diff --git a/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf b/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf new file mode 100644 index 0000000000..a6ba5529af Binary files /dev/null and b/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf differ diff --git a/selfdrive/assets/img_couch.svg b/selfdrive/assets/img_couch.svg new file mode 100644 index 0000000000..5b3c048318 --- /dev/null +++ b/selfdrive/assets/img_couch.svg @@ -0,0 +1,3 @@ + + + diff --git a/selfdrive/assets/img_experimental.svg b/selfdrive/assets/img_experimental.svg new file mode 100644 index 0000000000..0eaec3b3cd --- /dev/null +++ b/selfdrive/assets/img_experimental.svg @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/selfdrive/assets/img_experimental_grey.svg b/selfdrive/assets/img_experimental_grey.svg new file mode 100644 index 0000000000..dc87105ac5 --- /dev/null +++ b/selfdrive/assets/img_experimental_grey.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/assets/img_experimental_white.svg b/selfdrive/assets/img_experimental_white.svg new file mode 100644 index 0000000000..ae4f18fde2 --- /dev/null +++ b/selfdrive/assets/img_experimental_white.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 84e055752a..669c214746 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -58,7 +58,7 @@ qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs) qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", - "qt/offroad/driverview.cc"] + "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('test'): qt_src.remove("main.cc") # replaced by test_runner diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 3fe00e6ed9..3f3c9a5885 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -4,6 +4,7 @@ #include #include +#include "selfdrive/ui/qt/offroad/experimental_mode.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/drive_stats.h" #include "selfdrive/ui/qt/widgets/prime.h" @@ -22,7 +23,8 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { slayout = new QStackedLayout(); main_layout->addLayout(slayout); - home = new OffroadHome(); + home = new OffroadHome(this); + QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings); slayout->addWidget(home); onroad = new OnroadWindow(this); @@ -128,11 +130,24 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { main_layout->addSpacing(25); center_layout = new QStackedLayout(); + // Vertical experimental button and drive stats layout + QWidget* statsAndExperimentalModeButtonWidget = new QWidget(this); + QVBoxLayout* statsAndExperimentalModeButton = new QVBoxLayout(statsAndExperimentalModeButtonWidget); + statsAndExperimentalModeButton->setSpacing(30); + statsAndExperimentalModeButton->setMargin(0); + + ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); + QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); + + statsAndExperimentalModeButton->addWidget(experimental_mode, 1); + statsAndExperimentalModeButton->addWidget(new DriveStats, 1); + + // Horizontal experimental + drive stats and setup widget QWidget* statsAndSetupWidget = new QWidget(this); QHBoxLayout* statsAndSetup = new QHBoxLayout(statsAndSetupWidget); statsAndSetup->setMargin(0); statsAndSetup->setSpacing(30); - statsAndSetup->addWidget(new DriveStats, 1); + statsAndSetup->addWidget(statsAndExperimentalModeButtonWidget, 1); statsAndSetup->addWidget(new SetupWidget); center_layout->addWidget(statsAndSetupWidget); diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h index 6636da56ec..ed1c215467 100644 --- a/selfdrive/ui/qt/home.h +++ b/selfdrive/ui/qt/home.h @@ -22,6 +22,9 @@ class OffroadHome : public QFrame { public: explicit OffroadHome(QWidget* parent = 0); +signals: + void openSettings(int index = 0, const QString ¶m = ""); + private: void showEvent(QShowEvent *event) override; void hideEvent(QHideEvent *event) override; @@ -45,7 +48,7 @@ public: explicit HomeWindow(QWidget* parent = 0); signals: - void openSettings(); + void openSettings(int index = 0, const QString ¶m = ""); void closeSettings(); public slots: diff --git a/selfdrive/ui/qt/offroad/experimental_mode.cc b/selfdrive/ui/qt/offroad/experimental_mode.cc new file mode 100644 index 0000000000..f73149cdf2 --- /dev/null +++ b/selfdrive/ui/qt/offroad/experimental_mode.cc @@ -0,0 +1,75 @@ +#include "selfdrive/ui/qt/offroad/experimental_mode.h" + +#include +#include +#include +#include + +#include "selfdrive/ui/ui.h" + +ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) { + chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation); + experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation); + + // go to toggles and expand experimental mode description + connect(this, &QPushButton::clicked, [=]() { emit openSettings(2, "ExperimentalMode"); }); + + setFixedHeight(125); + QHBoxLayout *main_layout = new QHBoxLayout; + main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0); + + mode_label = new QLabel; + mode_icon = new QLabel; + mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); + + main_layout->addWidget(mode_label, 1, Qt::AlignLeft); + main_layout->addWidget(mode_icon, 0, Qt::AlignRight); + + setLayout(main_layout); + + setStyleSheet(R"( + QPushButton { + border: none; + } + + QLabel { + font-size: 45px; + font-weight: 300; + text-align: left; + font-family: JetBrainsMono; + color: #000000; + } + )"); +} + +void ExperimentalModeButton::paintEvent(QPaintEvent *event) { + QPainter p(this); + p.setPen(Qt::NoPen); + p.setRenderHint(QPainter::Antialiasing); + + QPainterPath path; + path.addRoundedRect(rect(), 10, 10); + + // gradient + bool pressed = isDown(); + QLinearGradient gradient(rect().left(), 0, rect().right(), 0); + if (experimental_mode) { + gradient.setColorAt(0, QColor(255, 155, 63, pressed ? 0xcc : 0xff)); + gradient.setColorAt(1, QColor(219, 56, 34, pressed ? 0xcc : 0xff)); + } else { + gradient.setColorAt(0, QColor(20, 255, 171, pressed ? 0xcc : 0xff)); + gradient.setColorAt(1, QColor(35, 149, 255, pressed ? 0xcc : 0xff)); + } + p.fillPath(path, gradient); + + // vertical line + p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine)); + int line_x = rect().right() - img_width - (2 * horizontal_padding); + p.drawLine(line_x, rect().bottom(), line_x, rect().top()); +} + +void ExperimentalModeButton::showEvent(QShowEvent *event) { + experimental_mode = params.getBool("ExperimentalMode"); + mode_icon->setPixmap(experimental_mode ? experimental_pixmap : chill_pixmap); + mode_label->setText(experimental_mode ? tr("EXPERIMENTAL MODE ON") : tr("CHILL MODE ON")); +} diff --git a/selfdrive/ui/qt/offroad/experimental_mode.h b/selfdrive/ui/qt/offroad/experimental_mode.h new file mode 100644 index 0000000000..bfb7638bbe --- /dev/null +++ b/selfdrive/ui/qt/offroad/experimental_mode.h @@ -0,0 +1,31 @@ +#pragma once + +#include +#include + +#include "common/params.h" + +class ExperimentalModeButton : public QPushButton { + Q_OBJECT + +public: + explicit ExperimentalModeButton(QWidget* parent = 0); + +signals: + void openSettings(int index = 0, const QString &toggle = ""); + +private: + void showEvent(QShowEvent *event) override; + + Params params; + bool experimental_mode; + int img_width = 100; + int horizontal_padding = 30; + QPixmap experimental_pixmap; + QPixmap chill_pixmap; + QLabel *mode_label; + QLabel *mode_icon; + +protected: + void paintEvent(QPaintEvent *event) override; +}; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 85b09dc183..01cb0ea720 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -39,7 +39,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "ExperimentalMode", tr("Experimental Mode"), "", - "../assets/offroad/icon_road.png", + "../assets/img_experimental_white.svg", }, { "ExperimentalLongitudinalEnabled", @@ -100,6 +100,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { } // Toggles with confirmation dialogs + toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg"); toggles["ExperimentalMode"]->setConfirmation(true, true); toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false); @@ -108,6 +109,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { }); } +void TogglesPanel::expandToggleDescription(const QString ¶m) { + toggles[param.toStdString()]->showDescription(); +} + void TogglesPanel::showEvent(QShowEvent *event) { updateToggles(); } @@ -299,8 +304,15 @@ void DevicePanel::poweroff() { } void SettingsWindow::showEvent(QShowEvent *event) { - panel_widget->setCurrentIndex(0); - nav_btns->buttons()[0]->setChecked(true); + setCurrentPanel(0); +} + +void SettingsWindow::setCurrentPanel(int index, const QString ¶m) { + panel_widget->setCurrentIndex(index); + nav_btns->buttons()[index]->setChecked(true); + if (!param.isEmpty()) { + emit expandToggleDescription(param); + } } SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { @@ -341,10 +353,13 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide); QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView); + TogglesPanel *toggles = new TogglesPanel(this); + QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription); + QList> panels = { {tr("Device"), device}, {tr("Network"), new Networking(this)}, - {tr("Toggles"), new TogglesPanel(this)}, + {tr("Toggles"), toggles}, {tr("Software"), new SoftwarePanel(this)}, }; diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 4177f28cf4..c63be4e138 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -17,6 +17,7 @@ class SettingsWindow : public QFrame { public: explicit SettingsWindow(QWidget *parent = 0); + void setCurrentPanel(int index, const QString ¶m = ""); protected: void showEvent(QShowEvent *event) override; @@ -25,6 +26,7 @@ signals: void closeSettings(); void reviewTrainingGuide(); void showDriverView(); + void expandToggleDescription(const QString ¶m); private: QPushButton *sidebar_alert_widget; @@ -56,6 +58,9 @@ public: explicit TogglesPanel(SettingsWindow *parent); void showEvent(QShowEvent *event) override; +public slots: + void expandToggleDescription(const QString ¶m); + private: Params params; std::map toggles; diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index fcf29181e7..50f891dd56 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -174,6 +174,7 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par pm = std::make_unique>({"uiDebug"}); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); + experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size - 5, img_size - 5}); dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } @@ -378,8 +379,9 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { // engage-ability icon if (engageable) { + SubMaster &sm = *(uiState()->sm); drawIcon(p, rect().right() - radius / 2 - bdr_s * 2, radius / 2 + int(bdr_s * 1.5), - engage_img, bg_colors[status], 1.0); + sm["controlsState"].getControlsState().getExperimentalMode() ? experimental_img : engage_img, blackColor(166), 1.0); } // dm icon @@ -409,7 +411,7 @@ void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QB p.setBrush(bg); p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius); p.setOpacity(opacity); - p.drawPixmap(x - img_size / 2, y - img_size / 2, img); + p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 7edca6b3d5..9e18355970 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -51,6 +51,7 @@ private: void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); QPixmap engage_img; + QPixmap experimental_img; QPixmap dm_img; const int radius = 192; const int img_size = (radius / 2) * 1.5; diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index 53ad7467ac..fb96e1d540 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -20,7 +20,7 @@ public: explicit Sidebar(QWidget* parent = 0); signals: - void openSettings(); + void openSettings(int index = 0, const QString ¶m = ""); void valueChanged(); public slots: diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index 04ce15ef23..198b1edbf6 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -53,6 +53,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { QFontDatabase::addApplicationFont("../assets/fonts/Inter-Regular.ttf"); QFontDatabase::addApplicationFont("../assets/fonts/Inter-SemiBold.ttf"); QFontDatabase::addApplicationFont("../assets/fonts/Inter-Thin.ttf"); + QFontDatabase::addApplicationFont("../assets/fonts/JetBrainsMono-Medium.ttf"); // no outline to prevent the focus rectangle setStyleSheet(R"( @@ -64,8 +65,9 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { setAttribute(Qt::WA_NoSystemBackground); } -void MainWindow::openSettings() { +void MainWindow::openSettings(int index, const QString ¶m) { main_layout->setCurrentWidget(settingsWindow); + settingsWindow->setCurrentPanel(index, param); } void MainWindow::closeSettings() { diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h index 0bd328aa8a..71fc466c20 100644 --- a/selfdrive/ui/qt/window.h +++ b/selfdrive/ui/qt/window.h @@ -15,7 +15,7 @@ public: private: bool eventFilter(QObject *obj, QEvent *event) override; - void openSettings(); + void openSettings(int index = 0, const QString ¶m = ""); void closeSettings(); Device device; diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 21fdc48fef..963eeadd81 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -281,6 +281,17 @@ ｶﾒﾗを起動しています + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 57c688ffe6..9defc2c36f 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -281,6 +281,17 @@ 카메라 시작중 + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 2d7195e0d2..a1c966da45 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -281,6 +281,17 @@ câmera iniciando + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index fb9b6dd6f5..e77b3ef63d 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -281,6 +281,17 @@ 正在启动相机 + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 86d5482355..f667fdc978 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -281,6 +281,17 @@ 開啟相機中 + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog