dragonpilot/selfdrive/ui/qt/home.cc

#include <cmath>
#include <iostream>
#include <fstream>
#include <thread>

#include <QLabel>
#include <QMouseEvent>
#include <QHBoxLayout>
#include <QVBoxLayout>
#include <QDateTime>

#include "common/params.h"

#include "home.hpp"
#include "paint.hpp"
#include "qt_window.hpp"

#define BACKLIGHT_DT 0.25
#define BACKLIGHT_TS 2.00


QWidget * home_widget() {
  QVBoxLayout *main_layout = new QVBoxLayout();
  main_layout->setContentsMargins(sbr_w + 50, 50, 50, 50);

  // header
  QHBoxLayout *header_layout = new QHBoxLayout();
  QString date_str = QDateTime::currentDateTime().toString("dddd, MMMM d");
  QLabel *date = new QLabel(date_str);
  date->setStyleSheet(R"(font-size: 55px;)");
  header_layout->addWidget(date, 0, Qt::AlignTop | Qt::AlignLeft);

  QLabel *version = new QLabel(QString::fromStdString("openpilot v" + Params().get("Version")));
  version->setStyleSheet(R"(font-size: 45px;)");
  header_layout->addWidget(version, 0, Qt::AlignTop | Qt::AlignRight);

  main_layout->addLayout(header_layout);

  // center
  QLabel *drive = new QLabel("Drive me");
  drive->setStyleSheet(R"(font-size: 175px;)");
  main_layout->addWidget(drive, 1, Qt::AlignHCenter);

  QWidget *w = new QWidget();
  w->setLayout(main_layout);
  w->setStyleSheet(R"(
    * {
      background-color: none;
    }
  )");
  return w;
}

HomeWindow::HomeWindow(QWidget *parent) : QWidget(parent) {

  layout = new QGridLayout;
  layout->setMargin(0);

  glWindow = new GLWindow(this);
  layout->addWidget(glWindow, 0, 0);

  home = home_widget();
  layout->addWidget(home, 0, 0);
  QObject::connect(glWindow, SIGNAL(offroadTransition(bool)), this, SLOT(setVisibility(bool)));

  setLayout(layout);
  setStyleSheet(R"(
    * {
      color: white;
    }
  )");
}

void HomeWindow::setVisibility(bool offroad) {
  home->setVisible(offroad);
}

void HomeWindow::mousePressEvent(QMouseEvent *e) {
  UIState *ui_state = glWindow->ui_state;

  glWindow->wake();

  // Settings button click
  if (!ui_state->scene.uilayout_sidebarcollapsed && settings_btn.ptInRect(e->x(), e->y())) {
    emit openSettings();
  }

  // Vision click
  if (ui_state->started && (e->x() >= ui_state->scene.viz_rect.x - bdr_s)){
    ui_state->scene.uilayout_sidebarcollapsed = !ui_state->scene.uilayout_sidebarcollapsed;
  }
}


static void handle_display_state(UIState *s, int dt, bool user_input) {
  static int awake_timeout = 0;
  awake_timeout = std::max(awake_timeout-dt, 0);

  if (user_input || s->ignition || s->started) {
    s->awake = true;
    awake_timeout = 30*UI_FREQ;
  } else if (awake_timeout == 0){
    s->awake = false;
  }
}

static void set_backlight(int brightness){
  std::ofstream brightness_control("/sys/class/backlight/panel0-backlight/brightness");
  if (brightness_control.is_open()){
    brightness_control << brightness << "\n";
    brightness_control.close();
  }
}


GLWindow::GLWindow(QWidget *parent) : QOpenGLWidget(parent) {
  timer = new QTimer(this);
  QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));

  backlight_timer = new QTimer(this);
  QObject::connect(backlight_timer, SIGNAL(timeout()), this, SLOT(backlightUpdate()));

  int result = read_param(&brightness_b, "BRIGHTNESS_B", true);
  result += read_param(&brightness_m, "BRIGHTNESS_M", true);
  if(result != 0) {
    brightness_b = 200.0;
    brightness_m = 10.0;
  }
  smooth_brightness = 512;
}

GLWindow::~GLWindow() {
  makeCurrent();
  doneCurrent();
}

void GLWindow::initializeGL() {
  initializeOpenGLFunctions();
  std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl;
  std::cout << "OpenGL vendor: " << glGetString(GL_VENDOR) << std::endl;
  std::cout << "OpenGL renderer: " << glGetString(GL_RENDERER) << std::endl;
  std::cout << "OpenGL language version: " << glGetString(GL_SHADING_LANGUAGE_VERSION) << std::endl;

  ui_state = new UIState();
  ui_state->sound = &sound;
  ui_state->fb_w = vwp_w;
  ui_state->fb_h = vwp_h;
  ui_init(ui_state);

  wake();

  timer->start(0);
  backlight_timer->start(BACKLIGHT_DT * 100);
}

void GLWindow::backlightUpdate(){
  // Update brightness
  float k = (BACKLIGHT_DT / BACKLIGHT_TS) / (1.0f + BACKLIGHT_DT / BACKLIGHT_TS);

  float clipped_brightness = std::min(1023.0f, (ui_state->light_sensor*brightness_m) + brightness_b);
  smooth_brightness = clipped_brightness * k + smooth_brightness * (1.0f - k);
  int brightness = smooth_brightness;

  if (!ui_state->awake){
    brightness = 0;
  }

  std::thread{set_backlight, brightness}.detach();
}

void GLWindow::timerUpdate() {
  if (ui_state->started != onroad){
    onroad = ui_state->started;
    emit offroadTransition(!onroad);
#ifdef QCOM2
    timer->setInterval(onroad ? 0 : 1000);
#endif
  }

  // Fix awake timeout if running 1 Hz when offroad
  int dt = timer->interval() == 0 ? 1 : 20;
  handle_display_state(ui_state, dt, false);

  ui_update(ui_state);
  repaint();
}

void GLWindow::resizeGL(int w, int h) {
  std::cout << "resize " << w << "x" << h << std::endl;
}

void GLWindow::paintGL() {
  ui_draw(ui_state);
}

void GLWindow::wake(){
  // UI state might not be initialized yet
  if (ui_state != nullptr){
    handle_display_state(ui_state, 1, true);
  }
}

GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
  unsigned int texture;
  glGenTextures(1, &texture);
  glBindTexture(GL_TEXTURE_2D, texture);
  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height, 0, GL_RGB, GL_UNSIGNED_BYTE, *pph);
  glGenerateMipmap(GL_TEXTURE_2D);
  *pkhr = (EGLImageKHR)1; // not NULL
  return texture;
}

void visionimg_destroy_gl(EGLImageKHR khr, void *ph) {
  // empty
}

FramebufferState* framebuffer_init(const char* name, int32_t layer, int alpha,
                                   int *out_w, int *out_h) {
  return (FramebufferState*)1; // not null
}