Multithreaded ssh activation (#19988)

No more lag on SSH enable/disable

SConstruct

@@ -265,7 +265,7 @@ qt_env = None
 if arch in ["x86_64", "Darwin", "larch64"]:
   qt_env = env.Clone()
 
-  qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network"]
+  qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network", "Concurrent"]
 
   qt_libs = []
   if arch == "Darwin":

selfdrive/ui/qt/offroad/networking.cc

@@ -5,6 +5,7 @@
 #include <QPushButton>
 #include <QLineEdit>
 #include <QRandomGenerator>
+#include <QtConcurrent>
 
 #include "networking.hpp"
 
@@ -245,7 +246,6 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   QHBoxLayout* enableSSHLayout = new QHBoxLayout(this);
   enableSSHLayout->addWidget(new QLabel("Enable SSH", this));
   toggle_switch_SSH = new Toggle(this);
-  toggle_switch_SSH->immediateOffset = 40;
   toggle_switch_SSH->setFixedSize(150, 100);
   if (isSSHEnabled()) {
     toggle_switch_SSH->togglePosition();
@@ -293,9 +293,15 @@ bool AdvancedNetworking::isSSHEnabled(){
 
 void AdvancedNetworking::refresh(){
   ipLabel->setText(wifi->ipv4_address);
+  // Don't refresh while changing SSH state
+  if(!toggle_switch_SSH->getEnabled()){
+    return;
+  }
   if (toggle_switch_SSH->on != isSSHEnabled()) {
     toggle_switch_SSH->togglePosition();
   }
+  //Qt can be lazy
+  repaint();
 }
 
 void AdvancedNetworking::toggleTethering(int enable) {
@@ -306,16 +312,28 @@ void AdvancedNetworking::toggleTethering(int enable) {
   }
   editPasswordButton->setEnabled(!enable);
 }
-void AdvancedNetworking::toggleSSH(int enable) {
-  if (enable) {
-    system("sudo systemctl enable ssh");
-    system("sudo systemctl start ssh");
-  } else {
-    system("sudo systemctl stop ssh");
-    system("sudo systemctl disable ssh");
 
+void enableSSH(Toggle* toggle_switch_SSH){
+  system("sudo systemctl enable ssh");
+  system("sudo systemctl start ssh");
+  toggle_switch_SSH->setEnabled(true);
+}
+
+void disableSSH(Toggle* toggle_switch_SSH){
+  system("sudo systemctl stop ssh");
+  system("sudo systemctl disable ssh");
+  toggle_switch_SSH->setEnabled(true);
+}
+
+void AdvancedNetworking::toggleSSH(int enable) {
+  toggle_switch_SSH->setEnabled(false);
+  if (enable) {
+    QtConcurrent::run(enableSSH, toggle_switch_SSH);
+  } else {
+    QtConcurrent::run(disableSSH, toggle_switch_SSH);
   }
 }
+
 void AdvancedNetworking::receiveText(QString text){
   wifi->changeTetheringPassword(text);
   s->setCurrentIndex(1);

selfdrive/ui/qt/widgets/toggle.cc

@@ -10,6 +10,9 @@ _anim(new QPropertyAnimation(this, "offset_circle", this))
   _x_circle = _radius;
   _y_circle = _radius;
   _y_rect = (_height - _height_rect)/2;
+  circleColor = QColor(0xffffff); // placeholder
+  green = QColor(0xffffff); // placeholder
+  setEnabled(true);
 }
 
 void Toggle::paintEvent(QPaintEvent *e) {
@@ -19,7 +22,7 @@ void Toggle::paintEvent(QPaintEvent *e) {
   p.setRenderHint(QPainter::Antialiasing, true);
 
   // Draw toggle background left
-  p.setBrush(QColor(0x33ab4c));
+  p.setBrush(green);
   p.drawRoundedRect(QRect(0, _y_rect, _x_circle + _radius, _height_rect), _height_rect/2, _height_rect/2);
 
   // Draw toggle background right
@@ -27,11 +30,14 @@ void Toggle::paintEvent(QPaintEvent *e) {
   p.drawRoundedRect(QRect(_x_circle - _radius, _y_rect, width() - (_x_circle - _radius), _height_rect), _height_rect/2, _height_rect/2);
 
   // Draw toggle circle
-  p.setBrush(QColor(0xfafafa));
+  p.setBrush(circleColor);
   p.drawEllipse(QRectF(_x_circle - _radius, _y_circle - _radius, 2 * _radius, 2 * _radius));
 }
 
 void Toggle::mouseReleaseEvent(QMouseEvent *e) {
+  if(!enabled){
+    return;
+  }
   const int left = _radius;
   const int right = width() - _radius;
   if(_x_circle != left && _x_circle != right){
@@ -58,3 +64,18 @@ void Toggle::togglePosition() {
 void Toggle::enterEvent(QEvent *e) {
   QAbstractButton::enterEvent(e);
 }
+
+bool Toggle::getEnabled(){
+  return enabled;
+}
+
+void Toggle::setEnabled(bool value){
+  enabled = value;
+  if(value){
+    circleColor.setRgb(0xfafafa);
+    green.setRgb(0x33ab4c);
+  }else{
+    circleColor.setRgb(0x888888);
+    green.setRgb(0x227722);
+  }
+}

selfdrive/ui/qt/widgets/toggle.hpp

@@ -19,7 +19,8 @@ public:
     _x_circle = o;
     update();
   }
-
+  bool getEnabled();
+  void setEnabled(bool value);
 
 protected:
   void paintEvent(QPaintEvent*) override;
@@ -27,6 +28,9 @@ protected:
   void enterEvent(QEvent*) override;
 
 private:
+  QColor circleColor;
+  QColor green;
+  bool enabled = true;
   int _x_circle, _y_circle;
   int _height, _radius;
   int _height_rect, _y_rect;