firestar5683
98 lines
3.8 KiB
C++
98 lines
3.8 KiB
C++
#include "frogpilot/ui/frogpilot_ui.h"
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#include <cstdlib>
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#include <string>
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#include "system/hardware/hw.h"
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static void update_state(FrogPilotUIState *fs) {
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FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
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SubMaster &fpsm = *(fs->sm);
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fpsm.update(0);
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const char *desktop_fake_wifi_env = std::getenv("SP_ALLOW_DESKTOP_FAKE_WIFI");
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const bool desktop_force_online = Hardware::PC() && desktop_fake_wifi_env != nullptr && std::string(desktop_fake_wifi_env) != "0";
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if (desktop_force_online) {
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frogpilot_scene.online = true;
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}
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if (fpsm.updated("deviceState")) {
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const cereal::DeviceState::Reader &deviceState = fpsm["deviceState"].getDeviceState();
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if (!desktop_force_online) {
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frogpilot_scene.online = deviceState.getNetworkType() != cereal::DeviceState::NetworkType::NONE;
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}
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}
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if (fpsm.updated("frogpilotCarState")) {
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const cereal::FrogPilotCarState::Reader &frogpilotCarState = fpsm["frogpilotCarState"].getFrogpilotCarState();
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frogpilot_scene.always_on_lateral_active = !frogpilot_scene.enabled && frogpilotCarState.getAlwaysOnLateralEnabled();
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frogpilot_scene.traffic_mode_enabled = frogpilotCarState.getTrafficModeEnabled();
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}
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if (fpsm.updated("frogpilotPlan")) {
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const cereal::FrogPilotPlan::Reader &frogpilotPlan = fpsm["frogpilotPlan"].getFrogpilotPlan();
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if (frogpilotPlan.getThemeUpdated()) {
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emit fs->themeUpdated();
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}
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capnp::Text::Reader toggles = frogpilotPlan.getFrogpilotToggles();
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QByteArray current_toggles(toggles.cStr(), toggles.size());
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static QByteArray previous_toggles;
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if (previous_toggles != current_toggles) {
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frogpilot_scene.frogpilot_toggles = QJsonDocument::fromJson(current_toggles).object();
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previous_toggles = current_toggles;
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}
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}
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// Keep force drive-state toggles authoritative from params so UI state
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// switches immediately even if frogpilotPlan is delayed.
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frogpilot_scene.frogpilot_toggles["force_offroad"] = fs->params.getBool("ForceOffroad");
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frogpilot_scene.frogpilot_toggles["force_onroad"] = fs->params.getBool("ForceOnroad");
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if (fpsm.updated("selfdriveState")) {
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const cereal::SelfdriveState::Reader &selfdriveState = fpsm["selfdriveState"].getSelfdriveState();
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frogpilot_scene.enabled = selfdriveState.getEnabled();
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}
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}
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FrogPilotUIState::FrogPilotUIState(QObject *parent) : QObject(parent) {
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sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
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"carControl", "deviceState", "frogpilotCarState", "frogpilotDeviceState",
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"frogpilotPlan", "frogpilotRadarState", "frogpilotSelfdriveState", "liveDelay",
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"liveParameters", "liveTorqueParameters", "liveTracks", "mapdExtendedOut", "mapdOut", "selfdriveState"
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});
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// Provide sane local defaults until frogpilotPlan publishes real toggles.
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frogpilot_scene.frogpilot_toggles = {
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{"debug_mode", false},
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{"driver_camera_in_reverse", false},
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{"force_offroad", false},
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{"force_onroad", false},
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{"screen_brightness", 101},
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{"screen_brightness_onroad", 101},
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{"screen_timeout", 30},
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{"screen_timeout_onroad", 10},
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{"sidebar_color1", "#FFFFFFFF"},
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{"sidebar_color2", "#FFFFFFFF"},
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{"sidebar_color3", "#FFFFFFFF"},
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{"standby_mode", false},
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{"tethering_config", 0},
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};
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wifi = new WifiManager(this);
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if (params.getInt("TetheringEnabled") == 1) {
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wifi->setTetheringEnabled(true);
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}
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}
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FrogPilotUIState *frogpilotUIState() {
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static FrogPilotUIState frogpilot_ui_state;
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return &frogpilot_ui_state;
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}
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void FrogPilotUIState::update() {
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update_state(this);
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frogpilot_scene.conditional_status = frogpilot_scene.enabled ? params_memory.getInt("CEStatus") : 0;
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frogpilot_scene.driver_camera_timer = frogpilot_scene.reverse && frogpilot_scene.frogpilot_toggles.value("driver_camera_in_reverse").toBool() ? frogpilot_scene.driver_camera_timer + 1 : 0;
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}
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