Revert "ui: show driver camera in popup on demand" (#34412)

Revert "ui: show driver camera in popup on demand (#33459)"

This reverts commit 5f3625436c.

Co-authored-by: Shane Smiskol <shane@smiskol.com>

selfdrive/ui/qt/home.cc

@@ -33,6 +33,11 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   body = new BodyWindow(this);
   slayout->addWidget(body);
 
+  driver_view = new DriverViewWindow(this);
+  connect(driver_view, &DriverViewWindow::done, [=] {
+    showDriverView(false);
+  });
+  slayout->addWidget(driver_view);
   setAttribute(Qt::WA_NoSystemBackground);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
@@ -63,6 +68,16 @@ void HomeWindow::offroadTransition(bool offroad) {
   }
 }
 
+void HomeWindow::showDriverView(bool show) {
+  if (show) {
+    emit closeSettings();
+    slayout->setCurrentWidget(driver_view);
+  } else {
+    slayout->setCurrentWidget(home);
+  }
+  sidebar->setVisible(show == false);
+}
+
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {

selfdrive/ui/qt/home.h

@@ -8,6 +8,7 @@
 #include <QWidget>
 
 #include "common/params.h"
+#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/sidebar.h"
@@ -52,6 +53,7 @@ signals:
 
 public slots:
   void offroadTransition(bool offroad);
+  void showDriverView(bool show);
   void showSidebar(bool show);
 
 protected:
@@ -63,6 +65,7 @@ private:
   OffroadHome *home;
   OnroadWindow *onroad;
   BodyWindow *body;
+  DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 
 private slots:

selfdrive/ui/qt/offroad/driverview.cc

@@ -6,6 +6,24 @@
 #include "selfdrive/ui/qt/util.h"
 
 DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
+  QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
+  QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
+    if (isVisible()) {
+      emit done();
+    }
+  });
+}
+
+void DriverViewWindow::showEvent(QShowEvent* event) {
+  params.putBool("IsDriverViewEnabled", true);
+  device()->resetInteractiveTimeout(60);
+  CameraWidget::showEvent(event);
+}
+
+void DriverViewWindow::hideEvent(QHideEvent* event) {
+  params.putBool("IsDriverViewEnabled", false);
+  stopVipcThread();
+  CameraWidget::hideEvent(event);
 }
 
 void DriverViewWindow::paintGL() {
@@ -62,20 +80,3 @@ mat4 DriverViewWindow::calcFrameMatrix() {
     0.0,  0.0, 0.0, 1.0,
   }};
 }
-
-DriverViewDialog::DriverViewDialog(QWidget *parent) : DialogBase(parent) {
-  Params().putBool("IsDriverViewEnabled", true);
-  device()->resetInteractiveTimeout(60);
-
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  auto camera = new DriverViewWindow(this);
-  main_layout->addWidget(camera);
-  QObject::connect(camera, &DriverViewWindow::clicked, this, &DialogBase::accept);
-  QObject::connect(device(), &Device::interactiveTimeout, this, &DialogBase::accept);
-}
-
-void DriverViewDialog::done(int r) {
-  Params().putBool("IsDriverViewEnabled", false);
-  QDialog::done(r);
-}

selfdrive/ui/qt/offroad/driverview.h

@@ -2,20 +2,22 @@
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
-#include "selfdrive/ui/qt/widgets/input.h"
 
 class DriverViewWindow : public CameraWidget {
   Q_OBJECT
+
 public:
   explicit DriverViewWindow(QWidget *parent);
-  void paintGL() override;
+
+signals:
+  void done();
+
+protected:
   mat4 calcFrameMatrix() override;
-  DriverMonitorRenderer driver_monitor;
-};
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void paintGL() override;
 
-class DriverViewDialog : public DialogBase {
-  Q_OBJECT
-public:
-  DriverViewDialog(QWidget *parent);
-  void done(int r) override;
+  Params params;
+  DriverMonitorRenderer driver_monitor;
 };

selfdrive/ui/qt/offroad/settings.cc

@@ -8,7 +8,6 @@
 
 #include "common/watchdog.h"
 #include "common/util.h"
-#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/network/networking.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
 #include "selfdrive/ui/qt/qt_window.h"
@@ -188,12 +187,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 
   auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
                                    tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
-  connect(dcamBtn, &ButtonControl::clicked, [this, dcamBtn]() {
-    dcamBtn->setEnabled(false);
-    DriverViewDialog driver_view(this);
-    driver_view.exec();
-    dcamBtn->setEnabled(true);
-  });
+  connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
   addItem(dcamBtn);
 
   auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
@@ -365,6 +359,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   // setup panels
   DevicePanel *device = new DevicePanel(this);
   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);

selfdrive/ui/qt/offroad/settings.h

@@ -28,6 +28,7 @@ protected:
 signals:
   void closeSettings();
   void reviewTrainingGuide();
+  void showDriverView();
   void expandToggleDescription(const QString &param);
 
 private:
@@ -44,6 +45,7 @@ public:
 
 signals:
   void reviewTrainingGuide();
+  void showDriverView();
 
 private slots:
   void poweroff();

selfdrive/ui/qt/window.cc

@@ -20,6 +20,9 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
     onboardingWindow->showTrainingGuide();
     main_layout->setCurrentWidget(onboardingWindow);
   });
+  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
+    homeWindow->showDriverView(true);
+  });
 
   onboardingWindow = new OnboardingWindow(this);
   main_layout->addWidget(onboardingWindow);