James
56 lines
2.2 KiB
C++
56 lines
2.2 KiB
C++
#include "frogpilot/ui/frogpilot_ui.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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if (fpsm.updated("deviceState")) {
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const cereal::DeviceState::Reader &deviceState = fpsm["deviceState"].getDeviceState();
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frogpilot_scene.online = deviceState.getNetworkType() != cereal::DeviceState::NetworkType::NONE;
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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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}
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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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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", "selfdriveState"
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});
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wifi = new WifiManager(this);
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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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}
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