Vehicle Researcher fa724893fb openpilot v0.9.6 release
date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
2024-02-27 13:29:38 -08:00

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#include <QApplication>
#include <QtWidgets>
#include <QTimer>
#include "cereal/messaging/messaging.h"
#include "selfdrive/ui/ui.h"
#include "selfdrive/ui/qt/qt_window.h"
int main(int argc, char *argv[]) {
QApplication a(argc, argv);
QWidget w;
setMainWindow(&w);
w.setStyleSheet("background-color: black;");
// our beautiful UI
QVBoxLayout *layout = new QVBoxLayout(&w);
QLabel *label = new QLabel("");
layout->addWidget(label, 0, Qt::AlignCenter);
QTimer timer;
QObject::connect(&timer, &QTimer::timeout, [=]() {
static SubMaster sm({"deviceState", "controlsState"});
bool onroad_prev = sm.allAliveAndValid({"deviceState"}) &&
sm["deviceState"].getDeviceState().getStarted();
sm.update(0);
bool onroad = sm.allAliveAndValid({"deviceState"}) &&
sm["deviceState"].getDeviceState().getStarted();
if (onroad) {
label->setText("");
auto cs = sm["controlsState"].getControlsState();
UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name()));
} else {
label->setText("offroad");
label->setStyleSheet("color: grey; font-size: 40px;");
}
if ((onroad != onroad_prev) || sm.frame < 2) {
Hardware::set_brightness(50);
Hardware::set_display_power(onroad);
}
});
timer.start(50);
return a.exec();
}