Qt Sidebar (#20775)

* revive #19877

* looks like a sidebar

* more like a sidebar

* cleanup

* fix qcom2

* style

* that's the sidebar

* more space

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/ui/SConscript

@@ -27,7 +27,7 @@ qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
 qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=base_libs)
 
 # build main UI
-qt_src = ["main.cc", "ui.cc", "paint.cc", "sidebar.cc", "qt/onroad.cc",
+qt_src = ["main.cc", "ui.cc", "paint.cc", "qt/sidebar.cc", "qt/onroad.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/onboarding.cc", "#phonelibs/nanovg/nanovg.c"]
 

selfdrive/ui/paint.cc

@@ -19,7 +19,6 @@
 #include "nanovg_gl.h"
 #include "nanovg_gl_utils.h"
 #include "paint.hpp"
-#include "sidebar.hpp"
 
 // TODO: this is also hardcoded in common/transformations/camera.py
 // TODO: choose based on frame input size
@@ -240,7 +239,6 @@ static void ui_draw_vision_face(UIState *s) {
 }
 
 static void ui_draw_driver_view(UIState *s) {
-  s->sidebar_collapsed = true;
   const bool is_rhd = s->scene.is_rhd;
   const int width = 4 * s->viz_rect.h / 3;
   const Rect rect = {s->viz_rect.centerX() - width / 2, s->viz_rect.y, width, s->viz_rect.h};  // x, y, w, h
@@ -377,12 +375,8 @@ static void ui_draw_background(UIState *s) {
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 }
 
-void ui_draw(UIState *s) {
+void ui_draw(UIState *s, int w, int h) {
-  s->viz_rect = Rect{bdr_s, bdr_s, s->fb_w - 2 * bdr_s, s->fb_h - 2 * bdr_s};
+  s->viz_rect = Rect{bdr_s, bdr_s, w - 2 * bdr_s, h - 2 * bdr_s};
-  if (!s->sidebar_collapsed) {
-    s->viz_rect.x += sbr_w;
-    s->viz_rect.w -= sbr_w;
-  }
 
   const bool draw_alerts = s->scene.started;
   const bool draw_vision = draw_alerts && s->vipc_client->connected;
@@ -398,7 +392,7 @@ void ui_draw(UIState *s) {
 
   // NVG drawing functions - should be no GL inside NVG frame
   nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
-  ui_draw_sidebar(s);
+
   if (draw_vision) {
     ui_draw_vision(s);
   }

selfdrive/ui/paint.hpp

@@ -2,7 +2,7 @@
 
 #include "ui.hpp"
 
-void ui_draw(UIState *s);
+void ui_draw(UIState *s, int w, int h);
 void ui_draw_image(const UIState *s, const Rect &r, const char *name, float alpha);
 void ui_draw_rect(NVGcontext *vg, const Rect &r, NVGcolor color, int width, float radius = 0);
 void ui_fill_rect(NVGcontext *vg, const Rect &r, const NVGpaint &paint, float radius = 0);

selfdrive/ui/qt/home.cc

@@ -15,22 +15,38 @@
 // HomeWindow: the container for the offroad and onroad UIs
 
 HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
-  layout = new QStackedLayout();
+  QHBoxLayout *layout = new QHBoxLayout(this);
-  layout->setStackingMode(QStackedLayout::StackAll);
+  layout->setMargin(0);
+  layout->setSpacing(0);
+
+  sidebar = new Sidebar(this);
+  layout->addWidget(sidebar);
+  QObject::connect(this, &HomeWindow::update, sidebar, &Sidebar::update);
+  QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
+
+  slayout = new QStackedLayout();
+  layout->addLayout(slayout);
 
   onroad = new OnroadWindow(this);
-  layout->addWidget(onroad);
+  slayout->addWidget(onroad);
   QObject::connect(this, &HomeWindow::update, onroad, &OnroadWindow::update);
-  QObject::connect(this, &HomeWindow::displayPowerChanged, onroad, &OnroadWindow::setEnabled);
+
-  
   home = new OffroadHome();
-  layout->addWidget(home);
+  slayout->addWidget(home);
   QObject::connect(this, &HomeWindow::openSettings, home, &OffroadHome::refresh);
-  QObject::connect(this, &HomeWindow::offroadTransition, home, &OffroadHome::setVisible);
 
   setLayout(layout);
 }
 
+void HomeWindow::offroadTransition(bool offroad) {
+  if (offroad) {
+    slayout->setCurrentWidget(home);
+  } else {
+    slayout->setCurrentWidget(onroad);
+  }
+  sidebar->setVisible(offroad);
+}
+
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // TODO: make a nice driver view widget
   if (QUIState::ui_state.scene.driver_view) {
@@ -39,23 +55,18 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
     return;
   }
 
-  // Settings button click
-  if (!QUIState::ui_state.sidebar_collapsed && settings_btn.ptInRect(e->x(), e->y())) {
-    emit openSettings();
-  }
-
   // Handle sidebar collapsing
-  if (QUIState::ui_state.scene.started && (e->x() >= QUIState::ui_state.viz_rect.x - bdr_s)) {
+  if (childAt(e->pos()) == onroad) {
-    QUIState::ui_state.sidebar_collapsed = !QUIState::ui_state.sidebar_collapsed;
+    sidebar->setVisible(!sidebar->isVisible());
   }
 }
 
 
 // OffroadHome: the offroad home page
 
-OffroadHome::OffroadHome(QWidget* parent) : QWidget(parent) {
+OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   QVBoxLayout* main_layout = new QVBoxLayout();
-  main_layout->setContentsMargins(sbr_w + 50, 50, 50, 50);
+  main_layout->setMargin(50);
 
   // top header
   QHBoxLayout* header_layout = new QHBoxLayout();
@@ -111,6 +122,9 @@ OffroadHome::OffroadHome(QWidget* parent) : QWidget(parent) {
 
   setLayout(main_layout);
   setStyleSheet(R"(
+    OffroadHome {
+      background-color: black;
+    }
     * {
      color: white;
     }

selfdrive/ui/qt/home.hpp

@@ -1,16 +1,18 @@
 #pragma once
 
+#include <QFrame>
 #include <QLabel>
 #include <QPushButton>
 #include <QStackedLayout>
 #include <QTimer>
 #include <QWidget>
 
+#include "sidebar.hpp"
 #include "onroad.hpp"
 #include "ui/ui.hpp"
 #include "widgets/offroad_alerts.hpp"
 
-class OffroadHome : public QWidget {
+class OffroadHome : public QFrame {
   Q_OBJECT
 
 public:
@@ -42,14 +44,17 @@ signals:
 
   // forwarded signals
   void displayPowerChanged(bool on);
-  void offroadTransition(bool offroad);
   void update(const UIState &s);
 
+public slots:
+  void offroadTransition(bool offroad);
+
 protected:
   void mousePressEvent(QMouseEvent* e) override;
 
 private:
+  Sidebar *sidebar;
   OffroadHome *home;
   OnroadWindow *onroad;
-  QStackedLayout *layout;
+  QStackedLayout *slayout;
 };

selfdrive/ui/qt/onroad.cc

@@ -39,12 +39,8 @@ void OnroadWindow::update(const UIState &s) {
   }
 }
 
-void OnroadWindow::resizeGL(int w, int h) {
-  std::cout << "resize " << w << "x" << h << std::endl;
-}
-
 void OnroadWindow::paintGL() {
-  ui_draw(&QUIState::ui_state);
+  ui_draw(&QUIState::ui_state, width(), height());
 
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;

selfdrive/ui/qt/onroad.hpp

@@ -18,7 +18,6 @@ public:
 protected:
   void paintGL() override;
   void initializeGL() override;
-  void resizeGL(int w, int h) override;
 
 private:
   bool enabled;

selfdrive/ui/qt/sidebar.cc

@@ -0,0 +1,177 @@
+#include "common/util.h"
+#include "sidebar.hpp"
+#include "qt_window.hpp"
+
+StatusWidget::StatusWidget(QString label, QString msg, QColor c, QWidget* parent) : QFrame(parent) {
+  layout.setSpacing(0);
+
+  if(msg.length() > 0){
+    layout.setContentsMargins(50, 24, 16, 24);
+    status.setAlignment(Qt::AlignLeft | Qt::AlignHCenter);
+    status.setStyleSheet(R"(font-size: 65px; font-weight: 500;)");
+
+    substatus.setAlignment(Qt::AlignLeft | Qt::AlignHCenter);
+    substatus.setStyleSheet(R"(font-size: 30px; font-weight: 400;)");
+
+    layout.addWidget(&status, 0, Qt::AlignLeft);
+    layout.addWidget(&substatus, 0, Qt::AlignLeft);
+  } else {
+    layout.setContentsMargins(40, 24, 16, 24);
+
+    status.setAlignment(Qt::AlignCenter);
+    status.setStyleSheet(R"(font-size: 38px; font-weight: 500;)");
+    layout.addWidget(&status, 0, Qt::AlignCenter);
+  }
+
+  update(label, msg, c);
+
+  setMinimumHeight(124);
+  setStyleSheet("background-color: transparent;");
+  setLayout(&layout);
+}
+
+void StatusWidget::paintEvent(QPaintEvent *e){
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing, true);
+  p.setPen(QPen(QColor(0xb2b2b2), 3, Qt::SolidLine, Qt::FlatCap));
+  // origin at 1.5,1.5 because qt issues with pixel perfect borders
+  p.drawRoundedRect(QRectF(1.5, 1.5, size().width()-3, size().height()-3), 30, 30);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(color);
+  p.setClipRect(0,0,25+6,size().height()-6,Qt::ClipOperation::ReplaceClip);
+  p.drawRoundedRect(QRectF(6, 6, size().width()-12, size().height()-12), 25, 25);
+}
+
+void StatusWidget::update(QString label, QString msg, QColor c) {
+  status.setText(label);
+  substatus.setText(msg);
+  color = c;
+  return;
+}
+
+SignalWidget::SignalWidget(QString text, int strength, QWidget* parent) : QFrame(parent), _strength(strength) {
+  layout.setMargin(0);
+  layout.setSpacing(0);
+  layout.insertSpacing(0, 45);
+
+  label.setText(text);
+  layout.addWidget(&label, 0, Qt::AlignLeft);
+  label.setStyleSheet(R"(font-size: 35px; font-weight: 400;)");
+
+  setFixedWidth(177);
+  setLayout(&layout);
+}
+
+void SignalWidget::paintEvent(QPaintEvent *e){
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing, true);
+  p.setPen(Qt::NoPen);
+  p.setBrush(Qt::white);
+  for (int i = 0; i < 5 ; i++){
+    if(i == _strength){
+      p.setPen(Qt::NoPen);
+      p.setBrush(Qt::darkGray);
+    }
+    p.drawEllipse(QRectF(_dotspace * i, _top, _dia, _dia));
+  }
+}
+
+void SignalWidget::update(QString text, int strength){
+  label.setText(text);
+  _strength = strength;
+}
+
+Sidebar::Sidebar(QWidget* parent) : QFrame(parent) {
+  QVBoxLayout* layout = new QVBoxLayout();
+  layout->setContentsMargins(25, 50, 25, 50);
+  layout->setSpacing(35);
+  setFixedSize(300, vwp_h);
+
+  QPushButton *s_btn = new QPushButton;
+  s_btn->setStyleSheet(R"(
+    border-image: url(../assets/images/button_settings.png);
+  )");
+  s_btn->setFixedSize(200, 117);
+  layout->addWidget(s_btn, 0, Qt::AlignHCenter);
+  QObject::connect(s_btn, &QPushButton::pressed, this, &Sidebar::openSettings);
+
+  signal = new SignalWidget("--", 0, this);
+  layout->addWidget(signal, 0, Qt::AlignTop | Qt::AlignHCenter);
+
+  temp = new StatusWidget("0°C", "TEMP", QColor(255, 255, 255), this);
+  layout->addWidget(temp, 0, Qt::AlignTop);
+
+  panda = new StatusWidget("NO\nPANDA", "", QColor(201, 34, 49), this);
+  layout->addWidget(panda, 0, Qt::AlignTop);
+
+  connect = new StatusWidget("CONNECT\nOFFLINE", "",  QColor(218, 202, 37), this);
+  layout->addWidget(connect, 0, Qt::AlignTop);
+
+  QImage image = QImageReader("../assets/images/button_home.png").read();
+  QLabel *comma = new QLabel(this);
+  comma->setPixmap(QPixmap::fromImage(image));
+  comma->setAlignment(Qt::AlignCenter);
+  layout->addWidget(comma, 1, Qt::AlignHCenter | Qt::AlignVCenter);
+
+  layout->addStretch(1);
+
+  setStyleSheet(R"(
+    Sidebar {
+      background-color: #393939;
+    }
+    * {
+      color: white;
+    }
+  )");
+  setLayout(layout);
+}
+
+void Sidebar::update(const UIState &s){
+  static std::map<NetStatus, std::pair<QString, QColor>> connectivity_map = {
+    {NET_ERROR, {"CONNECT\nERROR", COLOR_DANGER}},
+    {NET_CONNECTED, {"CONNECT\nONLINE", COLOR_GOOD}},
+    {NET_DISCONNECTED, {"CONNECT\nOFFLINE", COLOR_WARNING}},
+  };
+  auto net_params = connectivity_map[s.scene.athenaStatus];
+  connect->update(net_params.first, "", net_params.second);
+
+  static std::map<cereal::DeviceState::ThermalStatus, QColor> temp_severity_map = {
+        {cereal::DeviceState::ThermalStatus::GREEN, COLOR_GOOD},
+        {cereal::DeviceState::ThermalStatus::YELLOW, COLOR_WARNING},
+        {cereal::DeviceState::ThermalStatus::RED, COLOR_DANGER},
+        {cereal::DeviceState::ThermalStatus::DANGER, COLOR_DANGER}};
+  QString temp_val = QString("%1 °C").arg((int)s.scene.deviceState.getAmbientTempC());
+  temp->update(temp_val, "TEMP", temp_severity_map[s.scene.deviceState.getThermalStatus()]);
+
+  static std::map<cereal::DeviceState::NetworkType, const char *> network_type_map = {
+      {cereal::DeviceState::NetworkType::NONE, "--"},
+      {cereal::DeviceState::NetworkType::WIFI, "WiFi"},
+      {cereal::DeviceState::NetworkType::CELL2_G, "2G"},
+      {cereal::DeviceState::NetworkType::CELL3_G, "3G"},
+      {cereal::DeviceState::NetworkType::CELL4_G, "4G"},
+      {cereal::DeviceState::NetworkType::CELL5_G, "5G"}};
+  const char *network_type = network_type_map[s.scene.deviceState.getNetworkType()];
+  static std::map<cereal::DeviceState::NetworkStrength, int> network_strength_map = {
+      {cereal::DeviceState::NetworkStrength::UNKNOWN, 1},
+      {cereal::DeviceState::NetworkStrength::POOR, 2},
+      {cereal::DeviceState::NetworkStrength::MODERATE, 3},
+      {cereal::DeviceState::NetworkStrength::GOOD, 4},
+      {cereal::DeviceState::NetworkStrength::GREAT, 5}};
+  const int img_idx = s.scene.deviceState.getNetworkType() == cereal::DeviceState::NetworkType::NONE ? 0 : network_strength_map[s.scene.deviceState.getNetworkStrength()];
+  signal->update(network_type, img_idx);
+
+  QColor panda_color = COLOR_GOOD;
+  QString panda_message = "VEHICLE\nONLINE";
+  if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
+    panda_color = COLOR_DANGER;
+    panda_message = "NO\nPANDA";
+  }
+#ifdef QCOM2
+  else if (s.scene.started) {
+    panda_color = s.scene.gpsOK ? COLOR_GOOD : COLOR_WARNING;
+    panda_message = QString("SAT CNT\n%1").arg(s.scene.satelliteCount);
+  }
+#endif
+  panda->update(panda_message, "", panda_color);
+}

selfdrive/ui/qt/sidebar.hpp

@@ -0,0 +1,65 @@
+#pragma once
+
+#include <QtWidgets>
+
+#include <ui.hpp>
+
+#define COLOR_GOOD QColor(255, 255, 255)
+#define COLOR_WARNING QColor(218, 202, 37)
+#define COLOR_DANGER QColor(201, 34, 49)
+
+class SignalWidget : public QFrame {
+  Q_OBJECT
+
+public:
+  SignalWidget(QString text, int strength, QWidget* parent = 0);
+  void update(QString text, int strength);
+  QLabel label;
+  int _strength = 0;
+
+protected:
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QVBoxLayout layout;
+
+  const float _dotspace = 37; // spacing between dots
+  const float _top = 10;
+  const float _dia = 28; // dot diameter
+};
+
+class StatusWidget : public QFrame {
+  Q_OBJECT
+
+public:
+  StatusWidget(QString label, QString msg, QColor c, QWidget* parent = 0);
+  void update(QString label, QString msg, QColor c);
+
+protected:
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QColor color = COLOR_WARNING;
+  QLabel status;
+  QLabel substatus;
+  QVBoxLayout layout;
+};
+
+class Sidebar : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit Sidebar(QWidget* parent = 0);
+
+signals:
+  void openSettings();
+
+public slots:
+  void update(const UIState &s);
+
+private:
+  SignalWidget *signal;
+  StatusWidget *temp;
+  StatusWidget *panda;
+  StatusWidget *connect;
+};

selfdrive/ui/sidebar.cc

@@ -1,143 +0,0 @@
-#include <stdio.h>
-#include <string.h>
-#include <math.h>
-#include <map>
-#include "common/util.h"
-#include "paint.hpp"
-#include "sidebar.hpp"
-
-static void draw_background(UIState *s) {
-  const NVGcolor color = nvgRGBA(0x39, 0x39, 0x39, 0xff);
-  ui_fill_rect(s->vg, {0, 0, sbr_w, s->fb_h}, color);
-}
-
-static void draw_settings_button(UIState *s) {
-  ui_draw_image(s, settings_btn, "button_settings", 0.65f);
-}
-
-static void draw_home_button(UIState *s) {
-  ui_draw_image(s, home_btn, "button_home", 1.0f);
-}
-
-static void draw_network_strength(UIState *s) {
-  static std::map<cereal::DeviceState::NetworkStrength, int> network_strength_map = {
-      {cereal::DeviceState::NetworkStrength::UNKNOWN, 1},
-      {cereal::DeviceState::NetworkStrength::POOR, 2},
-      {cereal::DeviceState::NetworkStrength::MODERATE, 3},
-      {cereal::DeviceState::NetworkStrength::GOOD, 4},
-      {cereal::DeviceState::NetworkStrength::GREAT, 5}};
-  const int img_idx = s->scene.deviceState.getNetworkType() == cereal::DeviceState::NetworkType::NONE ? 0 : network_strength_map[s->scene.deviceState.getNetworkStrength()];
-  ui_draw_image(s, {58, 196, 176, 27}, util::string_format("network_%d", img_idx).c_str(), 1.0f);
-}
-
-static void draw_network_type(UIState *s) {
-  static std::map<cereal::DeviceState::NetworkType, const char *> network_type_map = {
-      {cereal::DeviceState::NetworkType::NONE, "--"},
-      {cereal::DeviceState::NetworkType::WIFI, "WiFi"},
-      {cereal::DeviceState::NetworkType::CELL2_G, "2G"},
-      {cereal::DeviceState::NetworkType::CELL3_G, "3G"},
-      {cereal::DeviceState::NetworkType::CELL4_G, "4G"},
-      {cereal::DeviceState::NetworkType::CELL5_G, "5G"}};
-  const int network_x = 50;
-  const int network_y = 273;
-  const int network_w = 100;
-  const char *network_type = network_type_map[s->scene.deviceState.getNetworkType()];
-  nvgFillColor(s->vg, COLOR_WHITE);
-  nvgFontSize(s->vg, 48);
-  nvgFontFace(s->vg, "sans-regular");
-  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-  nvgTextBox(s->vg, network_x, network_y, network_w, network_type ? network_type : "--", NULL);
-}
-
-static void draw_metric(UIState *s, const char *label_str, const char *value_str, const int severity, const int y_offset, const char *message_str) {
-  NVGcolor status_color;
-
-  if (severity == 0) {
-    status_color = COLOR_WHITE;
-  } else if (severity == 1) {
-    status_color = COLOR_YELLOW;
-  } else if (severity > 1) {
-    status_color = COLOR_RED;
-  }
-
-  const Rect rect = {30, 338 + y_offset, 240, message_str ? strchr(message_str, '\n') ? 124 : 100 : 148};
-  ui_draw_rect(s->vg, rect, severity > 0 ? COLOR_WHITE : COLOR_WHITE_ALPHA(85), 2, 20.);
-
-  nvgBeginPath(s->vg);
-  nvgRoundedRectVarying(s->vg, rect.x + 6, rect.y + 6, 18, rect.h - 12, 25, 0, 0, 25);
-  nvgFillColor(s->vg, status_color);
-  nvgFill(s->vg);
-
-  if (!message_str) {
-    nvgFillColor(s->vg, COLOR_WHITE);
-    nvgFontSize(s->vg, 78);
-    nvgFontFace(s->vg, "sans-bold");
-    nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_MIDDLE);
-    nvgTextBox(s->vg, rect.x + 50, rect.y + 50, rect.w - 60, value_str, NULL);
-
-    nvgFillColor(s->vg, COLOR_WHITE);
-    nvgFontSize(s->vg, 48);
-    nvgFontFace(s->vg, "sans-regular");
-    nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_MIDDLE);
-    nvgTextBox(s->vg, rect.x + 50, rect.y + 50 + 66, rect.w - 60, label_str, NULL);
-  } else {
-    nvgFillColor(s->vg, COLOR_WHITE);
-    nvgFontSize(s->vg, 48);
-    nvgFontFace(s->vg, "sans-bold");
-    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-    nvgTextBox(s->vg, rect.x + 35, rect.y + (strchr(message_str, '\n') ? 40 : 50), rect.w - 50, message_str, NULL);
-  }
-}
-
-static void draw_temp_metric(UIState *s) {
-  static std::map<cereal::DeviceState::ThermalStatus, const int> temp_severity_map = {
-      {cereal::DeviceState::ThermalStatus::GREEN, 0},
-      {cereal::DeviceState::ThermalStatus::YELLOW, 1},
-      {cereal::DeviceState::ThermalStatus::RED, 2},
-      {cereal::DeviceState::ThermalStatus::DANGER, 3}};
-  std::string temp_val = std::to_string((int)s->scene.deviceState.getAmbientTempC()) + "°C";
-  draw_metric(s, "TEMP", temp_val.c_str(), temp_severity_map[s->scene.deviceState.getThermalStatus()], 0, NULL);
-}
-
-static void draw_panda_metric(UIState *s) {
-  const int panda_y_offset = 32 + 148;
-
-  int panda_severity = 0;
-  std::string panda_message = "VEHICLE\nONLINE";
-  if (s->scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
-    panda_severity = 2;
-    panda_message = "NO\nPANDA";
-  }
-#ifdef QCOM2
-  else if (s->scene.started) {
-    panda_severity = s->scene.gpsOK ? 0 : 1;
-    panda_message = util::string_format("SAT CNT\n%d", s->scene.satelliteCount);
-  }
-#endif
-
-  draw_metric(s, NULL, NULL, panda_severity, panda_y_offset, panda_message.c_str());
-}
-
-static void draw_connectivity(UIState *s) {
-  static std::map<NetStatus, std::pair<const char *, int>> connectivity_map = {
-      {NET_ERROR, {"CONNECT\nERROR", 2}},
-      {NET_CONNECTED, {"CONNECT\nONLINE", 0}},
-      {NET_DISCONNECTED, {"CONNECT\nOFFLINE", 1}},
-  };
-  auto net_params = connectivity_map[s->scene.athenaStatus];
-  draw_metric(s, NULL, NULL, net_params.second, 180 + 158, net_params.first);
-}
-
-void ui_draw_sidebar(UIState *s) {
-  if (s->sidebar_collapsed) {
-    return;
-  }
-  draw_background(s);
-  draw_settings_button(s);
-  draw_home_button(s);
-  draw_network_strength(s);
-  draw_network_type(s);
-  draw_temp_metric(s);
-  draw_panda_metric(s);
-  draw_connectivity(s);
-}

selfdrive/ui/sidebar.hpp

@@ -1,4 +0,0 @@
-#pragma once
-#include "ui.hpp"
-
-void ui_draw_sidebar(UIState *s);

selfdrive/ui/ui.cc

@@ -314,12 +314,10 @@ static void update_status(UIState *s) {
 
       s->scene.is_rhd = Params().getBool("IsRHD");
       s->scene.end_to_end = Params().getBool("EndToEndToggle");
-      s->sidebar_collapsed = true;
       s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;
       s->vipc_client = s->scene.driver_view ? s->vipc_client_front : s->vipc_client_rear;
     } else {
       s->status = STATUS_OFFROAD;
-      s->sidebar_collapsed = false;
       s->sound->stop();
       s->vipc_client->connected = false;
     }

selfdrive/ui/ui.hpp

@@ -44,12 +44,9 @@ typedef struct Rect {
   }
 } Rect;
 
-const int sbr_w = 300;
 const int bdr_s = 30;
 const int header_h = 420;
 const int footer_h = 280;
-const Rect settings_btn = {50, 35, 200, 117};
-const Rect home_btn = {60, 1080 - 180 - 40, 180, 180};
 
 const int UI_FREQ = 20;   // Hz
 
@@ -157,7 +154,6 @@ typedef struct UIState {
 
   bool awake;
 
-  bool sidebar_collapsed;
   Rect video_rect, viz_rect;
   float car_space_transform[6];
   bool wide_camera;