ui: onroad skeleton (#521)

* onroad init

* init model renderer

* Add default virtual destructors to HudRenderer and AnnotatedCameraWidget

This ensures proper cleanup of derived classes if they override these destructors. Adding default destructors promotes better memory safety and adheres to modern C++ best practices.

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -2,18 +2,24 @@
 
 #include <QVBoxLayout>
 #include <memory>
-#include "selfdrive/ui/qt/onroad/hud.h"
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
 #include "selfdrive/ui/qt/onroad/model.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+#else
+#include "selfdrive/ui/qt/onroad/hud.h"
+#endif
+
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
 
 public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
-  void updateState(const UIState &s);
+  virtual ~AnnotatedCameraWidget() = default;
+  virtual void updateState(const UIState &s);
 
 private:
   QVBoxLayout *main_layout;

selfdrive/ui/qt/onroad/hud.h

@@ -1,17 +1,23 @@
 #pragma once
 
 #include <QPainter>
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class HudRenderer : public QObject {
   Q_OBJECT
 
 public:
   HudRenderer();
-  void updateState(const UIState &s);
-  void draw(QPainter &p, const QRect &surface_rect);
+  virtual ~HudRenderer() = default;
+  virtual void updateState(const UIState &s);
+  virtual void draw(QPainter &p, const QRect &surface_rect);
 
-private:
+protected:
   void drawSetSpeed(QPainter &p, const QRect &surface_rect);
   void drawCurrentSpeed(QPainter &p, const QRect &surface_rect);
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);

selfdrive/ui/qt/onroad/onroad_home.h

@@ -1,10 +1,13 @@
 #pragma once
 
 #include "selfdrive/ui/qt/onroad/alerts.h"
-#include "selfdrive/ui/qt/onroad/annotated_camera.h"
 
 #ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
 #define UIState UIStateSP
+#define AnnotatedCameraWidget AnnotatedCameraWidgetSP
+#else
+#include "selfdrive/ui/qt/onroad/annotated_camera.h"
 #endif
 
 class OnroadWindow : public QWidget {

selfdrive/ui/sunnypilot/SConscript

@@ -17,6 +17,9 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
+  "sunnypilot/qt/onroad/annotated_camera.cc",
+  "sunnypilot/qt/onroad/hud.cc",
+  "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
 ]
 

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc

@@ -0,0 +1,16 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
+
+AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent)
+    : AnnotatedCameraWidget(type, parent) {
+}
+
+void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
+  AnnotatedCameraWidget::updateState(s);
+}

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h

@@ -0,0 +1,18 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/annotated_camera.h"
+
+class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
+  Q_OBJECT
+
+public:
+  explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
+  void updateState(const UIState &s) override;
+};

selfdrive/ui/sunnypilot/qt/onroad/hud.cc

@@ -0,0 +1,18 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+
+HudRendererSP::HudRendererSP() {}
+
+void HudRendererSP::updateState(const UIState &s) {
+  HudRenderer::updateState(s);
+}
+
+void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
+  HudRenderer::draw(p, surface_rect);
+}

selfdrive/ui/sunnypilot/qt/onroad/hud.h

@@ -0,0 +1,21 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QPainter>
+
+#include "selfdrive/ui/qt/onroad/hud.h"
+
+class HudRendererSP : public HudRenderer {
+  Q_OBJECT
+
+public:
+  HudRendererSP();
+  void updateState(const UIState &s) override;
+  void draw(QPainter &p, const QRect &surface_rect) override;
+};

selfdrive/ui/sunnypilot/qt/onroad/model.cc

@@ -0,0 +1,8 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/model.h"

selfdrive/ui/sunnypilot/qt/onroad/model.h

@@ -0,0 +1,15 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/model.h"
+
+class ModelRendererSP : public ModelRenderer {
+public:
+  ModelRendererSP() {}
+};