter);
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QGraphicsScene *scene = new QGraphicsScene();
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StatusBar *status_bar = new StatusBar(0, 0, 1000, 50);
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scene->addItem(status_bar);
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QGraphicsView *graphics_view = new QGraphicsView(scene);
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layout->insertSpacing(0, 400);
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layout->addWidget(graphics_view, 0, Qt::AlignCenter);
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QTimer timer;
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QTimer timer;
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QObject::connect(&timer, &QTimer::timeout, [=]() {
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QObject::connect(&timer, &QTimer::timeout, [=]() {
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static SubMaster sm({"deviceState", "controlsState"});
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static SubMaster sm({"deviceState", "controlsState", "lateralPlan"});
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bool onroad_prev = sm.allAliveAndValid({"deviceState"}) &&
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bool onroad_prev = sm.allAliveAndValid({"deviceState"}) &&
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sm["deviceState"].getDeviceState().getStarted();
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sm["deviceState"].getDeviceState().getStarted();
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@ -37,7 +115,16 @@ int main(int argc, char *argv[]) {
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} else if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::CRITICAL) {
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} else if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::CRITICAL) {
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status = STATUS_ALERT;
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status = STATUS_ALERT;
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}
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}
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label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name()));
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auto lp = sm["lateralPlan"].getLateralPlan();
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if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE || status == STATUS_ALERT) {
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status_bar->blinkingColor(bg_colors[status]);
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} else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING ||
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lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) {
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status_bar->laneChange(lp.getLaneChangeDirection());
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} else {
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status_bar->solidColor(bg_colors[status]);
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}
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}
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}
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if ((onroad != onroad_prev) || sm.frame < 2) {
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if ((onroad != onroad_prev) || sm.frame < 2) {
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