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#!/usr/bin/env python3
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import os
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import signal
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signal.signal(signal.SIGINT, signal.SIG_DFL)
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import cereal.messaging as messaging
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from openpilot.system.hardware import HARDWARE
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from PyQt5.QtCore import Qt, QTimer
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from PyQt5.QtWidgets import QLabel, QWidget, QVBoxLayout, QStackedLayout, QApplication
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from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
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if __name__ == "__main__":
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app = QApplication([])
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win = QWidget()
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set_main_window(win)
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bg = QLabel("", alignment=Qt.AlignCenter)
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alert1 = QLabel()
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alert2 = QLabel()
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vlayout = QVBoxLayout()
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vlayout.addWidget(alert1, alignment=Qt.AlignCenter)
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vlayout.addWidget(alert2, alignment=Qt.AlignCenter)
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tmp = QWidget()
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tmp.setLayout(vlayout)
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stack = QStackedLayout(win)
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stack.addWidget(tmp)
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stack.addWidget(bg)
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stack.setStackingMode(QStackedLayout.StackAll)
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win.setObjectName("win")
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win.setStyleSheet("""
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#win {
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background-color: black;
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}
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QLabel {
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color: white;
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font-size: 40px;
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}
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""")
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sm = messaging.SubMaster(['deviceState', 'controlsState'])
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def update():
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sm.update(0)
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onroad = sm.all_checks(['deviceState']) and sm['deviceState'].started
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if onroad:
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cs = sm['controlsState']
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color = ("grey" if str(cs.state) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue"
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bg.setText("\U0001F44D" if cs.engageable else "\U0001F6D1")
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bg.setStyleSheet(f"font-size: 100px; background-color: {color};")
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bg.show()
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alert1.setText(cs.alertText1)
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alert2.setText(cs.alertText2)
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if not sm.alive['controlsState']:
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alert1.setText("waiting for controls...")
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else:
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bg.hide()
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alert1.setText("")
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alert2.setText("offroad")
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HARDWARE.set_screen_brightness(100 if onroad else 40)
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os.system("echo 0 > /sys/class/backlight/panel0-backlight/bl_power")
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timer = QTimer()
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timer.timeout.connect(update)
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timer.start(50)
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app.exec_()
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