UI: body support (#24079)

* body ui template

* faces

* abs

* not raw

* auto switch

* check that

* no smoosh

* cmath

release/files_common

@@ -446,6 +446,7 @@ selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc
 selfdrive/assets/*.png
 selfdrive/assets/*.svg
+selfdrive/assets/body/*
 selfdrive/assets/fonts/*.ttf
 selfdrive/assets/icons/*
 selfdrive/assets/images/*

selfdrive/ui/SConscript

@@ -56,7 +56,7 @@ qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
 qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
 
 # build main UI
-qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/onroad.cc",
+qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc"]
 qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)

selfdrive/ui/qt/body.cc

@@ -0,0 +1,34 @@
+#include "selfdrive/ui/qt/body.h"
+
+#include <cmath>
+
+BodyWindow::BodyWindow(QWidget *parent) : QLabel(parent) {
+  awake = new QMovie("../assets/body/awake.gif");
+  awake->setCacheMode(QMovie::CacheAll);
+  sleep = new QMovie("../assets/body/sleep.gif");
+  sleep->setCacheMode(QMovie::CacheAll);
+
+  QPalette p(Qt::black);
+  setPalette(p);
+  setAutoFillBackground(true);
+
+  setAlignment(Qt::AlignCenter);
+
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
+}
+
+void BodyWindow::updateState(const UIState &s) {
+  if (!isVisible()) {
+    return;
+  }
+
+  const SubMaster &sm = *(s.sm);
+
+  // TODO: use carState.standstill when that's fixed
+  const bool standstill = std::abs(sm["carState"].getCarState().getVEgo()) < 0.01;
+  QMovie *m = standstill ? sleep : awake;
+  if (m != movie()) {
+    setMovie(m);
+    movie()->start();
+  }
+}

selfdrive/ui/qt/body.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <QMovie>
+#include <QLabel>
+
+#include "selfdrive/ui/ui.h"
+
+class BodyWindow : public QLabel {
+  Q_OBJECT
+
+public:
+  BodyWindow(QWidget* parent = 0);
+
+private:
+  QMovie *awake, *sleep;
+
+private slots:
+  void updateState(const UIState &s);
+};

selfdrive/ui/qt/home.cc

@@ -30,12 +30,16 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   onroad = new OnroadWindow(this);
   slayout->addWidget(onroad);
 
+  body = new BodyWindow(this);
+  slayout->addWidget(body);
+
   driver_view = new DriverViewWindow(this);
   connect(driver_view, &DriverViewWindow::done, [=] {
     showDriverView(false);
   });
   slayout->addWidget(driver_view);
   setAttribute(Qt::WA_NoSystemBackground);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
 }
 
@@ -43,6 +47,15 @@ void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
 
+void HomeWindow::updateState(const UIState &s) {
+  const SubMaster &sm = *(s.sm);
+
+  // switch to the body UI
+  if (onroad->isVisible() && sm["carParams"].getCarParams().getCarName() == "body") {
+    slayout->setCurrentWidget(body);
+  }
+}
+
 void HomeWindow::offroadTransition(bool offroad) {
   sidebar->setVisible(offroad);
   if (offroad) {
@@ -64,7 +77,7 @@ void HomeWindow::showDriverView(bool show) {
 
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
-  if (onroad->isVisible() && (!sidebar->isVisible() || e->x() > sidebar->width())) {
+  if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
     sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
   }
 }

selfdrive/ui/qt/home.h

@@ -8,6 +8,7 @@
 #include <QWidget>
 
 #include "selfdrive/ui/qt/offroad/driverview.h"
+#include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/onroad.h"
 #include "selfdrive/ui/qt/sidebar.h"
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
@@ -55,6 +56,10 @@ private:
   Sidebar *sidebar;
   OffroadHome *home;
   OnroadWindow *onroad;
+  BodyWindow *body;
   DriverViewWindow *driver_view;
   QStackedLayout *slayout;
+
+private slots:
+  void updateState(const UIState &s);
 };