FrogPilot 0.9.7

selfdrive/ui/ui.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <iostream>
 #include <memory>
 #include <string>
 
@@ -14,8 +15,12 @@
 #include "common/mat.h"
 #include "common/params.h"
 #include "common/timing.h"
+#include "selfdrive/ui/qt/network/wifi_manager.h"
+#include "selfdrive/ui/qt/util.h"
 #include "system/hardware/hw.h"
 
+#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h"
+
 const int UI_BORDER_SIZE = 30;
 const int UI_HEADER_HEIGHT = 420;
 
@@ -50,6 +55,13 @@ typedef enum UIStatus {
   STATUS_DISENGAGED,
   STATUS_OVERRIDE,
   STATUS_ENGAGED,
+
+  // FrogPilot statuses
+  STATUS_ALWAYS_ON_LATERAL_ACTIVE,
+  STATUS_CONDITIONAL_OVERRIDDEN,
+  STATUS_EXPERIMENTAL_MODE_ACTIVE,
+  STATUS_NAVIGATION_ACTIVE,
+  STATUS_TRAFFIC_MODE_ACTIVE,
 } UIStatus;
 
 enum PrimeType {
@@ -67,6 +79,13 @@ const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
   [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
+
+  // FrogPilot colors
+  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1),
+  [STATUS_CONDITIONAL_OVERRIDDEN] = QColor(0xff, 0xff, 0x00, 0xf1),
+  [STATUS_EXPERIMENTAL_MODE_ACTIVE] = QColor(0xda, 0x6f, 0x25, 0xf1),
+  [STATUS_NAVIGATION_ACTIVE] = QColor(0x31, 0xa1, 0xee, 0xf1),
+  [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xf1),
 };
 
 
@@ -86,7 +105,7 @@ typedef struct UIScene {
   QPolygonF road_edge_vertices[2];
 
   // lead
-  QPointF lead_vertices[2];
+  QPointF lead_vertices[6];
 
   // DMoji state
   float driver_pose_vals[3];
@@ -95,12 +114,173 @@ typedef struct UIScene {
   float driver_pose_coss[3];
   vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
 
+  bool navigate_on_openpilot = false;
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
   bool world_objects_visible = false;
   uint64_t started_frame;
+
+  // FrogPilot variables
+  bool acceleration_path;
+  bool adjacent_path;
+  bool adjacent_path_metrics;
+  bool always_on_lateral;
+  bool always_on_lateral_active;
+  bool big_map;
+  bool blind_spot_left;
+  bool blind_spot_path;
+  bool blind_spot_right;
+  bool brake_lights_on;
+  bool cem_status;
+  bool compass;
+  bool conditional_experimental;
+  bool cpu_metrics;
+  bool downloading_update;
+  bool driver_camera_in_reverse;
+  bool dynamic_path_width;
+  bool dynamic_pedals_on_ui;
+  bool enabled;
+  bool experimental_mode;
+  bool experimental_mode_via_tap;
+  bool fahrenheit;
+  bool force_onroad;
+  bool frogpilot_panel_active;
+  bool frogs_go_moo;
+  bool full_map;
+  bool gpu_metrics;
+  bool hide_alerts;
+  bool hide_csc_ui;
+  bool hide_lead_marker;
+  bool hide_map_icon;
+  bool hide_max_speed;
+  bool hide_speed;
+  bool hide_speed_limit;
+  bool ip_metrics;
+  bool jerk_metrics;
+  bool lateral_tuning_metrics;
+  bool lead_metrics;
+  bool left_curve;
+  bool live_valid;
+  bool map_open;
+  bool memory_metrics;
+  bool model_randomizer;
+  bool model_ui;
+  bool mtsc_enabled;
+  bool no_logging;
+  bool no_uploads;
+  bool numerical_temp;
+  bool online;
+  bool onroad_distance_button;
+  bool parked;
+  bool pedals_on_ui;
+  bool radarless_model;
+  bool rainbow_path;
+  bool random_events;
+  bool red_light;
+  bool reverse;
+  bool road_name_ui;
+  bool rotating_wheel;
+  bool screen_recorder;
+  bool show_blind_spot;
+  bool show_fps;
+  bool show_speed_limit_offset;
+  bool show_speed_limits;
+  bool show_stopping_point;
+  bool show_stopping_point_metrics;
+  bool sidebar_metrics;
+  bool signal_metrics;
+  bool speed_limit_changed;
+  bool speed_limit_controller;
+  bool speed_limit_overridden;
+  bool speed_limit_sources;
+  bool speed_limit_vienna;
+  bool standby_mode;
+  bool standstill;
+  bool static_pedals_on_ui;
+  bool steering_metrics;
+  bool stopped_timer;
+  bool storage_left_metrics;
+  bool storage_used_metrics;
+  bool tethering_enabled;
+  bool traffic_mode;
+  bool traffic_mode_active;
+  bool turn_signal_left;
+  bool turn_signal_right;
+  bool unlimited_road_ui_length;
+  bool use_si_metrics;
+  bool use_stock_colors;
+  bool use_stock_wheel;
+  bool use_wheel_speed;
+  bool vtsc_controlling_curve;
+  bool vtsc_enabled;
+  bool wake_up_screen;
+
+  double fps;
+
+  float acceleration;
+  float acceleration_jerk;
+  float acceleration_jerk_difference;
+  float dashboard_speed_limit;
+  float friction;
+  float lane_detection_width;
+  float lane_line_width;
+  float lane_width_left;
+  float lane_width_right;
+  float lat_accel;
+  float lead_detection_probability;
+  float mtsc_speed;
+  float navigation_speed_limit;
+  float path_edge_width;
+  float path_width;
+  float road_edge_width;
+  float speed_jerk;
+  float speed_jerk_difference;
+  float speed_limit;
+  float speed_limit_map;
+  float speed_limit_offset;
+  float speed_limit_overridden_speed;
+  float steer;
+  float unconfirmed_speed_limit;
+  float upcoming_maneuver_distance;
+  float upcoming_speed_limit;
+  float vtsc_speed;
+
+  int bearing_deg;
+  int camera_view;
+  int conditional_status;
+  int desired_follow;
+  int driver_camera_timer;
+  int map_style;
+  int minimum_lane_change_speed;
+  int model_length;
+  int screen_brightness = -1;
+  int screen_brightness_onroad = -1;
+  int screen_timeout;
+  int screen_timeout_onroad;
+  int started_timer;
+  int steering_angle_deg;
+  int tethering_config;
+
+  std::string speed_limit_source;
+
+  QColor lane_lines_color;
+  QColor lead_marker_color;
+  QColor path_color;
+  QColor path_edges_color;
+  QColor sidebar_color1;
+  QColor sidebar_color2;
+  QColor sidebar_color3;
+
+  QJsonObject frogpilot_toggles;
+
+  QPolygonF track_adjacent_vertices[6];
+  QPolygonF track_edge_vertices;
+
+  QString model;
+  QString model_name;
+
 } UIScene;
 
 class UIState : public QObject {
@@ -128,12 +308,23 @@ public:
 
   QTransform car_space_transform;
 
+  // FrogPilot variables
+  Params params_memory{"/dev/shm/params"};
+
+  WifiManager *wifi = nullptr;
+
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
   void primeChanged(bool prime);
   void primeTypeChanged(PrimeType prime_type);
 
+  // FrogPilot signals
+  void driveRated();
+  void reviewModel();
+  void themeUpdated();
+  void togglesUpdated();
+
 private slots:
   void update();
 
@@ -175,7 +366,7 @@ signals:
   void interactiveTimeout();
 
 public slots:
-  void resetInteractiveTimeout(int timeout = -1);
+  void resetInteractiveTimeout(int timeout = -1, int timeout_onroad = -1);
   void update(const UIState &s);
 };
 
@@ -190,3 +381,7 @@ void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &drivers
 void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);
+
+// FrogPilot functions
+void ui_update_frogpilot_params(UIState *s);
+void ui_update_theme(UIState *s);