onroad ui: dynamic follow button (commaai#441)

* start to work on onroad ui

* saInit

* button test

* fix

* test

* test

* test

* ButtonsWindow will hold all onroad buttons!

* circle button

* two button demo

* tune the buttons

* closer to before

* closer to before

* ml colors

* button colors

* fix

* initialize df button with param data and send cereal message

* fix stacking

* margin

* match order

* can go in main stylesheet

Author: sshane

common/op_params.py

@@ -120,7 +120,6 @@ def __init__(self):
                                                               'auto will reboot the device when an update is seen', static=True),
                         'dynamic_gas': Param(False, bool, 'Whether to use dynamic gas if your car is supported'),
                         'hide_auto_df_alerts': Param(False, bool, 'Hides the alert that shows what profile the model has chosen'),
-                        'model_laneless': Param(False, bool, 'Ignore lane lines, only path is used for planning (e2e). Experimental', static=True),
                         'log_auto_df': Param(False, bool, 'Logs dynamic follow data for auto-df', static=True),
                         # 'dynamic_camera_offset': Param(False, bool, 'Whether to automatically keep away from oncoming traffic.\n'
                         #                                             'Works from 35 to ~60 mph (requires radar)'),

selfdrive/ui/qt/onroad.cc

@@ -28,6 +28,9 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   split->setSpacing(0);
   split->addWidget(nvg);
 
+  buttons = new ButtonsWindow(this);
+  stacked_layout->addWidget(buttons);
+
   stacked_layout->addWidget(split_wrapper);
 
   alerts = new OnroadAlerts(this);
@@ -43,6 +46,8 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
 }
 
 void OnroadWindow::updateState(const UIState &s) {
+  buttons->updateState(s);
+
   SubMaster &sm = *(s.sm);
   QColor bgColor = bg_colors[s.status];
   if (sm.updated("controlsState")) {
@@ -100,6 +105,64 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
 
 // ***** onroad widgets *****
 
+ButtonsWindow::ButtonsWindow(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout  = new QVBoxLayout(this);
+
+  QWidget *btns_wrapper = new QWidget;
+  QHBoxLayout *btns_layout  = new QHBoxLayout(btns_wrapper);
+  btns_layout->setSpacing(0);
+  btns_layout->setContentsMargins(0, 0, 15, 15);
+
+  main_layout->addWidget(btns_wrapper, 0, Qt::AlignBottom);
+
+//  mlButton = new QPushButton("Toggle Model Long");
+//  mlButton->setStyleSheet("font-size: 50px; border-radius: 25px; border-color: #b83737;");
+//  QObject::connect(mlButton, &QPushButton::clicked, [=]() {
+//    mlButton->setStyleSheet("font-size: 50px; border-radius: 25px; border-color: #37b868;");
+//  });
+//  mlButton->setFixedWidth(525);
+//  mlButton->setFixedHeight(150);
+//  btns_layout->addStretch();
+//  btns_layout->addWidget(mlButton, 0, Qt::AlignCenter);
+
+  dfButton = new QPushButton("DF\nprofile");
+  QObject::connect(dfButton, &QPushButton::clicked, [=]() {
+    QUIState::ui_state.scene.dfButtonStatus = dfStatus < 3 ? dfStatus + 1 : 0;  // wrap back around
+  });
+  dfButton->setFixedWidth(200);
+  dfButton->setFixedHeight(200);
+//  btns_layout->addStretch();
+  btns_layout->addWidget(dfButton, 0, Qt::AlignRight);
+
+  setStyleSheet(R"(
+    QPushButton {
+      color: white;
+      text-align: center;
+      padding: 0px;
+      border-width: 12px;
+      border-style: solid;
+      background-color: transparent;
+    }
+  )");
+}
+
+void ButtonsWindow::updateState(const UIState &s) {
+  updateDfButton(s.scene.dfButtonStatus);  // update dynamic follow profile button
+//  updateMlButton(s.scene.dfButtonStatus);  // update model longitudinal button  // TODO: add model long back first
+}
+
+void ButtonsWindow::updateDfButton(int status) {
+  if (dfStatus != status) {  // updates (resets) on car start, or on button press
+    dfStatus = status;
+    dfButton->setStyleSheet(QString("font-size: 45px; border-radius: 100px; border-color: %1").arg(dfButtonColors.at(dfStatus)));
+
+    MessageBuilder msg;
+    auto dfButtonStatus = msg.initEvent().initDynamicFollowButton();
+    dfButtonStatus.setStatus(dfStatus);
+    QUIState::ui_state.pm->send("dynamicFollowButton", msg);
+  }
+}
+
 void OnroadAlerts::updateAlert(const Alert &a, const QColor &color) {
   if (!alert.equal(a) || color != bg) {
     alert = a;

selfdrive/ui/qt/onroad.h

@@ -4,6 +4,7 @@
 #include <QOpenGLWidget>
 #include <QStackedLayout>
 #include <QWidget>
+#include <QPushButton>
 
 #include "cereal/gen/cpp/log.capnp.h"
 #include "selfdrive/ui/qt/qt_window.h"
@@ -12,6 +13,22 @@
 
 // ***** onroad widgets *****
 
+class ButtonsWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  ButtonsWindow(QWidget* parent = 0);
+  void updateState(const UIState &s);
+
+private:
+  QPushButton *dfButton;
+//  QPushButton *mlButton;
+
+  int dfStatus = -1;  // always initialize style sheet and send msg
+  const QStringList dfButtonColors = {"#044389", "#24a8bc", "#fcff4b", "#37b868"};
+  void updateDfButton(int status);
+};
+
 class OnroadAlerts : public QWidget {
   Q_OBJECT
 
@@ -61,6 +78,7 @@ class OnroadWindow : public QWidget {
 
   OnroadAlerts *alerts;
   NvgWindow *nvg;
+  ButtonsWindow *buttons;
   QColor bg = bg_colors[STATUS_DISENGAGED];
   QHBoxLayout* split;
 

selfdrive/ui/ui.cc

@@ -5,6 +5,7 @@
 #include <cassert>
 #include <cmath>
 #include <cstdio>
+#include <QDebug>
 
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"
@@ -18,6 +19,25 @@
 #define BACKLIGHT_TS 10.00
 #define BACKLIGHT_OFFROAD 75
 
+std::map<std::string, int> LS_TO_IDX = {{"off", 0}, {"audible", 1}, {"silent", 2}};
+std::map<std::string, int> DF_TO_IDX = {{"traffic", 0}, {"relaxed", 1}, {"stock", 2}, {"auto", 3}};
+
+void saInit(UIState *s) {
+  s->scene.mlButtonEnabled = false;  // reset on ignition
+
+  std::string dynamic_follow = util::read_file("/data/community/params/dynamic_follow");
+  if (dynamic_follow != "") {
+    dynamic_follow = dynamic_follow.substr(1, dynamic_follow.find_last_of('"') - 1);
+    qDebug() << "set dfButtonStatus to" << QString::fromStdString(dynamic_follow);
+    s->scene.dfButtonStatus = DF_TO_IDX[dynamic_follow];
+  }
+//  std::string lane_speed_alerts = util::read_file("/data/community/params/lane_speed_alerts");
+//  if (lane_speed_alerts != "") {
+//    lane_speed_alerts = lane_speed_alerts.substr(1, lane_speed_alerts.find_last_of('"') - 1);
+//    qDebug() << "Set lsButtonStatus to " << lane_speed_alerts;
+//    s->scene.lsButtonStatus = DF_TO_IDX[lane_speed_alerts];
+//  }
+}
 
 // Projects a point in car to space to the corresponding point in full frame
 // image space.
@@ -246,6 +266,7 @@ static void update_status(UIState *s) {
   static bool started_prev = false;
   if (s->scene.started != started_prev) {
     if (s->scene.started) {
+      saInit(s);
       s->status = STATUS_DISENGAGED;
       s->scene.started_frame = s->sm->frame;
 
@@ -276,6 +297,7 @@ QUIState::QUIState(QObject *parent) : QObject(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
     "pandaState", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
   });
+  ui_state.pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"laneSpeedButton", "dynamicFollowButton", "modelLongButton"});
 
   ui_state.fb_w = vwp_w;
   ui_state.fb_h = vwp_h;

selfdrive/ui/ui.h

@@ -60,7 +60,7 @@ typedef struct Alert {
   }
 } Alert;
 
-const Alert CONTROLS_WAITING_ALERT = {"openpilot Unavailable", "Waiting for controls to start", 
+const Alert CONTROLS_WAITING_ALERT = {"openpilot Unavailable", "Waiting for controls to start",
                                       "controlsWaiting", cereal::ControlsState::AlertSize::MID,
                                       AudibleAlert::NONE};
 
@@ -100,6 +100,10 @@ typedef struct {
 
 typedef struct UIScene {
 
+  int dfButtonStatus = 0;
+  int lsButtonStatus = 0;
+  bool mlButtonEnabled;
+
   mat3 view_from_calib;
   bool world_objects_visible;
 
@@ -138,6 +142,7 @@ typedef struct UIState {
   std::map<std::string, int> images;
 
   std::unique_ptr<SubMaster> sm;
+  std::unique_ptr<PubMaster> pm;
 
   UIStatus status;
   UIScene scene;
@@ -175,6 +180,7 @@ private slots:
 private:
   QTimer *timer;
   bool started_prev = true;
+  void saInit(const UIState &s);
 };