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50 lines
1.4 KiB
50 lines
1.4 KiB
#include <QApplication>
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#include <QtWidgets>
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#include <QTimer>
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/ui/ui.h"
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#include "selfdrive/ui/qt/qt_window.h"
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int main(int argc, char *argv[]) {
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QApplication a(argc, argv);
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QWidget w;
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setMainWindow(&w);
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w.setStyleSheet("background-color: black;");
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// our beautiful UI
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QVBoxLayout *layout = new QVBoxLayout(&w);
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QLabel *label = new QLabel("〇");
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layout->addWidget(label, 0, Qt::AlignCenter);
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QTimer timer;
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QObject::connect(&timer, &QTimer::timeout, [=]() {
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static SubMaster sm({"deviceState", "controlsState"});
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bool onroad_prev = sm.allAliveAndValid({"deviceState"}) &&
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sm["deviceState"].getDeviceState().getStarted();
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sm.update(0);
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bool onroad = sm.allAliveAndValid({"deviceState"}) &&
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sm["deviceState"].getDeviceState().getStarted();
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if (onroad) {
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label->setText("〇");
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auto cs = sm["controlsState"].getControlsState();
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UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
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label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name()));
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} else {
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label->setText("offroad");
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label->setStyleSheet("color: grey; font-size: 40px;");
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}
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if ((onroad != onroad_prev) || sm.frame < 2) {
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Hardware::set_brightness(50);
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Hardware::set_display_power(onroad);
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}
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});
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timer.start(50);
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return a.exec();
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}
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