StarPilot/selfdrive/ui/qt/home.cc

#include "selfdrive/ui/qt/home.h"

#include <QHBoxLayout>
#include <QMouseEvent>

#include "selfdrive/ui/qt/util.h"

// HomeWindow: the container for the offroad and onroad UIs

HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
  QHBoxLayout *main_layout = new QHBoxLayout(this);
  main_layout->setMargin(0);
  main_layout->setSpacing(0);

  sidebar = new Sidebar(this);
  main_layout->addWidget(sidebar);
  QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);

  slayout = new QStackedLayout();
  main_layout->addLayout(slayout);

  home = new OffroadHome(this);
  QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
  slayout->addWidget(home);

  onroad = new OnroadWindow(this);
  slayout->addWidget(onroad);

  body = new BodyWindow(this);
  slayout->addWidget(body);

  setAttribute(Qt::WA_NoSystemBackground);
  QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
  QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
  QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition);
}

void HomeWindow::showSidebar(bool show) {
  sidebar->setVisible(show);
}

void HomeWindow::updateState(const UIState &s) {
  const SubMaster &sm = *(s.sm);

  // switch to the generic robot UI
  if (onroad->isVisible() && !body->isEnabled() && sm["carParams"].getCarParams().getNotCar()) {
    body->setEnabled(true);
    slayout->setCurrentWidget(body);
  }
}

void HomeWindow::offroadTransition(bool offroad) {
  body->setEnabled(false);
  sidebar->setVisible(offroad);
  if (offroad) {
    slayout->setCurrentWidget(home);
  } else {
    slayout->setCurrentWidget(onroad);
  }
}

void HomeWindow::mousePressEvent(QMouseEvent* e) {
  // Handle sidebar collapsing
  if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
    sidebar->setVisible(!sidebar->isVisible());
  }
}

void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
  HomeWindow::mousePressEvent(e);
  const SubMaster &sm = *(uiState()->sm);
  if (sm["carParams"].getCarParams().getNotCar()) {
    if (onroad->isVisible()) {
      slayout->setCurrentWidget(body);
    } else if (body->isVisible()) {
      slayout->setCurrentWidget(onroad);
    }
    showSidebar(false);
  }
}