Merge Sage's branch

selfdrive/ui/SConscript

@@ -27,11 +27,12 @@ Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
 
 qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
-          "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
+          "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/customGUI.cc", 
           "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
-          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc", 
+          "qt/offroad/custom_widgets/acceleration.cc", "qt/offroad/custom_widgets/steering.cc", "qt/offroad/custom_widgets/status.cc"]
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:

selfdrive/ui/qt/offroad/customGUI.cc

@@ -0,0 +1,170 @@
+#include <cassert>
+#include <cmath>
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include <QDebug>
+
+#include "common/watchdog.h"
+#include "common/util.h"
+#include "selfdrive/ui/qt/network/networking.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+#include "selfdrive/ui/qt/offroad/customGUI.h"
+#include "cereal/gen/cpp/car.capnp.h"
+
+// Bring custom window to the front
+void CustomWindow::showEvent(QShowEvent *event) {
+  setCurrentPanel(0);
+}
+
+void CustomWindow::setCurrentPanel(int index, const QString &param) {}
+
+CustomWindow::CustomWindow(QWidget *parent) : QFrame(parent) {
+  // Connect custom GUI update to parent uiState update function
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &CustomWindow::updateState);
+
+  // Close btn returns to settings page
+  QPushButton *close_btn = new QPushButton(tr("×"));
+  close_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 140px;
+      padding-bottom: 20px;
+      border-radius: 75px;
+      background-color: #555555;
+      font-weight: 400;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+  close_btn->setFixedSize(150, 150);
+
+  // Status control buttons to hide/show indicator groups
+  QPushButton *blink_btn = new QPushButton(tr("Blinker"));
+  blink_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 25px;
+      padding-bottom: 20px;
+      border-radius: 25px;
+      background-color: #555555;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+  blink_btn->setFixedSize(125, 125);
+
+  QPushButton *car_btn = new QPushButton(tr("Car"));
+  car_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 30px;
+      padding-bottom: 20px;
+      border-radius: 25px;
+      background-color: #555555;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+  car_btn->setFixedSize(125, 125);
+
+  QPushButton *steer_btn = new QPushButton(tr("Steer"));
+  steer_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 30px;
+      padding-bottom: 20px;
+      border-radius: 25px;
+      background-color: #555555;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+  steer_btn->setFixedSize(125, 125);
+
+  QPushButton *drive_btn = new QPushButton(tr("Drive"));
+  drive_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 30px;
+      padding-bottom: 20px;
+      border-radius: 25px;
+      background-color: #555555;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+  drive_btn->setFixedSize(125, 125);
+
+  // main settings layout, sidebar + main panel
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+  main_layout->setSpacing(40);
+  QVBoxLayout *sidebar = new QVBoxLayout();
+  QVBoxLayout *primary = new QVBoxLayout();
+  QVBoxLayout *speed_bar = new QVBoxLayout();
+
+  sidebar->addWidget(close_btn);
+  sidebar->addWidget(blink_btn);
+  sidebar->addWidget(car_btn);
+  sidebar->addWidget(steer_btn);
+  sidebar->addWidget(drive_btn);
+
+  ss = new SteeringSlider(this);
+  lW = new BlinkerStatus(this);
+
+  carStat = new CarStatus(this);
+  steerStat = new SteerStatus(this);
+  driveStat = new DriveStatus(this);
+
+  primary->addWidget(lW);
+  primary->addWidget(carStat);
+  primary->addWidget(steerStat);
+  primary->addWidget(driveStat);
+  primary->addWidget(ss);
+
+  accW = new AccelerationW(this);
+  spW = new SpeedStatus(this, 0);
+  speed_bar->addWidget(spW);
+  speed_bar->addWidget(accW);
+
+  // Connect buttons to visibility functions + settings close
+  QObject::connect(blink_btn, &QPushButton::clicked, [&](){
+    lW->setVisible(!lW->isVisible());
+  });
+  QObject::connect(steer_btn, &QPushButton::clicked, [&](){
+    steerStat->setVisible(!steerStat->isVisible());
+  });
+  QObject::connect(car_btn, &QPushButton::clicked, [&](){
+    carStat->setVisible(!carStat->isVisible());
+  });
+  QObject::connect(drive_btn, &QPushButton::clicked, [&](){
+    driveStat->setVisible(!driveStat->isVisible());
+  });
+  QObject::connect(close_btn, &QPushButton::clicked, this, &CustomWindow::closeCustom);
+  main_layout->addLayout(sidebar);
+  main_layout->addLayout(primary);
+  main_layout->addLayout(speed_bar);
+  setStyleSheet(R"(
+    CustomWindow {
+      background-color: black;
+    }
+  )");
+}
+
+// Update contents of custom window
+// Inherits from ui
+void CustomWindow::updateState(const UIState &s) {
+  const SubMaster &sm = *(s.sm);
+  lW->update(sm);
+  spW->update(sm);
+  carStat->update(sm);
+  steerStat->update(sm);
+  driveStat->update(sm);
+}
+
+

selfdrive/ui/qt/offroad/customGUI.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#include <map>
+#include <string>
+
+#include <QButtonGroup>
+#include <QFrame>
+#include <QLabel>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QWidget>
+#include <QSpinBox>
+#include <QPixmap>
+
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/offroad/custom_widgets/acceleration.h"
+#include "selfdrive/ui/qt/offroad/custom_widgets/steering.h"
+#include "selfdrive/ui/qt/offroad/custom_widgets/status.h"
+
+// ********** custom window **********
+class CustomWindow : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit CustomWindow(QWidget *parent = 0);
+  void setCurrentPanel(int index, const QString &param = "");
+  void updateState(const UIState &s);
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void closeCustom();
+
+private:
+// All widgets present in custom window
+  SteeringSlider *ss;
+  BlinkerStatus *lW;
+  AccelerationW *accW;
+  SpeedStatus *spW;
+  SteerStatus *steerStat;
+  DriveStatus *driveStat;
+  CarStatus *carStat;
+};

selfdrive/ui/qt/offroad/custom_widgets/acceleration.cc

@@ -0,0 +1,57 @@
+#include <cassert>
+#include <cmath>
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include <QDebug>
+
+#include "common/watchdog.h"
+#include "common/util.h"
+#include "selfdrive/ui/qt/network/networking.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+#include "selfdrive/ui/qt/offroad/customGUI.h"
+#include "cereal/gen/cpp/car.capnp.h"
+#include "selfdrive/ui/qt/offroad/custom_widgets/acceleration.h"
+
+AccelerationW::AccelerationW(QWidget* parent) : QWidget(parent) {
+  // Create title and control buttons
+  QVBoxLayout *main = new QVBoxLayout(this);
+  QLabel *title2 = new QLabel("Acceleration");
+  title2->setStyleSheet(R"(
+    QLabel {
+     font-size: 40px;
+     font-weight: bold;
+     color: #a9a9a9;
+     }
+    )");
+
+  QPushButton *incBtn = new QPushButton(tr("^"));
+  incBtn->setFixedSize(200, 350);
+
+  QPushButton *decBtn = new QPushButton(tr("V"));
+  decBtn->setFixedSize(200, 350);
+
+  // Add widgets to layout
+  main->addWidget(title2);
+  main->addWidget(incBtn);
+  main->addWidget(decBtn);
+
+   setStyleSheet(R"(
+    QPushButton {
+      font-size: 140px;
+      padding-bottom: 20px;
+      background-color: #DDDDDD;
+      font-weight: 400;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+
+  main->setAlignment(Qt::AlignRight);
+}

selfdrive/ui/qt/offroad/custom_widgets/acceleration.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <map>
+#include <string>
+
+#include <QButtonGroup>
+#include <QFrame>
+#include <QLabel>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QWidget>
+#include <QSpinBox>
+#include <QPixmap>
+
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
+
+// Creates gas / brake controls
+class AccelerationW : public QWidget {
+  Q_OBJECT
+public:
+  explicit AccelerationW(QWidget *parent);
+};