UI: double click to switch between body and onroad views (#24214)

* UI: double click to switch between body and onroad views

* fix that

* Update selfdrive/ui/qt/home.cc

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 639255bd10

selfdrive/ui/qt/body.cc

@@ -14,6 +14,8 @@ BodyWindow::BodyWindow(QWidget *parent) : QLabel(parent) {
 
   setAlignment(Qt::AlignCenter);
 
+  setAttribute(Qt::WA_TransparentForMouseEvents, true);
+
   QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
 }
 

selfdrive/ui/qt/home.cc

@@ -32,6 +32,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
 
   body = new BodyWindow(this);
   slayout->addWidget(body);
+  body->setEnabled(false);
 
   driver_view = new DriverViewWindow(this);
   connect(driver_view, &DriverViewWindow::done, [=] {
@@ -51,7 +52,8 @@ void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
   // switch to the generic robot UI
-  if (onroad->isVisible() && sm["carParams"].getCarParams().getNotCar()) {
+  if (onroad->isVisible() && !body->isEnabled() && sm["carParams"].getCarParams().getNotCar()) {
+    body->setEnabled(true);
     slayout->setCurrentWidget(body);
   }
 }
@@ -82,6 +84,17 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
   }
 }
 
+void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
+  const SubMaster &sm = *(uiState()->sm);
+  if (sm["carParams"].getCarParams().getNotCar()) {
+    if (onroad->isVisible()) {
+      slayout->setCurrentWidget(body);
+    } else if (body->isVisible()) {
+      slayout->setCurrentWidget(onroad);
+    }
+  }
+}
+
 // OffroadHome: the offroad home page
 
 OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {

selfdrive/ui/qt/home.h

@@ -51,6 +51,7 @@ public slots:
 
 protected:
   void mousePressEvent(QMouseEvent* e) override;
+  void mouseDoubleClickEvent(QMouseEvent* e) override;
 
 private:
   Sidebar *sidebar;