ui/onroad: split into multiple files (#32059)

old-commit-hash: c1b059de1e

release/files_common

@@ -280,6 +280,8 @@ selfdrive/ui/qt/network/*.h
 selfdrive/ui/qt/offroad/*.cc
 selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
+selfdrive/ui/qt/onroad/*.cc
+selfdrive/ui/qt/onroad/*.h
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
 selfdrive/ui/qt/maps/*.cc

selfdrive/ui/SConscript

@@ -36,10 +36,12 @@ widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
 
-qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
+qt_src = ["main.cc", "qt/sidebar.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/experimental_mode.cc"]
+          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
+          "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc"]
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:

selfdrive/ui/qt/home.h

@@ -10,7 +10,7 @@
 #include "common/params.h"
 #include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/onroad.h"
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/sidebar.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"

selfdrive/ui/qt/onroad.h

@@ -1,162 +0,0 @@
-#pragma once
-
-#include <memory>
-
-#include <QPushButton>
-#include <QStackedLayout>
-#include <QWidget>
-
-#include "common/util.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/widgets/cameraview.h"
-
-
-const int btn_size = 192;
-const int img_size = (btn_size / 4) * 3;
-
-
-// ***** onroad widgets *****
-class OnroadAlerts : public QWidget {
-  Q_OBJECT
-
-public:
-  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
-  void updateState(const UIState &s);
-  void clear();
-
-protected:
-  struct Alert {
-    QString text1;
-    QString text2;
-    QString type;
-    cereal::ControlsState::AlertSize size;
-    cereal::ControlsState::AlertStatus status;
-
-    bool equal(const Alert &other) const {
-      return text1 == other.text1 && other.text2 == other.text2 && type == other.type;
-    }
-  };
-
-  const QMap<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
-    {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
-    {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
-    {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
-  };
-
-  void paintEvent(QPaintEvent*) override;
-  OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame);
-
-  QColor bg;
-  Alert alert = {};
-};
-
-class ExperimentalButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  explicit ExperimentalButton(QWidget *parent = 0);
-  void updateState(const UIState &s);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  void changeMode();
-
-  Params params;
-  QPixmap engage_img;
-  QPixmap experimental_img;
-  bool experimental_mode;
-  bool engageable;
-};
-
-
-class MapSettingsButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  explicit MapSettingsButton(QWidget *parent = 0);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-
-  QPixmap settings_img;
-};
-
-// container window for the NVG UI
-class AnnotatedCameraWidget : public CameraWidget {
-  Q_OBJECT
-
-public:
-  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
-  void updateState(const UIState &s);
-
-  MapSettingsButton *map_settings_btn;
-
-private:
-  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
-
-  QVBoxLayout *main_layout;
-  ExperimentalButton *experimental_btn;
-  QPixmap dm_img;
-  float speed;
-  QString speedUnit;
-  float setSpeed;
-  float speedLimit;
-  bool is_cruise_set = false;
-  bool is_metric = false;
-  bool dmActive = false;
-  bool hideBottomIcons = false;
-  bool rightHandDM = false;
-  float dm_fade_state = 1.0;
-  bool has_us_speed_limit = false;
-  bool has_eu_speed_limit = false;
-  bool v_ego_cluster_seen = false;
-  int status = STATUS_DISENGAGED;
-  std::unique_ptr<PubMaster> pm;
-
-  int skip_frame_count = 0;
-  bool wide_cam_requested = false;
-
-protected:
-  void paintGL() override;
-  void initializeGL() override;
-  void showEvent(QShowEvent *event) override;
-  void updateFrameMat() override;
-  void drawLaneLines(QPainter &painter, const UIState *s);
-  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
-  void drawHud(QPainter &p);
-  void drawDriverState(QPainter &painter, const UIState *s);
-  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
-  inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
-  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
-
-  double prev_draw_t = 0;
-  FirstOrderFilter fps_filter;
-};
-
-// container for all onroad widgets
-class OnroadWindow : public QWidget {
-  Q_OBJECT
-
-public:
-  OnroadWindow(QWidget* parent = 0);
-  bool isMapVisible() const { return map && map->isVisible(); }
-  void showMapPanel(bool show) { if (map) map->setVisible(show); }
-
-signals:
-  void mapPanelRequested();
-
-private:
-  void createMapWidget();
-  void paintEvent(QPaintEvent *event);
-  void mousePressEvent(QMouseEvent* e) override;
-  OnroadAlerts *alerts;
-  AnnotatedCameraWidget *nvg;
-  QColor bg = bg_colors[STATUS_DISENGAGED];
-  QWidget *map = nullptr;
-  QHBoxLayout* split;
-
-private slots:
-  void offroadTransition(bool offroad);
-  void primeChanged(bool prime);
-  void updateState(const UIState &s);
-};

selfdrive/ui/qt/onroad/alerts.cc

@@ -0,0 +1,112 @@
+#include "selfdrive/ui/qt/onroad/alerts.h"
+
+#include <QPainter>
+#include <map>
+
+#include "selfdrive/ui/qt/util.h"
+
+void OnroadAlerts::updateState(const UIState &s) {
+  Alert a = getAlert(*(s.sm), s.scene.started_frame);
+  if (!alert.equal(a)) {
+    alert = a;
+    update();
+  }
+}
+
+void OnroadAlerts::clear() {
+  alert = {};
+  update();
+}
+
+OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
+  const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
+  const uint64_t controls_frame = sm.rcv_frame("controlsState");
+
+  Alert a = {};
+  if (controls_frame >= started_frame) {  // Don't get old alert.
+    a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
+         cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()};
+  }
+
+  if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
+    const int CONTROLS_TIMEOUT = 5;
+    const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
+
+    // Handle controls timeout
+    if (controls_frame < started_frame) {
+      // car is started, but controlsState hasn't been seen at all
+      a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"),
+           "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+           cereal::ControlsState::AlertStatus::NORMAL};
+    } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
+      // car is started, but controls is lagging or died
+      if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
+        a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"),
+             "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+             cereal::ControlsState::AlertStatus::CRITICAL};
+      } else {
+        a = {tr("Controls Unresponsive"), tr("Reboot Device"),
+             "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
+             cereal::ControlsState::AlertStatus::NORMAL};
+      }
+    }
+  }
+  return a;
+}
+
+void OnroadAlerts::paintEvent(QPaintEvent *event) {
+  if (alert.size == cereal::ControlsState::AlertSize::NONE) {
+    return;
+  }
+  static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
+    {cereal::ControlsState::AlertSize::SMALL, 271},
+    {cereal::ControlsState::AlertSize::MID, 420},
+    {cereal::ControlsState::AlertSize::FULL, height()},
+  };
+  int h = alert_heights[alert.size];
+
+  int margin = 40;
+  int radius = 30;
+  if (alert.size == cereal::ControlsState::AlertSize::FULL) {
+    margin = 0;
+    radius = 0;
+  }
+  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
+
+  QPainter p(this);
+
+  // draw background + gradient
+  p.setPen(Qt::NoPen);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+  p.setBrush(QBrush(alert_colors[alert.status]));
+  p.drawRoundedRect(r, radius, radius);
+
+  QLinearGradient g(0, r.y(), 0, r.bottom());
+  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
+  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
+
+  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
+  p.setBrush(QBrush(g));
+  p.drawRoundedRect(r, radius, radius);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+
+  // text
+  const QPoint c = r.center();
+  p.setPen(QColor(0xff, 0xff, 0xff));
+  p.setRenderHint(QPainter::TextAntialiasing);
+  if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
+    p.setFont(InterFont(74, QFont::DemiBold));
+    p.drawText(r, Qt::AlignCenter, alert.text1);
+  } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
+    p.setFont(InterFont(88, QFont::Bold));
+    p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
+    p.setFont(InterFont(66));
+    p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
+  } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
+    bool l = alert.text1.length() > 15;
+    p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
+    p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
+    p.setFont(InterFont(88));
+    p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
+  }
+}

selfdrive/ui/qt/onroad/alerts.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include <QWidget>
+
+#include "selfdrive/ui/ui.h"
+
+class OnroadAlerts : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
+  void updateState(const UIState &s);
+  void clear();
+
+protected:
+  struct Alert {
+    QString text1;
+    QString text2;
+    QString type;
+    cereal::ControlsState::AlertSize size;
+    cereal::ControlsState::AlertStatus status;
+
+    bool equal(const Alert &other) const {
+      return text1 == other.text1 && other.text2 == other.text2 && type == other.type;
+    }
+  };
+
+  const QMap<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
+    {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
+    {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
+    {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
+  };
+
+  void paintEvent(QPaintEvent*) override;
+  OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame);
+
+  QColor bg;
+  Alert alert = {};
+};

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -1,310 +1,13 @@
-#include "selfdrive/ui/qt/onroad.h"
 
+#include "selfdrive/ui/qt/onroad/annotated_camera.h"
+
+#include <QPainter>
 #include <algorithm>
 #include <cmath>
-#include <map>
-#include <memory>
-#include <sstream>
-
-#include <QDebug>
-#include <QMouseEvent>
 
 #include "common/swaglog.h"
-#include "common/timing.h"
+#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/util.h"
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/maps/map_panel.h"
-#endif
-
-static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
-  p.setRenderHint(QPainter::Antialiasing);
-  p.setOpacity(1.0);  // bg dictates opacity of ellipse
-  p.setPen(Qt::NoPen);
-  p.setBrush(bg);
-  p.drawEllipse(center, btn_size / 2, btn_size / 2);
-  p.setOpacity(opacity);
-  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
-  p.setOpacity(1.0);
-}
-
-OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout  = new QVBoxLayout(this);
-  main_layout->setMargin(UI_BORDER_SIZE);
-  QStackedLayout *stacked_layout = new QStackedLayout;
-  stacked_layout->setStackingMode(QStackedLayout::StackAll);
-  main_layout->addLayout(stacked_layout);
-
-  nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);
-
-  QWidget * split_wrapper = new QWidget;
-  split = new QHBoxLayout(split_wrapper);
-  split->setContentsMargins(0, 0, 0, 0);
-  split->setSpacing(0);
-  split->addWidget(nvg);
-
-  if (getenv("DUAL_CAMERA_VIEW")) {
-    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
-    split->insertWidget(0, arCam);
-  }
-
-  if (getenv("MAP_RENDER_VIEW")) {
-    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
-    split->insertWidget(0, map_render);
-  }
-
-  stacked_layout->addWidget(split_wrapper);
-
-  alerts = new OnroadAlerts(this);
-  alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true);
-  stacked_layout->addWidget(alerts);
-
-  // setup stacking order
-  alerts->raise();
-
-  setAttribute(Qt::WA_OpaquePaintEvent);
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
-  QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
-}
-
-void OnroadWindow::updateState(const UIState &s) {
-  if (!s.scene.started) {
-    return;
-  }
-
-  if (s.scene.map_on_left) {
-    split->setDirection(QBoxLayout::LeftToRight);
-  } else {
-    split->setDirection(QBoxLayout::RightToLeft);
-  }
-
-  alerts->updateState(s);
-  nvg->updateState(s);
-
-  QColor bgColor = bg_colors[s.status];
-  if (bg != bgColor) {
-    // repaint border
-    bg = bgColor;
-    update();
-  }
-}
-
-void OnroadWindow::mousePressEvent(QMouseEvent* e) {
-#ifdef ENABLE_MAPS
-  if (map != nullptr) {
-    bool sidebarVisible = geometry().x() > 0;
-    bool show_map = !sidebarVisible;
-    map->setVisible(show_map && !map->isVisible());
-  }
-#endif
-  // propagation event to parent(HomeWindow)
-  QWidget::mousePressEvent(e);
-}
-
-void OnroadWindow::createMapWidget() {
-#ifdef ENABLE_MAPS
-  auto m = new MapPanel(get_mapbox_settings());
-  map = m;
-  QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
-  QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
-  nvg->map_settings_btn->setEnabled(true);
-
-  m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
-  split->insertWidget(0, m);
-  // hidden by default, made visible when navRoute is published
-  m->setVisible(false);
-#endif
-}
-
-void OnroadWindow::offroadTransition(bool offroad) {
-#ifdef ENABLE_MAPS
-  if (!offroad) {
-    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
-      createMapWidget();
-    }
-  }
-#endif
-  alerts->clear();
-}
-
-void OnroadWindow::primeChanged(bool prime) {
-#ifdef ENABLE_MAPS
-  if (map && (!prime && MAPBOX_TOKEN.isEmpty())) {
-    nvg->map_settings_btn->setEnabled(false);
-    nvg->map_settings_btn->setVisible(false);
-    map->deleteLater();
-    map = nullptr;
-  } else if (!map && (prime || !MAPBOX_TOKEN.isEmpty())) {
-    createMapWidget();
-  }
-#endif
-}
-
-void OnroadWindow::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
-}
-
-// ***** onroad widgets *****
-
-// OnroadAlerts
-
-void OnroadAlerts::updateState(const UIState &s) {
-  Alert a = getAlert(*(s.sm), s.scene.started_frame);
-  if (!alert.equal(a)) {
-    alert = a;
-    update();
-  }
-}
-
-void OnroadAlerts::clear() {
-  alert = {};
-  update();
-}
-
-OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
-  const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-  const uint64_t controls_frame = sm.rcv_frame("controlsState");
-
-  Alert a = {};
-  if (controls_frame >= started_frame) {  // Don't get old alert.
-    a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
-         cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()};
-  }
-
-  if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
-    const int CONTROLS_TIMEOUT = 5;
-    const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
-
-    // Handle controls timeout
-    if (controls_frame < started_frame) {
-      // car is started, but controlsState hasn't been seen at all
-      a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"),
-           "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-           cereal::ControlsState::AlertStatus::NORMAL};
-    } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
-      // car is started, but controls is lagging or died
-      if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
-        a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"),
-             "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-             cereal::ControlsState::AlertStatus::CRITICAL};
-      } else {
-        a = {tr("Controls Unresponsive"), tr("Reboot Device"),
-             "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
-             cereal::ControlsState::AlertStatus::NORMAL};
-      }
-    }
-  }
-  return a;
-}
-
-void OnroadAlerts::paintEvent(QPaintEvent *event) {
-  if (alert.size == cereal::ControlsState::AlertSize::NONE) {
-    return;
-  }
-  static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
-    {cereal::ControlsState::AlertSize::SMALL, 271},
-    {cereal::ControlsState::AlertSize::MID, 420},
-    {cereal::ControlsState::AlertSize::FULL, height()},
-  };
-  int h = alert_heights[alert.size];
-
-  int margin = 40;
-  int radius = 30;
-  if (alert.size == cereal::ControlsState::AlertSize::FULL) {
-    margin = 0;
-    radius = 0;
-  }
-  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
-
-  QPainter p(this);
-
-  // draw background + gradient
-  p.setPen(Qt::NoPen);
-  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
-  p.setBrush(QBrush(alert_colors[alert.status]));
-  p.drawRoundedRect(r, radius, radius);
-
-  QLinearGradient g(0, r.y(), 0, r.bottom());
-  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
-  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
-
-  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
-  p.setBrush(QBrush(g));
-  p.drawRoundedRect(r, radius, radius);
-  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
-
-  // text
-  const QPoint c = r.center();
-  p.setPen(QColor(0xff, 0xff, 0xff));
-  p.setRenderHint(QPainter::TextAntialiasing);
-  if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
-    p.setFont(InterFont(74, QFont::DemiBold));
-    p.drawText(r, Qt::AlignCenter, alert.text1);
-  } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
-    p.setFont(InterFont(88, QFont::Bold));
-    p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
-    p.setFont(InterFont(66));
-    p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
-  } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
-    bool l = alert.text1.length() > 15;
-    p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
-    p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
-    p.setFont(InterFont(88));
-    p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
-  }
-}
-
-// ExperimentalButton
-ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
-
-  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
-  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
-  QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
-}
-
-void ExperimentalButton::changeMode() {
-  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
-  if (can_change) {
-    params.putBool("ExperimentalMode", !experimental_mode);
-  }
-}
-
-void ExperimentalButton::updateState(const UIState &s) {
-  const auto cs = (*s.sm)["controlsState"].getControlsState();
-  bool eng = cs.getEngageable() || cs.getEnabled();
-  if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
-    engageable = eng;
-    experimental_mode = cs.getExperimentalMode();
-    update();
-  }
-}
-
-void ExperimentalButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  QPixmap img = experimental_mode ? experimental_img : engage_img;
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
-}
-
-
-// MapSettingsButton
-MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
-  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
-
-  // hidden by default, made visible if map is created (has prime or mapbox token)
-  setVisible(false);
-  setEnabled(false);
-}
-
-void MapSettingsButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
-}
-
 
 // Window that shows camera view and variety of info drawn on top
 AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -0,0 +1,58 @@
+#pragma once
+
+#include <QVBoxLayout>
+#include <memory>
+
+#include "selfdrive/ui/qt/onroad/buttons.h"
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+class AnnotatedCameraWidget : public CameraWidget {
+  Q_OBJECT
+
+public:
+  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
+  void updateState(const UIState &s);
+
+  MapSettingsButton *map_settings_btn;
+
+private:
+  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
+
+  QVBoxLayout *main_layout;
+  ExperimentalButton *experimental_btn;
+  QPixmap dm_img;
+  float speed;
+  QString speedUnit;
+  float setSpeed;
+  float speedLimit;
+  bool is_cruise_set = false;
+  bool is_metric = false;
+  bool dmActive = false;
+  bool hideBottomIcons = false;
+  bool rightHandDM = false;
+  float dm_fade_state = 1.0;
+  bool has_us_speed_limit = false;
+  bool has_eu_speed_limit = false;
+  bool v_ego_cluster_seen = false;
+  int status = STATUS_DISENGAGED;
+  std::unique_ptr<PubMaster> pm;
+
+  int skip_frame_count = 0;
+  bool wide_cam_requested = false;
+
+protected:
+  void paintGL() override;
+  void initializeGL() override;
+  void showEvent(QShowEvent *event) override;
+  void updateFrameMat() override;
+  void drawLaneLines(QPainter &painter, const UIState *s);
+  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
+  void drawHud(QPainter &p);
+  void drawDriverState(QPainter &painter, const UIState *s);
+  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
+  inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
+  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
+
+  double prev_draw_t = 0;
+  FirstOrderFilter fps_filter;
+};

selfdrive/ui/qt/onroad/buttons.cc

@@ -0,0 +1,64 @@
+#include "selfdrive/ui/qt/onroad/buttons.h"
+
+#include <QPainter>
+
+#include "selfdrive/ui/qt/util.h"
+
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
+  p.setRenderHint(QPainter::Antialiasing);
+  p.setOpacity(1.0);  // bg dictates opacity of ellipse
+  p.setPen(Qt::NoPen);
+  p.setBrush(bg);
+  p.drawEllipse(center, btn_size / 2, btn_size / 2);
+  p.setOpacity(opacity);
+  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
+  p.setOpacity(1.0);
+}
+
+// ExperimentalButton
+ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
+  setFixedSize(btn_size, btn_size);
+
+  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
+  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
+  QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
+}
+
+void ExperimentalButton::changeMode() {
+  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
+  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
+  if (can_change) {
+    params.putBool("ExperimentalMode", !experimental_mode);
+  }
+}
+
+void ExperimentalButton::updateState(const UIState &s) {
+  const auto cs = (*s.sm)["controlsState"].getControlsState();
+  bool eng = cs.getEngageable() || cs.getEnabled();
+  if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
+    engageable = eng;
+    experimental_mode = cs.getExperimentalMode();
+    update();
+  }
+}
+
+void ExperimentalButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  QPixmap img = experimental_mode ? experimental_img : engage_img;
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+}
+
+// MapSettingsButton
+MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
+  setFixedSize(btn_size, btn_size);
+  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
+
+  // hidden by default, made visible if map is created (has prime or mapbox token)
+  setVisible(false);
+  setEnabled(false);
+}
+
+void MapSettingsButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
+}

selfdrive/ui/qt/onroad/buttons.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <QPushButton>
+
+#include "selfdrive/ui/ui.h"
+
+const int btn_size = 192;
+const int img_size = (btn_size / 4) * 3;
+
+class ExperimentalButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit ExperimentalButton(QWidget *parent = 0);
+  void updateState(const UIState &s);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+  void changeMode();
+
+  Params params;
+  QPixmap engage_img;
+  QPixmap experimental_img;
+  bool experimental_mode;
+  bool engageable;
+};
+
+
+class MapSettingsButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit MapSettingsButton(QWidget *parent = 0);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap settings_img;
+};
+
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -0,0 +1,128 @@
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+
+#include <QPainter>
+
+#ifdef ENABLE_MAPS
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/ui/qt/maps/map_panel.h"
+#endif
+
+#include "selfdrive/ui/qt/util.h"
+
+OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout  = new QVBoxLayout(this);
+  main_layout->setMargin(UI_BORDER_SIZE);
+  QStackedLayout *stacked_layout = new QStackedLayout;
+  stacked_layout->setStackingMode(QStackedLayout::StackAll);
+  main_layout->addLayout(stacked_layout);
+
+  nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);
+
+  QWidget * split_wrapper = new QWidget;
+  split = new QHBoxLayout(split_wrapper);
+  split->setContentsMargins(0, 0, 0, 0);
+  split->setSpacing(0);
+  split->addWidget(nvg);
+
+  if (getenv("DUAL_CAMERA_VIEW")) {
+    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
+    split->insertWidget(0, arCam);
+  }
+
+  if (getenv("MAP_RENDER_VIEW")) {
+    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
+    split->insertWidget(0, map_render);
+  }
+
+  stacked_layout->addWidget(split_wrapper);
+
+  alerts = new OnroadAlerts(this);
+  alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true);
+  stacked_layout->addWidget(alerts);
+
+  // setup stacking order
+  alerts->raise();
+
+  setAttribute(Qt::WA_OpaquePaintEvent);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+  QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
+}
+
+void OnroadWindow::updateState(const UIState &s) {
+  if (!s.scene.started) {
+    return;
+  }
+
+  if (s.scene.map_on_left) {
+    split->setDirection(QBoxLayout::LeftToRight);
+  } else {
+    split->setDirection(QBoxLayout::RightToLeft);
+  }
+
+  alerts->updateState(s);
+  nvg->updateState(s);
+
+  QColor bgColor = bg_colors[s.status];
+  if (bg != bgColor) {
+    // repaint border
+    bg = bgColor;
+    update();
+  }
+}
+
+void OnroadWindow::mousePressEvent(QMouseEvent* e) {
+#ifdef ENABLE_MAPS
+  if (map != nullptr) {
+    bool sidebarVisible = geometry().x() > 0;
+    bool show_map = !sidebarVisible;
+    map->setVisible(show_map && !map->isVisible());
+  }
+#endif
+  // propagation event to parent(HomeWindow)
+  QWidget::mousePressEvent(e);
+}
+
+void OnroadWindow::createMapWidget() {
+#ifdef ENABLE_MAPS
+  auto m = new MapPanel(get_mapbox_settings());
+  map = m;
+  QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
+  QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
+  nvg->map_settings_btn->setEnabled(true);
+
+  m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
+  split->insertWidget(0, m);
+  // hidden by default, made visible when navRoute is published
+  m->setVisible(false);
+#endif
+}
+
+void OnroadWindow::offroadTransition(bool offroad) {
+#ifdef ENABLE_MAPS
+  if (!offroad) {
+    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
+      createMapWidget();
+    }
+  }
+#endif
+  alerts->clear();
+}
+
+void OnroadWindow::primeChanged(bool prime) {
+#ifdef ENABLE_MAPS
+  if (map && (!prime && MAPBOX_TOKEN.isEmpty())) {
+    nvg->map_settings_btn->setEnabled(false);
+    nvg->map_settings_btn->setVisible(false);
+    map->deleteLater();
+    map = nullptr;
+  } else if (!map && (prime || !MAPBOX_TOKEN.isEmpty())) {
+    createMapWidget();
+  }
+#endif
+}
+
+void OnroadWindow::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+}

selfdrive/ui/qt/onroad/onroad_home.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/alerts.h"
+#include "selfdrive/ui/qt/onroad/annotated_camera.h"
+
+class OnroadWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadWindow(QWidget* parent = 0);
+  bool isMapVisible() const { return map && map->isVisible(); }
+  void showMapPanel(bool show) { if (map) map->setVisible(show); }
+
+signals:
+  void mapPanelRequested();
+
+private:
+  void createMapWidget();
+  void paintEvent(QPaintEvent *event);
+  void mousePressEvent(QMouseEvent* e) override;
+  OnroadAlerts *alerts;
+  AnnotatedCameraWidget *nvg;
+  QColor bg = bg_colors[STATUS_DISENGAGED];
+  QWidget *map = nullptr;
+  QHBoxLayout* split;
+
+private slots:
+  void offroadTransition(bool offroad);
+  void primeChanged(bool prime);
+  void updateState(const UIState &s);
+};