ui: display DEC status via mode button (#592)

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -2,14 +2,16 @@
 
 #include <QVBoxLayout>
 #include <memory>
-#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/buttons.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+#define ExperimentalButton ExperimentalButtonSP
 #else
+#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
 #endif
 

selfdrive/ui/qt/onroad/buttons.cc

@@ -44,6 +44,10 @@ void ExperimentalButton::updateState(const UIState &s) {
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
+  drawButton(p);
+}
+
+void ExperimentalButton::drawButton(QPainter &p) {
   QPixmap img = experimental_mode ? experimental_img : engage_img;
   drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
 }

selfdrive/ui/qt/onroad/buttons.h

@@ -16,13 +16,17 @@ class ExperimentalButton : public QPushButton {
 
 public:
   explicit ExperimentalButton(QWidget *parent = 0);
-  void updateState(const UIState &s);
+  virtual void updateState(const UIState &s);
 
 private:
   void paintEvent(QPaintEvent *event) override;
   void changeMode();
 
   Params params;
+
+protected:
+  virtual void drawButton(QPainter &p);
+
   QPixmap engage_img;
   QPixmap experimental_img;
   bool experimental_mode;

selfdrive/ui/sunnypilot/SConscript

@@ -23,6 +23,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
+  "sunnypilot/qt/onroad/buttons.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",

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

@@ -0,0 +1,51 @@
+/**
+ * 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/buttons.h"
+
+#include <QPainter>
+
+ExperimentalButtonSP::ExperimentalButtonSP(QWidget *parent) : ExperimentalButton(parent) {
+  QObject::disconnect(uiState(), &UIState::uiUpdate, this, &ExperimentalButton::updateState);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &ExperimentalButtonSP::updateState);
+}
+
+void ExperimentalButtonSP::updateState(const UIState &s) {
+  ExperimentalButton::updateState(s);
+  const auto long_plan_sp = (*s.sm)["longitudinalPlanSP"].getLongitudinalPlanSP();
+
+  int mode = int(long_plan_sp.getDec().getState());
+  if ((long_plan_sp.getDec().getActive() != dynamic_experimental_control) || (mode != dec_mpc_mode)) {
+    dynamic_experimental_control = long_plan_sp.getDec().getActive();
+    dec_mpc_mode = mode;
+    update();
+  }
+}
+
+void ExperimentalButtonSP::drawButton(QPainter &p) {
+  if (dynamic_experimental_control) {
+    QPixmap left_half = engage_img.copy(0, 0, engage_img.width() / 2, engage_img.height());
+    QPixmap right_half = experimental_img.copy(experimental_img.width() / 2, 0, experimental_img.width() / 2, experimental_img.height());
+
+    QPixmap combined_img(engage_img.width(), engage_img.height());
+    combined_img.fill(Qt::transparent);
+
+    QPainter combined_painter(&combined_img);
+
+    combined_painter.setOpacity(dec_mpc_mode == 1 ? 0.1 : 1.0);
+    combined_painter.drawPixmap(0, 0, left_half);
+
+    combined_painter.setOpacity(dec_mpc_mode == 1 ? 1.0 : 0.1);
+    combined_painter.drawPixmap(engage_img.width() / 2, 0, right_half);
+
+    combined_painter.end();
+
+    drawIcon(p, QPoint(btn_size / 2, btn_size / 2), combined_img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+  } else {
+    ExperimentalButton::drawButton(p);
+  }
+}

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

@@ -0,0 +1,24 @@
+/**
+ * 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/buttons.h"
+
+class ExperimentalButtonSP : public ExperimentalButton {
+  Q_OBJECT
+
+public:
+  explicit ExperimentalButtonSP(QWidget *parent = nullptr);
+  void updateState(const UIState &s) override;
+
+private:
+  void drawButton(QPainter &p) override;
+
+  bool dynamic_experimental_control;
+  int dec_mpc_mode;
+};

selfdrive/ui/sunnypilot/ui.cc

@@ -18,7 +18,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP",
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP",
   });
 
   // update timer