From 043a309d67da9c4d4671303b370e04aa29cd115d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 3 May 2022 16:51:44 -0700
Subject: [PATCH] ui: new notcar battery design (#24412)

* ui: new notcar battery design

* if charging

* cleanup

* remove that

* slower

* real colors

* relative from left

* fix that
---
 selfdrive/ui/qt/body.cc    | 50 +++++++++++++++++++++++++++-----------
 selfdrive/ui/qt/body.h     |  4 ++-
 selfdrive/ui/tests/body.py | 22 +++++++++++++++++
 3 files changed, 61 insertions(+), 15 deletions(-)
 create mode 100755 selfdrive/ui/tests/body.py

diff --git a/selfdrive/ui/qt/body.cc b/selfdrive/ui/qt/body.cc
index a83d749577..da87a7485a 100644
--- a/selfdrive/ui/qt/body.cc
+++ b/selfdrive/ui/qt/body.cc
@@ -1,10 +1,11 @@
 #include "selfdrive/ui/qt/body.h"
 
 #include <cmath>
+#include <algorithm>
 
 #include <QPainter>
 
-BodyWindow::BodyWindow(QWidget *parent) : QLabel(parent) {
+BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QLabel(parent) {
   awake = new QMovie("../assets/body/awake.gif");
   awake->setCacheMode(QMovie::CacheAll);
   sleep = new QMovie("../assets/body/sleep.gif");
@@ -26,20 +27,40 @@ void BodyWindow::paintEvent(QPaintEvent *event) {
 
   QPainter p(this);
   p.setRenderHint(QPainter::Antialiasing);
+
+  p.translate(width() - 136, 16);
+
+  // battery outline + detail
+  const QColor gray = QColor("#737373");
+  p.setBrush(Qt::NoBrush);
+  p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
+  p.drawRoundedRect(2, 2, 78, 36, 8, 8);
+
   p.setPen(Qt::NoPen);
+  p.setBrush(gray);
+  p.drawRoundedRect(84, 12, 6, 16, 4, 4);
+  p.drawRect(84, 12, 3, 16);
 
-  // draw battery level
-  const int offset = 90;
-  const int radius = 60 / 2;
-  const int levels = 5;
-  const float interval = 1. / levels;
-  for (int i = 0; i < levels; i++) {
-    float level = 1.0 - (i+1)*interval;
-    float perc = (fuel >= level) ? 1.0 : 0.35;
-
-    p.setBrush(QColor(255, 255, 255, 255 * perc));
-    QPoint pt(width() - (i*offset + offset / 2), offset / 2);
-    p.drawEllipse(pt, radius, radius);
+  // battery level
+  double fuel = std::clamp(fuel_filter.x(), 0.2f, 1.0f);
+  const int m = 5; // manual margin since we can't do an inner border
+  p.setPen(Qt::NoPen);
+  p.setBrush(fuel > 0.25 ? QColor("#32D74B") : QColor("#FF453A"));
+  p.drawRoundedRect(2 + m, 2 + m, (78 - 2*m)*fuel, 36 - 2*m, 4, 4);
+
+  // charging status
+  if (charging) {
+    p.setPen(Qt::NoPen);
+    p.setBrush(Qt::white);
+    const QPolygonF charger({
+      QPointF(12.31, 0),
+      QPointF(12.31, 16.92),
+      QPointF(18.46, 16.92),
+      QPointF(6.15, 40),
+      QPointF(6.15, 23.08),
+      QPointF(0, 23.08),
+    });
+    p.drawPolygon(charger.translated(98, 0));
   }
 }
 
@@ -52,7 +73,8 @@ void BodyWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
   auto cs = sm["carState"].getCarState();
 
-  fuel = cs.getFuelGauge();
+  charging = cs.getCharging();
+  fuel_filter.update(cs.getFuelGauge());
 
   // TODO: use carState.standstill when that's fixed
   const bool standstill = std::abs(cs.getVEgo()) < 0.01;
diff --git a/selfdrive/ui/qt/body.h b/selfdrive/ui/qt/body.h
index c1138b8703..cf1ffa191f 100644
--- a/selfdrive/ui/qt/body.h
+++ b/selfdrive/ui/qt/body.h
@@ -3,6 +3,7 @@
 #include <QMovie>
 #include <QLabel>
 
+#include "selfdrive/common/util.h"
 #include "selfdrive/ui/ui.h"
 
 class BodyWindow : public QLabel {
@@ -12,7 +13,8 @@ public:
   BodyWindow(QWidget* parent = 0);
 
 private:
-  float fuel = 1.0;
+  bool charging = false;
+  FirstOrderFilter fuel_filter;
   QMovie *awake, *sleep;
   void paintEvent(QPaintEvent*) override;
 
diff --git a/selfdrive/ui/tests/body.py b/selfdrive/ui/tests/body.py
new file mode 100755
index 0000000000..c34e717eaf
--- /dev/null
+++ b/selfdrive/ui/tests/body.py
@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+import time
+import cereal.messaging as messaging
+
+if __name__ == "__main__":
+  while True:
+    pm = messaging.PubMaster(['carParams', 'carState'])
+    batt = 1.
+    while True:
+      msg = messaging.new_message('carParams')
+      msg.carParams.carName = "COMMA BODY"
+      msg.carParams.notCar = True
+      pm.send('carParams', msg)
+
+      for b in range(100, 0, -1):
+        msg = messaging.new_message('carState')
+        msg.carState.charging = True
+        msg.carState.fuelGauge = b / 100.
+        pm.send('carState', msg)
+        time.sleep(0.1)
+
+      time.sleep(1)