body: opt-in logging (#24416)

old-commit-hash: 670126cbf1

selfdrive/common/params.cc

@@ -103,6 +103,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"EnableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"EnableWideCamera", CLEAR_ON_MANAGER_START},
     {"EndToEndToggle", PERSISTENT},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},

selfdrive/manager/process_config.py

@@ -13,6 +13,9 @@ def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
 def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
   return CP.notCar
 
+def logging(started, params, CP: car.CarParams) -> bool:
+  run = (not CP.notCar) or params.get_bool("EnableLogging")
+  return started and run
 
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
@@ -21,7 +24,7 @@ procs = [
   NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]),
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
   NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
-  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"]),
+  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
   NativeProcess("navd", "selfdrive/ui/navd", ["./navd"], offroad=True),
   NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),

selfdrive/ui/qt/body.cc

@@ -4,33 +4,81 @@
 #include <algorithm>
 
 #include <QPainter>
+#include <QStackedLayout>
 
-BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QLabel(parent) {
+#include "selfdrive/common/params.h"
+
+RecordButton::RecordButton(QWidget *parent) : QPushButton(parent) {
+  setCheckable(true);
+  setChecked(false);
+  setFixedSize(148, 148);
+}
+
+void RecordButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  QPoint center(width() / 2, height() / 2);
+
+  QColor bg(isChecked() ? "#FFFFFF" : "#404040");
+  QColor accent(isChecked() ? "#FF0000" : "#FFFFFF");
+  if (isDown()) {
+    accent.setAlphaF(0.7);
+  }
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(bg);
+  p.drawEllipse(center, 74, 74);
+
+  p.setPen(QPen(accent, 6));
+  p.setBrush(Qt::NoBrush);
+  p.drawEllipse(center, 42, 42);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(accent);
+  p.drawEllipse(center, 22, 22);
+}
+
+
+BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) {
+  QStackedLayout *layout = new QStackedLayout(this);
+  layout->setStackingMode(QStackedLayout::StackAll);
+
+  QWidget *w = new QWidget;
+  QVBoxLayout *vlayout = new QVBoxLayout(w);
+  vlayout->setMargin(45);
+  layout->addWidget(w);
+
+  // face
+  face = new QLabel();
+  face->setAlignment(Qt::AlignCenter);
+  layout->addWidget(face);
   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);
-
-  setAttribute(Qt::WA_TransparentForMouseEvents, true);
+  // record button
+  btn = new RecordButton(this);
+  vlayout->addWidget(btn, 0, Qt::AlignBottom | Qt::AlignRight);
+  QObject::connect(btn, &QPushButton::clicked, [=](bool checked) {
+    Params().putBool("EnableLogging", checked);
+  });
+  w->raise();
 
   QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
 }
 
 void BodyWindow::paintEvent(QPaintEvent *event) {
-  QLabel::paintEvent(event);
+  //QLabel::paintEvent(event);
 
   QPainter p(this);
   p.setRenderHint(QPainter::Antialiasing);
 
-  p.translate(width() - 136, 16);
+  p.fillRect(rect(), QColor(0, 0, 0));
 
   // battery outline + detail
+  p.translate(width() - 136, 16);
   const QColor gray = QColor("#737373");
   p.setBrush(Qt::NoBrush);
   p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
@@ -79,9 +127,9 @@ void BodyWindow::updateState(const UIState &s) {
   // TODO: use carState.standstill when that's fixed
   const bool standstill = std::abs(cs.getVEgo()) < 0.01;
   QMovie *m = standstill ? sleep : awake;
-  if (m != movie()) {
-    setMovie(m);
-    movie()->start();
+  if (m != face->movie()) {
+    face->setMovie(m);
+    face->movie()->start();
   }
 
   update();

selfdrive/ui/qt/body.h

@@ -2,11 +2,22 @@
 
 #include <QMovie>
 #include <QLabel>
+#include <QPushButton>
 
 #include "selfdrive/common/util.h"
 #include "selfdrive/ui/ui.h"
 
-class BodyWindow : public QLabel {
+class RecordButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  RecordButton(QWidget* parent = 0);
+
+private:
+  void paintEvent(QPaintEvent*) override;
+};
+
+class BodyWindow : public QWidget {
   Q_OBJECT
 
 public:
@@ -15,7 +26,9 @@ public:
 private:
   bool charging = false;
   FirstOrderFilter fuel_filter;
+  QLabel *face;
   QMovie *awake, *sleep;
+  RecordButton *btn;
   void paintEvent(QPaintEvent*) override;
 
 private slots: