From 159f53d20c25640b48c6a08d873ecde7ebad5a4f Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sun, 12 May 2024 20:29:13 -0700
Subject: [PATCH] Visuals - Custom Onroad UI - Steering Wheel Icon - Live
 Rotation

---
 selfdrive/ui/qt/onroad.cc | 18 +++++++++++++++---
 selfdrive/ui/qt/onroad.h  |  3 +++
 selfdrive/ui/ui.cc        |  2 ++
 selfdrive/ui/ui.h         |  2 ++
 4 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 245a460..a39b7e0 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -18,15 +18,19 @@
 #include "selfdrive/ui/qt/maps/map_panel.h"
 #endif
 
-static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
+static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity, const int angle = 0) {
   p.setRenderHint(QPainter::Antialiasing);
   p.setOpacity(1.0);  // bg dictates opacity of ellipse
   p.setPen(Qt::NoPen);
   p.setBrush(bg);
   p.drawEllipse(center, btn_size / 2, btn_size / 2);
+  p.save();
+  p.translate(center);
+  p.rotate(angle);
   p.setOpacity(opacity);
-  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
+  p.drawPixmap(-QPoint(img.width() / 2, img.height() / 2), img);
   p.setOpacity(1.0);
+  p.restore();
 }
 
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
@@ -318,7 +322,15 @@ void ExperimentalButton::updateState(const UIState &s) {
   }
 
   // FrogPilot variables
+  rotatingWheel = scene.rotating_wheel;
   wheelIcon = scene.wheel_icon;
+
+  if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
+    update();
+    steeringAngleDeg = scene.steering_angle_deg;
+  } else if (!rotatingWheel) {
+    steeringAngleDeg = 0;
+  }
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
@@ -338,7 +350,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
     (scene.navigate_on_openpilot ? bg_colors[STATUS_NAVIGATION_ACTIVE] : QColor(0, 0, 0, 166)))))) :
     QColor(0, 0, 0, 166);
 
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0, steeringAngleDeg);
 }
 
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 3ed13ea..e7553fe 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -107,6 +107,9 @@ private:
 
   QMap<int, QPixmap> wheelImages;
 
+  bool rotatingWheel;
+
+  int steeringAngleDeg;
   int wheelIcon;
 };
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ffdfb6b..52cd70a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -224,6 +224,7 @@ static void update_state(UIState *s) {
     scene.blind_spot_right = carState.getRightBlindspot();
     scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK;
     scene.standstill = carState.getStandstill();
+    scene.steering_angle_deg = -carState.getSteeringAngleDeg();
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -310,6 +311,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.dynamic_pedals_on_ui = scene.pedals_on_ui && params.getBool("DynamicPedalsOnUI");
   scene.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI");
   scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI");
+  scene.rotating_wheel = custom_onroad_ui && params.getBool("RotatingWheel");
   scene.wheel_icon = custom_onroad_ui ? params.getInt("WheelIcon") : 0;
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 665f382..6153e76 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -211,6 +211,7 @@ typedef struct UIScene {
   bool reverse_cruise_ui;
   bool right_hand_drive;
   bool road_name_ui;
+  bool rotating_wheel;
   bool show_aol_status_bar;
   bool show_cem_status_bar;
   bool show_slc_offset;
@@ -242,6 +243,7 @@ typedef struct UIScene {
   int conditional_speed;
   int conditional_speed_lead;
   int conditional_status;
+  int steering_angle_deg;
   int wheel_icon;
 
   QPolygonF track_adjacent_vertices[6];