cabana: use bootstrap icons (#26981)

* use bootstrap icons

* typo

* build into asset_obj

* add to files_common
old-commit-hash: c21d9408a1

SConstruct

@@ -282,7 +282,7 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
 
 qt_libs = []
 if arch == "Darwin":

release/files_common

@@ -436,6 +436,7 @@ third_party/acados/larch64/**
 third_party/acados/include/**
 third_party/acados/acados_template/**
 
+third_party/bootstrap/**
 third_party/qt5/larch64/bin/**
 
 scripts/update_now.sh

selfdrive/assets/assets.qrc

@@ -1,5 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
+  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
   <file>img_continue_triangle.svg</file>
   <file>img_circled_check.svg</file>
   <file>img_circled_slash.svg</file>

selfdrive/ui/SConscript

@@ -41,6 +41,7 @@ assets_src = "#selfdrive/assets/assets.qrc"
 qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
 qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"]))
 asset_obj = qt_env.Object("assets", assets)
+Export('asset_obj')
 
 # build soundd
 qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs)

selfdrive/ui/qt/util.cc

@@ -2,11 +2,14 @@
 
 #include <QApplication>
 #include <QFile>
+#include <QHash>
 #include <QJsonDocument>
 #include <QJsonObject>
 #include <QLayoutItem>
 #include <QStyleOption>
 #include <QPainterPath>
+#include <QTextStream>
+#include <QtXml/QDomDocument>
 
 #include "common/params.h"
 #include "common/swaglog.h"
@@ -218,3 +221,37 @@ QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
     );
   }
 }
+
+static QHash<QString, QByteArray> load_bootstrap_icons() {
+  QHash<QString, QByteArray> icons;
+
+  QFile f(":/bootstrap-icons.svg");
+  if (f.open(QIODevice::ReadOnly | QIODevice::Text)) {
+    QDomDocument xml;
+    xml.setContent(&f);
+    QDomNode n = xml.documentElement().firstChild();
+    while (!n.isNull()) {
+      QDomElement e = n.toElement();
+      if (!e.isNull() && e.hasAttribute("id")) {
+        QString svg_str;
+        QTextStream stream(&svg_str);
+        n.save(stream, 0);
+        svg_str.replace("<symbol", "<svg");
+        svg_str.replace("</symbol>", "</svg>");
+        icons[e.attribute("id")] = svg_str.toUtf8();
+      }
+      n = n.nextSibling();
+    }
+  }
+  return icons;
+}
+
+QPixmap bootstrapPixmap(const QString &id) {
+  static QHash<QString, QByteArray> icons = load_bootstrap_icons();
+
+  QPixmap pixmap;
+  if (auto it = icons.find(id); it != icons.end()) {
+    pixmap.loadFromData(it.value(), "svg");
+  }
+  return pixmap;
+}

selfdrive/ui/qt/util.h

@@ -22,6 +22,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co
 void initApp(int argc, char *argv[]);
 QWidget* topWidget (QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
+QPixmap bootstrapPixmap(const QString &id);
 
 QRect getTextRect(QPainter &p, int flags, const QString &text);
 void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);

tools/cabana/SConscript

@@ -1,6 +1,6 @@
 import os
 Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib',
-       'cereal', 'transformations', 'widgets', 'opendbc')
+       'cereal', 'transformations', 'widgets', 'opendbc', 'asset_obj')
 
 base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
@@ -22,7 +22,7 @@ prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
                             'canmessages.cc', 'commands.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-cabana_env.Program('_cabana', ['cabana.cc', cabana_lib], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, asset_obj], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('test'):
   cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])

tools/cabana/chartswidget.cc

@@ -12,6 +12,8 @@
 #include <QToolTip>
 #include <QtConcurrent>
 
+#include "selfdrive/ui/qt/util.h"
+
 // ChartsWidget
 
 ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
@@ -19,14 +21,15 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
 
   // toolbar
   QToolBar *toolbar = new QToolBar(tr("Charts"), this);
+  toolbar->setIconSize({16, 16});
   title_label = new QLabel();
   title_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
   toolbar->addWidget(title_label);
   show_all_values_btn = toolbar->addAction("");
   toolbar->addWidget(range_label = new QLabel());
-  reset_zoom_btn = toolbar->addAction("⟲");
+  reset_zoom_btn = toolbar->addAction(bootstrapPixmap("arrow-counterclockwise"), "");
   reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)"));
-  remove_all_btn = toolbar->addAction("✖");
+  remove_all_btn = toolbar->addAction(bootstrapPixmap("x"), "");
   remove_all_btn->setToolTip(tr("Remove all charts"));
   dock_btn = toolbar->addAction("");
   main_layout->addWidget(toolbar);
@@ -137,7 +140,7 @@ void ChartsWidget::updateToolBar() {
   reset_zoom_btn->setEnabled(is_zoomed);
   range_label->setText(is_zoomed ? tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
   title_label->setText(charts.size() > 0 ? tr("Charts (%1)").arg(charts.size()) : tr("Charts"));
-  dock_btn->setText(docking ? "⬈" : "⬋");
+  dock_btn->setIcon(bootstrapPixmap(docking ? "arrow-up-right" : "arrow-down-left"));
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
 }
 
@@ -223,7 +226,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
   chart->layout()->setContentsMargins(0, 0, 0, 0);
 
   QToolButton *remove_btn = new QToolButton();
-  remove_btn->setText("X");
+  remove_btn->setIcon(bootstrapPixmap("x"));
   remove_btn->setAutoRaise(true);
   remove_btn->setToolTip(tr("Remove Chart"));
   close_btn_proxy = new QGraphicsProxyWidget(chart);
@@ -231,7 +234,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
   close_btn_proxy->setZValue(chart->zValue() + 11);
 
   QToolButton *manage_btn = new QToolButton();
-  manage_btn->setText("🔧");
+  manage_btn->setIcon(bootstrapPixmap("gear"));
   manage_btn->setAutoRaise(true);
   manage_btn->setToolTip(tr("Manage series"));
   manage_btn_proxy = new QGraphicsProxyWidget(chart);

tools/cabana/detailwidget.cc

@@ -36,6 +36,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
 
   // message title
   toolbar = new QToolBar(this);
+  toolbar->setIconSize({16, 16});
   toolbar->addWidget(new QLabel("time:"));
   time_label = new QLabel(this);
   time_label->setStyleSheet("font-weight:bold");
@@ -45,8 +46,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   name_label->setAlignment(Qt::AlignCenter);
   name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
   toolbar->addWidget(name_label);
-  toolbar->addAction("🖍", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message"));
+  toolbar->addAction(bootstrapPixmap("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message"));
-  remove_msg_act = toolbar->addAction("X", this, &DetailWidget::removeMsg);
+  remove_msg_act = toolbar->addAction(bootstrapPixmap("x-lg"), "", this, &DetailWidget::removeMsg);
   remove_msg_act->setToolTip(tr("Remove Message"));
   toolbar->setVisible(false);
   frame_layout->addWidget(toolbar);

tools/cabana/signaledit.cc

@@ -6,6 +6,8 @@
 #include <QHBoxLayout>
 #include <QVBoxLayout>
 
+#include "selfdrive/ui/qt/util.h"
+
 // SignalForm
 
 SignalForm::SignalForm(QWidget *parent) : QWidget(parent) {
@@ -104,13 +106,13 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa
   title_layout->addWidget(title);
 
   plot_btn = new QToolButton(this);
-  plot_btn->setText("📈");
+  plot_btn->setIcon(bootstrapPixmap("graph-up"));
   plot_btn->setCheckable(true);
   plot_btn->setAutoRaise(true);
   title_layout->addWidget(plot_btn);
   auto remove_btn = new QToolButton(this);
   remove_btn->setAutoRaise(true);
-  remove_btn->setText("x");
+  remove_btn->setIcon(bootstrapPixmap("x"));
   remove_btn->setToolTip(tr("Remove signal"));
   title_layout->addWidget(remove_btn);
   main_layout->addWidget(title_bar);

tools/cabana/videowidget.cc

@@ -13,6 +13,8 @@
 #include <QVBoxLayout>
 #include <QtConcurrent>
 
+#include "selfdrive/ui/qt/util.h"
+
 inline QString formatTime(int seconds) {
   return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
 }
@@ -43,8 +45,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
 
   // btn controls
   QHBoxLayout *control_layout = new QHBoxLayout();
-  play_btn = new QPushButton("⏸");
+  play_btn = new QPushButton();
-  play_btn->setStyleSheet("font-weight:bold; height:16px");
   control_layout->addWidget(play_btn);
 
   QButtonGroup *group = new QButtonGroup(this);
@@ -68,12 +69,13 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState);
-  QObject::connect(can, &CANMessages::paused, [this]() { play_btn->setText("▶"); });
+  QObject::connect(can, &CANMessages::paused, this, &VideoWidget::updatePlayBtnState);
-  QObject::connect(can, &CANMessages::resume, [this]() { play_btn->setText("⏸"); });
+  QObject::connect(can, &CANMessages::resume, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &CANMessages::streamStarted, [this]() {
     end_time_label->setText(formatTime(can->totalSeconds()));
     slider->setRange(0, can->totalSeconds() * 1000);
   });
+  updatePlayBtnState();
 }
 
 void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
@@ -90,6 +92,11 @@ void VideoWidget::updateState() {
     slider->setValue(can->currentSec() * 1000);
 }
 
+void VideoWidget::updatePlayBtnState() {
+  play_btn->setIcon(bootstrapPixmap(can->isPaused() ? "play" : "pause"));
+  play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
+}
+
 // Slider
 Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
   QTimer *timer = new QTimer(this);

tools/cabana/videowidget.h

@@ -44,6 +44,7 @@ public:
 
 protected:
   void updateState();
+  void updatePlayBtnState();
 
   CameraWidget *cam_widget;
   QLabel *end_time_label;