match nvg onroad alerts (#20854)

selfdrive/ui/qt/home.cc

@@ -46,6 +46,7 @@ void HomeWindow::offroadTransition(bool offroad) {
     slayout->setCurrentWidget(onroad);
   }
   sidebar->setVisible(offroad);
+  emit offroadTransitionSignal(offroad);
 }
 
 void HomeWindow::mousePressEvent(QMouseEvent* e) {

selfdrive/ui/qt/onroad.cc

@@ -5,7 +5,7 @@
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/timing.h"
 #include "selfdrive/ui/paint.h"
-#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/util.h"
 
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   layout = new QStackedLayout();
@@ -17,76 +17,44 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   QObject::connect(this, &OnroadWindow::update, nvg, &NvgWindow::update);
 
   alerts = new OnroadAlerts(this);
-  QObject::connect(this, &OnroadWindow::update, alerts, &OnroadAlerts::update);
+  QObject::connect(this, &OnroadWindow::update, alerts, &OnroadAlerts::updateState);
   QObject::connect(this, &OnroadWindow::offroadTransition, alerts, &OnroadAlerts::offroadTransition);
+  layout->addWidget(alerts);
 
-  // hack to align the onroad alerts, better way to do this?
+  // setup stacking order
-  QVBoxLayout *alerts_container = new QVBoxLayout(this);
+  alerts->raise();
-  alerts_container->setMargin(0);
-  alerts_container->addStretch(1);
-  alerts_container->addWidget(alerts, 0, Qt::AlignBottom);
-  QWidget *w = new QWidget(this);
-  w->setLayout(alerts_container);
-
-  layout->addWidget(w);
-
-  // alerts on top
-  layout->setCurrentWidget(w);
 
   setLayout(layout);
 }
 
 // ***** onroad widgets *****
 
-OnroadAlerts::OnroadAlerts(QWidget *parent) : QFrame(parent) {
+OnroadAlerts::OnroadAlerts(QWidget *parent) : QWidget(parent) {
-  layout = new QVBoxLayout(this);
-  layout->setSpacing(40);
-  layout->setMargin(20);
-
-  title = new QLabel();
-  title->setWordWrap(true);
-  title->setAlignment(Qt::AlignCenter);
-  layout->addWidget(title);
-
-  msg = new QLabel();
-  msg->setWordWrap(true);
-  msg->setAlignment(Qt::AlignCenter);
-  layout->addWidget(msg);
-
-  layout->addStretch(1);
-  layout->insertStretch(0, 1);
-
-  setLayout(layout);
-  setStyleSheet("color: white;");
-  setVisible(false);
-
-  // setup sounds
   for (auto &kv : sound_map) {
     auto path = QUrl::fromLocalFile(kv.second.first);
     sounds[kv.first].setSource(path);
   }
 }
 
-void OnroadAlerts::update(const UIState &s) {
+void OnroadAlerts::updateState(const UIState &s) {
   SubMaster &sm = *(s.sm);
   if (sm.updated("carState")) {
     // scale volume with speed
     volume = util::map_val(sm["carState"].getCarState().getVEgo(), 0.f, 20.f,
                            Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
   }
+  if (s.scene.deviceState.getStarted()) {
     if (sm.updated("controlsState")) {
       const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
       updateAlert(QString::fromStdString(cs.getAlertText1()), QString::fromStdString(cs.getAlertText2()),
                   cs.getAlertBlinkingRate(), cs.getAlertType(), cs.getAlertSize(), cs.getAlertSound());
-  } else {
+    } else if ((sm.frame - s.scene.started_frame) > 10 * UI_FREQ) {
       // Handle controls timeout
-    if (s.scene.deviceState.getStarted() && (sm.frame - s.scene.started_frame) > 10 * UI_FREQ) {
+      if (sm.rcv_frame("controlsState") < s.scene.started_frame) {
-      const uint64_t cs_frame = sm.rcv_frame("controlsState");
-      if (cs_frame < s.scene.started_frame) {
         // car is started, but controlsState hasn't been seen at all
         updateAlert("openpilot Unavailable", "Waiting for controls to start", 0,
                     "controlsWaiting", cereal::ControlsState::AlertSize::MID, AudibleAlert::NONE);
-      } else if ((sm.frame - cs_frame) > 5 * UI_FREQ) {
+      } else if ((sm.frame - sm.rcv_frame("controlsState")) > 5 * UI_FREQ) {
         // car is started, but controls is lagging or died
         updateAlert("TAKE CONTROL IMMEDIATELY", "Controls Unresponsive", 0,
                     "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL, AudibleAlert::CHIME_WARNING_REPEAT);
@@ -97,23 +65,19 @@ void OnroadAlerts::update(const UIState &s) {
     }
   }
 
-  if (isVisible()) {
+  // TODO: add blinking back if performant
+  //float alpha = 0.375 * cos((millis_since_boot() / 1000) * 2 * M_PI * blinking_rate) + 0.625;
   auto c = bg_colors[s.status];
-    float alpha = 0.375 * cos((millis_since_boot() / 1000) * 2 * M_PI * blinking_rate) + 0.625;
+  bg.setRgbF(c.r, c.g, c.b, c.a);
-    bg.setRgb(c.r*255, c.g*255, c.b*255, c.a*alpha*255);
-  }
 }
 
 void OnroadAlerts::offroadTransition(bool offroad) {
-  stopSounds();
+  updateAlert("", "", 0, "", cereal::ControlsState::AlertSize::NONE, AudibleAlert::NONE);
-  setVisible(false);
-  alert_type = "";
 }
 
-void OnroadAlerts::updateAlert(const QString &text1, const QString &text2, float blink_rate,
+void OnroadAlerts::updateAlert(const QString &t1, const QString &t2, float blink_rate,
                                const std::string &type, cereal::ControlsState::AlertSize size, AudibleAlert sound) {
-
+  if (alert_type.compare(type) == 0 && text1.compare(t1) == 0) {
-  if (alert_type.compare(type) == 0) {
     return;
   }
 
@@ -122,28 +86,13 @@ void OnroadAlerts::updateAlert(const QString &text1, const QString &text2, float
     playSound(sound);
   }
 
+  text1 = t1;
+  text2 = t2;
   alert_type = type;
+  alert_size = size;
   blinking_rate = blink_rate;
-  title->setText(text1);
+
-  msg->setText(text2);
+  update();
-  msg->setVisible(!msg->text().isEmpty());
-
-  if (size == cereal::ControlsState::AlertSize::SMALL) {
-    setFixedHeight(241);
-    title->setStyleSheet("font-size: 70px; font-weight: 500;");
-  } else if (size == cereal::ControlsState::AlertSize::MID) {
-    setFixedHeight(390);
-    msg->setStyleSheet("font-size: 65px; font-weight: 400;");
-    title->setStyleSheet("font-size: 80px; font-weight: 500;");
-  } else if (size == cereal::ControlsState::AlertSize::FULL) {
-    setFixedHeight(vwp_h);
-    int title_size = (title->text().size() > 15) ? 130 : 110;
-    title->setStyleSheet(QString("font-size: %1px; font-weight: 500;").arg(title_size));
-    msg->setStyleSheet("font-size: 90px; font-weight: 400;");
-  }
-
-  setVisible(size != cereal::ControlsState::AlertSize::NONE);
-  repaint();
 }
 
 void OnroadAlerts::playSound(AudibleAlert alert) {
@@ -164,9 +113,57 @@ void OnroadAlerts::stopSounds() {
 
 void OnroadAlerts::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  p.setBrush(QBrush(bg));
+
+  static std::map<cereal::ControlsState::AlertSize, const int> alert_sizes = {
+    {cereal::ControlsState::AlertSize::NONE, 0},
+    {cereal::ControlsState::AlertSize::SMALL, 271},
+    {cereal::ControlsState::AlertSize::MID, 420},
+    {cereal::ControlsState::AlertSize::FULL, height()},
+  };
+  int h = alert_sizes[alert_size];
+  if (h == 0) {
+    return;
+  }
+
+  QRect r = QRect(0, height() - h, width(), h);
+
+  // draw background + gradient
   p.setPen(Qt::NoPen);
-  p.drawRect(rect());
+  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
+
+  p.setBrush(QBrush(bg));
+  p.drawRect(r);
+
+  QLinearGradient g(0, r.y(), 0, r.bottom());
+  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
+  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
+  p.setBrush(QBrush(g));
+  p.fillRect(r, g);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+
+  // remove bottom border
+  r = QRect(0, height() - h, width(), h - 30);
+
+  // text
+  const QPoint c = r.center();
+  p.setPen(QColor(0xff, 0xff, 0xff));
+  p.setRenderHint(QPainter::TextAntialiasing);
+  if (alert_size == cereal::ControlsState::AlertSize::SMALL) {
+    configFont(p, "Open Sans", 74, "SemiBold");
+    p.drawText(r, Qt::AlignCenter, text1);
+  } else if (alert_size == cereal::ControlsState::AlertSize::MID) {
+    configFont(p, "Open Sans", 88, "Bold");
+    p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, text1);
+    configFont(p, "Open Sans", 66, "Regular");
+    p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, text2);
+  } else if (alert_size == cereal::ControlsState::AlertSize::FULL) {
+    // TODO: offset from center to match old NVG UI, but why was it this way?
+    bool l = text1.length() > 15;
+    configFont(p, "Open Sans", l ? 132 : 177, "Bold");
+    p.drawText(QRect(0, r.y() + (l ? 240 : 270), width() - 60, 350), Qt::AlignHCenter | Qt::TextWordWrap, text1);
+    configFont(p, "Open Sans", 88, "Regular");
+    p.drawText(QRect(0, r.height() - (l ? 361 : 420), width() - 60, 300), Qt::AlignHCenter | Qt::TextWordWrap, text2);
+  }
 }
 
 NvgWindow::~NvgWindow() {

selfdrive/ui/qt/onroad.h

@@ -8,12 +8,13 @@
 #include "cereal/gen/cpp/log.capnp.h"
 #include "selfdrive/hardware/hw.h"
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/qt_window.h"
 
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
 // ***** onroad widgets *****
 
-class OnroadAlerts : public QFrame {
+class OnroadAlerts : public QWidget {
   Q_OBJECT
 
 public:
@@ -23,14 +24,11 @@ protected:
   void paintEvent(QPaintEvent*) override;
 
 private:
-  QColor bg;
+  void stopSounds();
-  QLabel *title, *msg;
+  void playSound(AudibleAlert alert);
-  QVBoxLayout *layout;
+  void updateAlert(const QString &t1, const QString &t2, float blink_rate,
-
-  void updateAlert(const QString &text1, const QString &text2, float blink_rate,
                    const std::string &type, cereal::ControlsState::AlertSize size, AudibleAlert sound);
 
-  // sounds
   std::map<AudibleAlert, std::pair<QString, bool>> sound_map {
     // AudibleAlert, (file path, inf loop)
     {AudibleAlert::CHIME_DISENGAGE, {"../assets/sounds/disengaged.wav", false}},
@@ -42,16 +40,17 @@ private:
     {AudibleAlert::CHIME_ERROR, {"../assets/sounds/error.wav", false}},
     {AudibleAlert::CHIME_PROMPT, {"../assets/sounds/error.wav", false}}
   };
+
+  QColor bg;
   float volume = Hardware::MIN_VOLUME;
+  std::map<AudibleAlert, QSoundEffect> sounds;
   float blinking_rate = 0;
+  QString text1, text2;
   std::string alert_type;
-  std::map<AudibleAlert, QSoundEffect> sounds;
+  cereal::ControlsState::AlertSize alert_size;
-
-  void playSound(AudibleAlert alert);
-  void stopSounds();
 
 public slots:
-  void update(const UIState &s);
+  void updateState(const UIState &s);
   void offroadTransition(bool offroad);
 };
 

selfdrive/ui/qt/sidebar.cc

@@ -3,13 +3,7 @@
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
-
+#include "selfdrive/ui/qt/util.h"
-void configFont(QPainter &p, QString family, int size, int weight) {
-  QFont f(family);
-  f.setPixelSize(size);
-  f.setWeight(weight);
-  p.setFont(f);
-}
 
 void Sidebar::drawMetric(QPainter &p, const QString &label, const QString &val, QColor c, int y) {
   const QRect rect = {30, y, 240, val.isEmpty() ? (label.contains("\n") ? 124 : 100) : 148};
@@ -28,13 +22,13 @@ void Sidebar::drawMetric(QPainter &p, const QString &label, const QString &val,
 
   p.setPen(QColor(0xff, 0xff, 0xff));
   if (val.isEmpty()) {
-    configFont(p, "Open Sans", 35, 500);
+    configFont(p, "Open Sans", 35, "Bold");
     const QRect r = QRect(rect.x() + 35, rect.y(), rect.width() - 50, rect.height());
     p.drawText(r, Qt::AlignCenter, label);
   } else {
-    configFont(p, "Open Sans", 58, 500);
+    configFont(p, "Open Sans", 58, "Bold");
     p.drawText(rect.x() + 50, rect.y() + 71, val);
-    configFont(p, "Open Sans", 35, 400);
+    configFont(p, "Open Sans", 35, "Regular");
     p.drawText(rect.x() + 50, rect.y() + 50 + 77, label);
   }
 }
@@ -107,7 +101,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
 
   // network
   p.drawImage(58, 196, signal_imgs[strength]);
-  configFont(p, "Open Sans", 35, 400);
+  configFont(p, "Open Sans", 35, "Regular");
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(50, 247, 100, 50);
   p.drawText(r, Qt::AlignCenter, network_type[net_type]);

selfdrive/ui/qt/util.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include <QtWidgets>
+
+inline void configFont(QPainter &p, QString family, int size, const QString &style) {
+  QFont f(family);
+  f.setPixelSize(size);
+  f.setStyleName(style);
+  p.setFont(f);
+}

selfdrive/ui/ui.cc

@@ -305,7 +305,7 @@ void QUIState::update() {
   update_status(&ui_state);
   update_vision(&ui_state);
 
-  if (ui_state.scene.started != started_prev) {
+  if (ui_state.scene.started != started_prev || ui_state.sm->frame == 1) {
     started_prev = ui_state.scene.started;
     emit offroadTransition(!ui_state.scene.started);