ui update

selfdrive/ui/android/ui.cc

@@ -2,6 +2,7 @@
 #include <stdlib.h>
 #include <math.h>
 #include <sys/resource.h>
+#include <iostream>
 
 #include <algorithm>
 
@@ -29,6 +30,61 @@ static void ui_set_brightness(UIState *s, int brightness) {
   }
 }
 
+static void send_df(UIState *s, int status) {
+  MessageBuilder msg;
+  auto dfStatus = msg.initEvent().initDynamicFollowButton();
+  dfStatus.setStatus(status);
+  s->pm->send("dynamicFollowButton", msg);
+}
+
+static void send_ml(UIState *s, bool enabled) {
+  MessageBuilder msg;
+  auto mlStatus = msg.initEvent().initModelLongButton();
+  mlStatus.setEnabled(enabled);
+  s->pm->send("modelLongButton", msg);
+}
+
+static bool handle_df_touch(UIState *s, int touch_x, int touch_y) {
+  //dfButton manager
+  int padding = 40;
+  if ((1660 - padding <= touch_x) && (855 - padding <= touch_y)) {
+    s->scene.dfButtonStatus++;
+    if (s->scene.dfButtonStatus > 3) { s->scene.dfButtonStatus = 0; }
+    send_df(s, s->scene.dfButtonStatus);
+    printf("df button: %d\n", s->scene.dfButtonStatus);
+    return true;
+  }
+  return false;
+}
+
+static bool handle_ml_touch(UIState *s, int touch_x, int touch_y) {
+  //mlButton manager
+  int padding = 40;
+  int btn_w = 500;
+  int btn_h = 138;
+  int xs[2] = {1920 / 2 - btn_w / 2, 1920 / 2 + btn_w / 2};
+  int y_top = 915 - btn_h / 2;
+  if (xs[0] <= touch_x + padding && touch_x - padding <= xs[1] && y_top - padding <= touch_y) {
+    s->scene.mlButtonEnabled = !s->scene.mlButtonEnabled;
+    send_ml(s, s->scene.mlButtonEnabled);
+    printf("ml button: %d\n", s->scene.mlButtonEnabled);
+    return true;
+  }
+  return false;
+}
+
+static bool handle_SA_touched(UIState *s, int touch_x, int touch_y) {
+  if (s->active_app == cereal::UiLayoutState::App::NONE) {  // if onroad (not settings or home)
+    if ((s->awake && s->vision_connected && s->status != STATUS_OFFROAD) || s->ui_debug) {  // if car started or debug mode
+      if (handle_ml_touch(s, touch_x, touch_y)) {
+        s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping any SA button
+        return true;  // only allow one button to be pressed at a time
+      }
+    }
+  }
+  return false;
+}
+
 static void handle_display_state(UIState *s, bool user_input) {
 
   static int awake_timeout = 0;
@@ -120,6 +176,7 @@ int main(int argc, char* argv[]) {
   UIState uistate = {};
   UIState *s = &uistate;
   ui_init(s);
+  sa_init(s, true);
   s->sound = &sound;
 
   TouchState touch = {0};
@@ -146,10 +203,17 @@ int main(int argc, char* argv[]) {
   const int MAX_VOLUME = LEON ? 15 : 12;
   s->sound->setVolume(MIN_VOLUME);
 
+  bool last_started = s->started;
   while (!do_exit) {
     if (!s->started) {
       usleep(50 * 1000);
     }
+
+    if (s->started && !last_started) {
+      sa_init(s, false);  // reset ml button and regrab params
+    }
+    last_started = s->started;
+
     double u1 = millis_since_boot();
 
     ui_update(s);
@@ -158,8 +222,11 @@ int main(int argc, char* argv[]) {
     int touch_x = -1, touch_y = -1;
     int touched = touch_poll(&touch, &touch_x, &touch_y, 0);
     if (touched == 1) {
+      if (s->ui_debug) { printf("touched x: %d, y: %d\n", touch_x, touch_y); }
       handle_sidebar_touch(s, touch_x, touch_y);
-      handle_vision_touch(s, touch_x, touch_y);
+      if (!handle_SA_touched(s, touch_x, touch_y)) {  // if SA button not touched
+        handle_vision_touch(s, touch_x, touch_y);
+      }
     }
 
     // Don't waste resources on drawing in case screen is off

selfdrive/ui/paint.cc

@@ -531,6 +531,58 @@ static void ui_draw_driver_view(UIState *s) {
 
 //dev ui
 
+static void ui_draw_df_button(UIState *s) {
+  int btn_status = s->scene.dfButtonStatus;
+  int btn_w = 150;
+  int btn_h = 150;
+  int y_padding = 50;
+  int btn_x = 1920 - btn_w;
+  int btn_y = 1080 - btn_h - y_padding;
+  int btn_colors[4][3] = {{4, 67, 137}, {36, 168, 188}, {252, 255, 75}, {55, 184, 104}};
+
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, btn_x-110, btn_y-45, btn_w, btn_h, 100);
+  nvgStrokeColor(s->vg, nvgRGBA(btn_colors[btn_status][0], btn_colors[btn_status][1], btn_colors[btn_status][2], 255));
+  nvgStrokeWidth(s->vg, 11);
+  nvgStroke(s->vg);
+
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+  nvgFontSize(s->vg, 80);
+  nvgText(s->vg, btn_x - 38, btn_y + 30, "DF", NULL);
+
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+  nvgFontSize(s->vg, 45);
+  nvgText(s->vg, btn_x - 34, btn_y + 50 + 15, "profile", NULL);
+}
+
+static void ui_draw_ml_button(UIState *s) {
+  int btn_w = 500;
+  int btn_h = 138;
+  int x = 1920 / 2;
+  int y = 915;
+  int btn_x = x - btn_w / 2;
+  int btn_y = y - btn_h / 2;
+
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
+  if (s->scene.mlButtonEnabled) {  // change outline color based on status of button
+    nvgStrokeColor(s->vg, nvgRGBA(55, 184, 104, 255));
+  } else {
+    nvgStrokeColor(s->vg, nvgRGBA(184, 55, 55, 255));
+  }
+  nvgStrokeWidth(s->vg, 12);
+  nvgStroke(s->vg);
+
+  nvgBeginPath(s->vg);  // dark background for readability
+  nvgRoundedRect(s->vg, btn_x, btn_y, btn_w, btn_h, 25);
+  nvgFillColor(s->vg, nvgRGBA(75, 75, 75, 75));
+  nvgFill(s->vg);
+
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+  nvgFontSize(s->vg, 65);
+  nvgText(s->vg, x, y + btn_h / 8, "Toggle Model Long", NULL);
+}
+
 static void ui_draw_vision_header(UIState *s) {
   const Rect &viz_rect = s->scene.viz_rect;
   NVGpaint gradient = nvgLinearGradient(s->vg, viz_rect.x,
@@ -769,6 +821,8 @@ void ui_draw_bbui(UIState *s) {
 static void ui_draw_vision_footer(UIState *s) {
   ui_draw_vision_face(s);
   ui_draw_bbui(s);
+  ui_draw_ml_button(s);
+  ui_draw_df_button(s);
   //ui_draw_vision_brake(s);
 }
 

selfdrive/ui/ui.cc

@@ -7,6 +7,8 @@
 #include <math.h>
 #include <poll.h>
 #include <sys/mman.h>
+#include "json11.hpp"
+#include <fstream>
 
 #include "common/util.h"
 #include "common/swaglog.h"
@@ -15,6 +17,8 @@
 #include "ui.hpp"
 #include "paint.hpp"
 
+std::map<std::string, int> DF_TO_IDX = {{"close", 0}, {"normal", 1}, {"far", 2}, {"auto", 3}};
+
 extern volatile sig_atomic_t do_exit;
 
 int write_param_float(float param, const char* param_name, bool persistent_param) {
@@ -23,6 +27,31 @@ int write_param_float(float param, const char* param_name, bool persistent_param
   return Params(persistent_param).write_db_value(param_name, s, size < sizeof(s) ? size : sizeof(s));
 }
 
+void sa_init(UIState *s, bool full_init) {
+  if (full_init) {
+    s->pm = new PubMaster({"dynamicFollowButton", "modelLongButton"});
+  }
+
+  s->ui_debug = false;  // change to true while debugging
+
+  // stock additions todo: run opparams first (in main()?) to ensure json values exist
+  std::ifstream op_params_file("/data/op_params.json");
+  std::string op_params_content((std::istreambuf_iterator<char>(op_params_file)),
+                                (std::istreambuf_iterator<char>()));
+
+  std::string err;
+  auto json = json11::Json::parse(op_params_content, err);
+  if (!json.is_null() && err.empty()) {
+    printf("successfully parsed opParams json\n");
+    s->scene.dfButtonStatus = DF_TO_IDX[json["dynamic_follow"].string_value()];
+//    printf("dfButtonStatus: %d\n", s->scene.dfButtonStatus);
+  } else {  // error parsing json
+    printf("ERROR PARSING OPPARAMS JSON!\n");
+    s->scene.dfButtonStatus = 0;
+  }
+  s->scene.mlButtonEnabled = false;  // state isn't saved yet
+}
+
 void ui_init(UIState *s) {
   s->sm = new SubMaster({"model", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal",
                          "health", "carParams", "ubloxGnss", "driverState", "dMonitoringState", "sensorEvents", "carState"});

selfdrive/ui/ui.hpp

@@ -87,6 +87,9 @@ static std::map<UIStatus, NVGcolor> bg_colors = {
 
 typedef struct UIScene {
 
+  int dfButtonStatus;
+  bool mlButtonEnabled;
+
   float mpc_x[50];
   float mpc_y[50];
 
@@ -185,6 +188,7 @@ typedef struct UIState {
   int img_network[6];
 
   SubMaster *sm;
+  PubMaster *pm;
 
   Sound *sound;
   UIStatus status;
@@ -214,6 +218,7 @@ typedef struct UIState {
   bool ignition;
   bool is_metric;
   bool longitudinal_control;
+  bool ui_debug;
   uint64_t last_athena_ping;
   uint64_t started_frame;
 
@@ -227,6 +232,7 @@ typedef struct UIState {
 } UIState;
 
 void ui_init(UIState *s);
+void sa_init(UIState *s, bool full_init);
 void ui_update(UIState *s);
 
 int write_param_float(float param, const char* param_name, bool persistent_param = false);