Implemented a window update for SunnyPilot mode

The code was tailored to work with SunnyPilot mode. It includes various changes, such as adding logic to the main window to include SunnyPilot's window when it's active and making changes to the MainWindow constructor for compatibility with SunnyPilot. Additional changes were made to various UI elements to ensure compatibility with the different mode. This update provides a more seamless user experience when switching between the two modes, SunnyPilot and standard.

selfdrive/ui/qt/body.h

@@ -5,7 +5,11 @@
 #include <QPushButton>
 
 #include "common/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class RecordButton : public QPushButton {
   Q_OBJECT

selfdrive/ui/qt/network/networking.cc

@@ -6,7 +6,11 @@
 #include <QScrollBar>
 #include <QStyle>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"

selfdrive/ui/qt/network/wifi_manager.cc

@@ -2,7 +2,11 @@
 
 #include <utility>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 #include "selfdrive/ui/qt/widgets/prime.h"
 
 #include "common/params.h"

selfdrive/ui/qt/onroad/buttons.cc

@@ -34,8 +34,7 @@ void ExperimentalButton::changeMode() {
 
 void ExperimentalButton::updateState(const UIState &s) {
   const auto cs = (*s.sm)["controlsState"].getControlsState();
-  const auto lp_sp = (*s.sm)["longitudinalPlanSP"].getLongitudinalPlanSP();
-  bool eng = (cs.getEngageable() || cs.getEnabled()) && !(lp_sp.getVisionTurnControllerState() > cereal::LongitudinalPlanSP::VisionTurnControllerState::DISABLED);
+  bool eng = cs.getEngageable() || cs.getEnabled();
   if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
     engageable = eng;
     experimental_mode = cs.getExperimentalMode();

selfdrive/ui/qt/onroad/buttons.h

@@ -2,7 +2,11 @@
 
 #include <QPushButton>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
@@ -14,6 +18,10 @@ public:
   explicit ExperimentalButton(QWidget *parent = 0);
   void updateState(const UIState &s);
 
+protected:
+  bool experimental_mode;
+  bool engageable;
+
 private:
   void paintEvent(QPaintEvent *event) override;
   void changeMode();
@@ -21,9 +29,6 @@ private:
   Params params;
   QPixmap engage_img;
   QPixmap experimental_img;
-  bool experimental_mode;
-  bool engageable;
 };
 
-
-void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -35,8 +35,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   alerts->raise();
 
   setAttribute(Qt::WA_OpaquePaintEvent);
+
+  // We handle the connection of the signals on the derived class
+#ifndef SUNNYPILOT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+#endif
 }
 
 void OnroadWindow::updateState(const UIState &s) {

selfdrive/ui/qt/onroad/onroad_home.h

@@ -5,7 +5,8 @@
 
 #if SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.h"
-// #define AnnotatedCameraWidget AnnotatedCameraWidgetSP
+#define AnnotatedCameraWidget AnnotatedCameraWidgetSP
+#define UIState UIStateSP
 #else
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 #endif

selfdrive/ui/qt/sidebar.h

@@ -4,8 +4,13 @@
 
 #include <QFrame>
 #include <QMap>
+#include "cereal/messaging/messaging.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);

selfdrive/ui/qt/widgets/wifi.h

@@ -4,7 +4,11 @@
 #include <QStackedLayout>
 #include <QWidget>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class WiFiPromptWidget : public QFrame {
   Q_OBJECT

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

@@ -36,7 +36,7 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget*
   main_layout->setMargin(UI_BORDER_SIZE);
   main_layout->setSpacing(0);
 
-  experimental_btn = new ExperimentalButton(this);
+  experimental_btn = new ExperimentalButtonSP(this);
   main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
 
   onroad_settings_btn = new OnroadSettingsButton(this);
@@ -1501,6 +1501,6 @@ void AnnotatedCameraWidgetSP::paintEvent(QPaintEvent *event) {
 void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
   CameraWidget::showEvent(event);
 
-  ui_update_params(uiStateSP());
+  sp_ui_update_params(uiStateSP());
   prev_draw_t = millis_since_boot();
 }

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

@@ -59,7 +59,7 @@ private:
   void drawRoadNameText(QPainter &p, int x, int y, const QString &text, QColor color);
 
   QVBoxLayout *main_layout;
-  ExperimentalButton *experimental_btn;
+  ExperimentalButtonSP *experimental_btn;
   QPixmap dm_img;
   float speed;
   QString speedUnit;

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

@@ -14,6 +14,17 @@ static void drawCustomButtonIcon(QPainter &p, const int btn_size_x, const int bt
     p.setOpacity(1.0);
 }
 
+// ExperimentalButtonSP
+void ExperimentalButtonSP::updateState(const UIStateSP &s) {
+    const auto cs = (*s.sm)["controlsState"].getControlsState();
+    bool eng = cs.getEngageable() || cs.getEnabled();
+    if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
+        engageable = eng;
+        experimental_mode = cs.getExperimentalMode();
+        update();
+    }
+}
+
 
 // OnroadSettingsButton
 OnroadSettingsButton::OnroadSettingsButton(QWidget *parent) : QPushButton(parent) {

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

@@ -1,10 +1,20 @@
 #pragma once
 
 #include <QPushButton>
+#include "selfdrive/ui/qt/onroad/buttons.h"
+
 #include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
 
 #include "selfdrive/ui/ui.h"
 
+class ExperimentalButtonSP : public ExperimentalButton {
+    Q_OBJECT
+
+  public:
+    explicit ExperimentalButtonSP(QWidget *parent = 0) : ExperimentalButton(parent) {};
+    void updateState(const UIStateSP &s);
+};
+
 class OnroadSettingsButton : public QPushButton {
     Q_OBJECT
 

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

@@ -12,14 +12,16 @@
 #endif
 
 #include "selfdrive/ui/qt/util.h"
-
 OnroadWindowSP::OnroadWindowSP(QWidget *parent) : OnroadWindow(parent) {
-  
+  // QObject::disconnect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
+  // QObject::disconnect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+
   if (getenv("MAP_RENDER_VIEW")) {
     CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
     split->insertWidget(0, map_render); //TODO: We MIGHT  to override the split variable because it is added on onroad_home.cc and we need to access it before. I am not sure so we will need to test it before 
   }
-  QObject::connect(uiStateSP(), &UIStateSP::primeChanged, this, &OnroadWindowSP::primeChanged);
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &OnroadWindowSP::updateState);
+  QObject::connect(uiStateSP(), &UIStateSP::offroadTransition, this, &OnroadWindowSP::offroadTransition);
 }
 
 void OnroadWindowSP::updateState(const UIStateSP &s) {
@@ -100,6 +102,7 @@ void OnroadWindowSP::createOnroadSettingsWidget() {
 }
 
 void OnroadWindowSP::offroadTransition(bool offroad) {
+
   if (!offroad) {
 #ifdef ENABLE_MAPS
     if (map == nullptr && (uiStateSP()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {

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

@@ -36,7 +36,7 @@ private:
   void createMapWidget();
   void createOnroadSettingsWidget();
   void mousePressEvent(QMouseEvent* e) override;
-  AnnotatedCameraWidgetSP *nvg;
+  // AnnotatedCameraWidgetSP *nvg;
   QWidget *map = nullptr;
   QWidget *onroad_settings = nullptr;
 
@@ -44,7 +44,7 @@ private:
 
 protected slots:
   void offroadTransition(bool offroad) override;
-  void updateState(const UIStateSP &s);
+  void updateState(const UIStateSP &s) override;
   void primeChanged(bool prime);
   void updateMapSize(const UISceneSP &scene);
 };

selfdrive/ui/sunnypilot/qt/sp_priv_ui_scene.h

@@ -4,7 +4,7 @@
 const float DRIVING_PATH_WIDE = 0.9;
 const float DRIVING_PATH_NARROW = 0.25;
 
-typedef struct UISceneSP : public UIScene {
+typedef struct UISceneSP : UIScene {
     cereal::ControlsState::Reader controlsState;
 
     // Debug UI

selfdrive/ui/sunnypilot/sp_priv_ui.cc

@@ -294,6 +294,7 @@ void UIStateSP::setSunnylinkDeviceUsers(const std::vector<UserModel>& users) {
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent){
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
 }
 
 //todo: revisit this
@@ -320,6 +321,7 @@ UIStateSP *uiStateSP() {
   static UIStateSP ui_state;
   return &ui_state;
 }
+UIStateSP *uiState() { return uiStateSP(); }
 
 DeviceSP *deviceSP() {
   static DeviceSP _device;

selfdrive/ui/sunnypilot/sp_priv_ui.h

@@ -54,8 +54,6 @@ public:
   void setSunnylinkRoles(const std::vector<RoleModel> &roles);
   void setSunnylinkDeviceUsers(const std::vector<UserModel> &users);
 
-  UISceneSP scene = {};
-
   inline std::vector<RoleModel> sunnylinkDeviceRoles() const { return sunnylinkRoles; }
   inline bool isSunnylinkAdmin() const {
     return std::any_of(sunnylinkRoles.begin(), sunnylinkRoles.end(), [](const RoleModel &role) {
@@ -109,8 +107,8 @@ private:
   float mads_path_count = 4;     // UI runs at 20 Hz, therefore 0.2 second is [0.2 second / (1 / 20 Hz) = 4]
 };
 
-//TODO: maybe need to redeclare but the sp?
 UIStateSP *uiStateSP();
+UIStateSP *uiState();
 
 // device management class
 class DeviceSP : public Device {
@@ -122,6 +120,10 @@ protected:
   void updateBrightness(const UIStateSP &s);
 };
 
+DeviceSP *deviceSP();
+inline DeviceSP *device() { return deviceSP(); }
+
 void sp_update_model(UIStateSP *s, const cereal::ModelDataV2::Reader &model);
+void sp_ui_update_params(UIStateSP *s);
 void update_line_data(const UIStateSP *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off_left, float z_off_right, QPolygonF *pvd, int max_idx, bool allow_invert);

selfdrive/ui/ui.cc

@@ -238,6 +238,10 @@ void UIState::updateStatus() {
   }
 }
 
+// #ifdef SUNNYPILOT
+// #include "selfdrive/ui/sunnypilot/qt/sp_priv_ui_scene.h"
+// #define UIScene UISceneSP
+// #endif
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
@@ -291,8 +295,9 @@ void UIState::setPrimeType(PrimeType type) {
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
   resetInteractiveTimeout();
-
+#ifndef SUNNYPILOT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update);
+#endif
 }
 
 void Device::update(const UIState &s) {
@@ -358,6 +363,7 @@ void Device::updateWakefulness(const UIState &s) {
   setAwake(s.scene.ignition || interactive_timeout > 0);
 }
 
+#ifndef SUNNYPILOT
 UIState *uiState() {
   static UIState ui_state;
   return &ui_state;
@@ -366,4 +372,5 @@ UIState *uiState() {
 Device *device() {
   static Device _device;
   return &_device;
-}
+}
+#endif

selfdrive/ui/ui.h

@@ -112,6 +112,10 @@ typedef struct UIScene {
   uint64_t started_frame;
 } UIScene;
 
+#ifdef SUNNYPILOT
+#include "sunnypilot/qt/sp_priv_ui_scene.h"
+#define UIScene UISceneSP
+#endif
 class UIState : public QObject {
   Q_OBJECT
 
@@ -153,8 +157,11 @@ protected:
 private:  
   bool started_prev = false;
 };
+#undef UIScene
 
+#ifndef SUNNYPILOT
 UIState *uiState();
+#endif
 
 // device management class
 class Device : public QObject {
@@ -191,7 +198,9 @@ public slots:
   void update(const UIState &s);
 };
 
+#ifndef SUNNYPILOT
 Device *device();
+#endif
 
 void ui_update_params(UIState *s);
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);