openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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4.9 KiB

#include "selfdrive/ui/qt/sidebar.h"
#include <QMouseEvent>
#include "selfdrive/ui/qt/util.h"
void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y) {
const QRect rect = {30, y, 240, 126};
p.setPen(Qt::NoPen);
p.setBrush(QBrush(c));
p.setClipRect(rect.x() + 4, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
p.drawRoundedRect(QRect(rect.x() + 4, rect.y() + 4, 100, 118), 18, 18);
p.setClipping(false);
QPen pen = QPen(QColor(0xff, 0xff, 0xff, 0x55));
pen.setWidth(2);
p.setPen(pen);
p.setBrush(Qt::NoBrush);
p.drawRoundedRect(rect, 20, 20);
p.setPen(QColor(0xff, 0xff, 0xff));
p.setFont(InterFont(35, QFont::DemiBold));
p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
}
Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
connect(this, &Sidebar::valueChanged, [=] { update(); });
setAttribute(Qt::WA_OpaquePaintEvent);
setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
setFixedWidth(300);
QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
pm = std::make_unique<PubMaster>(std::vector<const char*>{"userFlag"});
}
void Sidebar::mousePressEvent(QMouseEvent *event) {
if (onroad && home_btn.contains(event->pos())) {
flag_pressed = true;
update();
} else if (settings_btn.contains(event->pos())) {
settings_pressed = true;
update();
}
}
void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
if (flag_pressed || settings_pressed) {
flag_pressed = settings_pressed = false;
update();
}
if (onroad && home_btn.contains(event->pos())) {
MessageBuilder msg;
msg.initEvent().initUserFlag();
pm->send("userFlag", msg);
} else if (settings_btn.contains(event->pos())) {
emit openSettings();
}
}
void Sidebar::offroadTransition(bool offroad) {
onroad = !offroad;
update();
}
void Sidebar::updateState(const UIState &s) {
if (!isVisible()) return;
auto &sm = *(s.sm);
networking = networking ? networking : window()->findChild<Networking *>("");
bool tethering_on = networking && networking->wifi->tethering_on;
auto deviceState = sm["deviceState"].getDeviceState();
setProperty("netType", tethering_on ? "Hotspot": network_type[deviceState.getNetworkType()]);
int strength = tethering_on ? 4 : (int)deviceState.getNetworkStrength();
setProperty("netStrength", strength > 0 ? strength + 1 : 0);
ItemStatus connectStatus;
auto last_ping = deviceState.getLastAthenaPingTime();
if (last_ping == 0) {
connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
} else {
connectStatus = nanos_since_boot() - last_ping < 80e9
? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color}
: ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color};
}
setProperty("connectStatus", QVariant::fromValue(connectStatus));
ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color};
auto ts = deviceState.getThermalStatus();
if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color};
} else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
tempStatus = {{tr("TEMP"), tr("OK")}, warning_color};
}
setProperty("tempStatus", QVariant::fromValue(tempStatus));
ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
}
setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
}
void Sidebar::paintEvent(QPaintEvent *event) {
QPainter p(this);
p.setPen(Qt::NoPen);
p.setRenderHint(QPainter::Antialiasing);
p.fillRect(rect(), QColor(57, 57, 57));
// buttons
p.setOpacity(settings_pressed ? 0.65 : 1.0);
p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img);
p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0);
p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img);
p.setOpacity(1.0);
// network
int x = 58;
const QColor gray(0x54, 0x54, 0x54);
for (int i = 0; i < 5; ++i) {
p.setBrush(i < net_strength ? Qt::white : gray);
p.drawEllipse(x, 196, 27, 27);
x += 37;
}
p.setFont(InterFont(35));
p.setPen(QColor(0xff, 0xff, 0xff));
const QRect r = QRect(58, 247, width() - 100, 50);
p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
// metrics
drawMetric(p, temp_status.first, temp_status.second, 338);
drawMetric(p, panda_status.first, panda_status.second, 496);
drawMetric(p, connect_status.first, connect_status.second, 654);
}