Visuals - Custom Onroad UI - Steering Wheel Icon - Live Rotation

selfdrive/ui/qt/onroad/buttons.cc

@@ -4,15 +4,19 @@
 
 #include "selfdrive/ui/qt/util.h"
 
-void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity, const int angle) {
   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.save();
+  p.translate(center);
+  p.rotate(angle);
   p.setOpacity(opacity);
-  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
+  p.drawPixmap(-QPoint(img.width() / 2, img.height() / 2), img);
   p.setOpacity(1.0);
+  p.restore();
 }
 
 // ExperimentalButton
@@ -63,8 +67,16 @@ void ExperimentalButton::updateState(const UIState &s) {
   conditionalExperimental = scene.conditional_experimental;
   conditionalStatus = scene.conditional_status;
   navigateOnOpenpilot = scene.navigate_on_openpilot;
+  rotatingWheel = scene.rotating_wheel;
   trafficModeActive = scene.traffic_mode_active;
   wheelIcon = scene.wheel_icon;
+
+  if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
+    update();
+    steeringAngleDeg = scene.steering_angle_deg;
+  } else if (!rotatingWheel) {
+    steeringAngleDeg = 0;
+  }
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
@@ -84,7 +96,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
     (navigateOnOpenpilot ? bg_colors[STATUS_NAVIGATION_ACTIVE] : QColor(0, 0, 0, 166)))))) :
     QColor(0, 0, 0, 166);
 
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0, steeringAngleDeg);
 }
 
 // MapSettingsButton

selfdrive/ui/qt/onroad/buttons.h

@@ -28,9 +28,11 @@ private:
   bool alwaysOnLateralActive;
   bool conditionalExperimental;
   bool navigateOnOpenpilot;
+  bool rotatingWheel;
   bool trafficModeActive;
 
   int conditionalStatus;
+  int steeringAngleDeg;
   int wheelIcon;
 
   QMap<int, QPixmap> wheelImages;
@@ -51,7 +53,7 @@ private:
   QPixmap settings_img;
 };
 
-void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity, const int angle = 0);
 
 // FrogPilot buttons
 class DistanceButton : public QPushButton {

selfdrive/ui/ui.cc

@@ -224,6 +224,7 @@ static void update_state(UIState *s) {
     scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK;
     scene.reverse = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
     scene.standstill = carState.getStandstill() && !scene.reverse;
+    scene.steering_angle_deg = -carState.getSteeringAngleDeg();
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -321,6 +322,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.dynamic_pedals_on_ui = scene.pedals_on_ui && params.getBool("DynamicPedalsOnUI");
   scene.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI");
   scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI");
+  scene.rotating_wheel = custom_onroad_ui && params.getBool("RotatingWheel");
   scene.wheel_icon = custom_onroad_ui ? params.getInt("WheelIcon") : 0;
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");

selfdrive/ui/ui.h

@@ -150,6 +150,7 @@ typedef struct UIScene {
   bool reverse_cruise_ui;
   bool right_hand_drive;
   bool road_name_ui;
+  bool rotating_wheel;
   bool show_aol_status_bar;
   bool show_cem_status_bar;
   bool show_slc_offset;
@@ -181,6 +182,7 @@ typedef struct UIScene {
   int conditional_speed;
   int conditional_speed_lead;
   int conditional_status;
+  int steering_angle_deg;
   int tethering_config;
   int wheel_icon;