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DevicePanel: split long constructor into multiple functions (#23043)

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* begin refactor

* split long constructor to multiple functions

* one connection to signal

* merge master
mqb-alig
Dean Lee 4 years ago committed by GitHub
parent f5e4867864
commit 5394fe1ae7
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 74 additions and 60 deletions
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  1. 119
      selfdrive/ui/qt/offroad/settings.cc
  2. 7
      selfdrive/ui/qt/offroad/settings.h

119
selfdrive/ui/qt/offroad/settings.cc
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@ -109,9 +109,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
}
}
DevicePanel::DevicePanel(QWidget* parent) : ListWidget(parent) {
setSpacing(50);
DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
Params params = Params();
setSpacing(50);
addItem(new LabelControl("Dongle ID", getDongleId().value_or("N/A")));
addItem(new LabelControl("Serial", params.get("HardwareSerial").c_str()));
@ -120,61 +121,41 @@ DevicePanel::DevicePanel(QWidget* parent) : ListWidget(parent) {
auto dcamBtn = new ButtonControl("Driver Camera", "PREVIEW",
"Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)");
connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
addItem(dcamBtn);
QString resetCalibDesc = "openpilot requires the device to be mounted within 4° left or right and within 5° up or down. openpilot is continuously calibrating, resetting is rarely required.";
auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", resetCalibDesc);
auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", " ");
connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription);
connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", this)) {
params.remove("CalibrationParams");
}
});
connect(resetCalibBtn, &ButtonControl::showDescription, [&]() {
QString desc = resetCalibDesc;
std::string calib_bytes = params.get("CalibrationParams");
if (!calib_bytes.empty()) {
try {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
if (calib.getCalStatus() != 0) {
double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
desc += QString(" Your device is pointed %1° %2 and %3° %4.")
.arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "up" : "down",
QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "right" : "left");
}
} catch (kj::Exception) {
qInfo() << "invalid CalibrationParams";
}
}
resetCalibBtn->setDescription(desc);
});
addItem(resetCalibBtn);
ButtonControl *retrainingBtn = nullptr;
if (!params.getBool("Passive")) {
retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot");
auto retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot");
connect(retrainingBtn, &ButtonControl::clicked, [=]() {
if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) {
emit reviewTrainingGuide();
}
});
addItem(retrainingBtn);
}
ButtonControl *regulatoryBtn = nullptr;
if (Hardware::TICI()) {
regulatoryBtn = new ButtonControl("Regulatory", "VIEW", "");
auto regulatoryBtn = new ButtonControl("Regulatory", "VIEW", "");
connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
const std::string txt = util::read_file("../assets/offroad/fcc.html");
RichTextDialog::alert(QString::fromStdString(txt), this);
});
addItem(regulatoryBtn);
}
for (auto btn : {dcamBtn, resetCalibBtn, retrainingBtn, regulatoryBtn}) {
if (btn) {
connect(parent, SIGNAL(offroadTransition(bool)), btn, SLOT(setEnabled(bool)));
addItem(btn);
}
QObject::connect(parent, &SettingsWindow::offroadTransition, [=](bool offroad) {
for (auto btn : findChildren<ButtonControl *>()) {
btn->setEnabled(offroad);
}
});
// power buttons
QHBoxLayout *power_layout = new QHBoxLayout();
@ -183,46 +164,74 @@ DevicePanel::DevicePanel(QWidget* parent) : ListWidget(parent) {
QPushButton *reboot_btn = new QPushButton("Reboot");
reboot_btn->setObjectName("reboot_btn");
power_layout->addWidget(reboot_btn);
QObject::connect(reboot_btn, &QPushButton::clicked, [&]() {
QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
QPushButton *poweroff_btn = new QPushButton("Power Off");
poweroff_btn->setObjectName("poweroff_btn");
power_layout->addWidget(poweroff_btn);
QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);
setStyleSheet(R"(
QPushButton {
height: 120px;
border-radius: 15px;
}
#reboot_btn { background-color: #393939; }
#reboot_btn:pressed { background-color: #4a4a4a; }
#poweroff_btn { background-color: #E22C2C; }
#poweroff_btn:pressed { background-color: #FF2424; }
)");
addItem(power_layout);
}
void DevicePanel::updateCalibDescription() {
QString desc =
"openpilot requires the device to be mounted within 4° left or right and "
"within 5° up or down. openpilot is continuously calibrating, resetting is rarely required.";
std::string calib_bytes = Params().get("CalibrationParams");
if (!calib_bytes.empty()) {
try {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
if (calib.getCalStatus() != 0) {
double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
desc += QString(" Your device is pointed %1° %2 and %3° %4.")
.arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "up" : "down",
QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "right" : "left");
}
} catch (kj::Exception) {
qInfo() << "invalid CalibrationParams";
}
}
qobject_cast<ButtonControl *>(sender())->setDescription(desc);
}
void DevicePanel::reboot() {
if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) {
if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) {
// Check engaged again in case it changed while the dialog was open
if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) {
params.putBool("DoReboot", true);
Params().putBool("DoReboot", true);
}
}
} else {
ConfirmationDialog::alert("Disengage to Reboot", this);
}
});
}
QPushButton *poweroff_btn = new QPushButton("Power Off");
poweroff_btn->setObjectName("poweroff_btn");
power_layout->addWidget(poweroff_btn);
QObject::connect(poweroff_btn, &QPushButton::clicked, [&]() {
void DevicePanel::poweroff() {
if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) {
if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) {
// Check engaged again in case it changed while the dialog was open
if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) {
params.putBool("DoShutdown", true);
Params().putBool("DoShutdown", true);
}
}
} else {
ConfirmationDialog::alert("Disengage to Power Off", this);
}
});
setStyleSheet(R"(
QPushButton {
height: 120px;
border-radius: 15px;
}
#reboot_btn { background-color: #393939; }
#reboot_btn:pressed { background-color: #4a4a4a; }
#poweroff_btn { background-color: #E22C2C; }
#poweroff_btn:pressed { background-color: #FF2424; }
)");
addItem(power_layout);
}
SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {

7
selfdrive/ui/qt/offroad/settings.h
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@ -38,10 +38,15 @@ private:
class DevicePanel : public ListWidget {
Q_OBJECT
public:
explicit DevicePanel(QWidget* parent = nullptr);
explicit DevicePanel(SettingsWindow *parent);
signals:
void reviewTrainingGuide();
void showDriverView();
private slots:
void poweroff();
void reboot();
void updateCalibDescription();
};
class TogglesPanel : public ListWidget {

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