113 lines
4.2 KiB
C++
113 lines
4.2 KiB
C++
#include "selfdrive/ui/qt/onroad/alerts.h"
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#include <QPainter>
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#include <map>
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#include "selfdrive/ui/qt/util.h"
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void OnroadAlerts::updateState(const UIState &s) {
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Alert a = getAlert(*(s.sm), s.scene.started_frame);
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if (!alert.equal(a)) {
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alert = a;
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update();
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}
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}
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void OnroadAlerts::clear() {
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alert = {};
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update();
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}
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OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
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const cereal::SelfdriveState::Reader &ss = sm["selfdriveState"].getSelfdriveState();
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const uint64_t selfdrive_frame = sm.rcv_frame("selfdriveState");
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Alert a = {};
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if (selfdrive_frame >= started_frame) { // Don't get old alert.
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a = {ss.getAlertText1().cStr(), ss.getAlertText2().cStr(),
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ss.getAlertType().cStr(), ss.getAlertSize(), ss.getAlertStatus()};
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}
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if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
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const int SELFDRIVE_STATE_TIMEOUT = 5;
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const int ss_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9;
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// Handle selfdrive timeout
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if (selfdrive_frame < started_frame) {
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// car is started, but selfdriveState hasn't been seen at all
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a = {tr("openpilot Unavailable"), tr("Waiting to start"),
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"selfdriveWaiting", cereal::SelfdriveState::AlertSize::MID,
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cereal::SelfdriveState::AlertStatus::NORMAL};
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} else if (ss_missing > SELFDRIVE_STATE_TIMEOUT && !Hardware::PC()) {
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// car is started, but selfdrive is lagging or died
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if (ss.getEnabled() && (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10) {
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a = {tr("TAKE CONTROL IMMEDIATELY"), tr("System Unresponsive"),
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"selfdriveUnresponsive", cereal::SelfdriveState::AlertSize::FULL,
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cereal::SelfdriveState::AlertStatus::CRITICAL};
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} else {
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a = {tr("System Unresponsive"), tr("Reboot Device"),
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"selfdriveUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID,
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cereal::SelfdriveState::AlertStatus::NORMAL};
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}
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}
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}
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return a;
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}
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void OnroadAlerts::paintEvent(QPaintEvent *event) {
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if (alert.size == cereal::SelfdriveState::AlertSize::NONE) {
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return;
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}
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static std::map<cereal::SelfdriveState::AlertSize, const int> alert_heights = {
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{cereal::SelfdriveState::AlertSize::SMALL, 271},
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{cereal::SelfdriveState::AlertSize::MID, 420},
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{cereal::SelfdriveState::AlertSize::FULL, height()},
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};
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int h = alert_heights[alert.size];
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int margin = 40;
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int radius = 30;
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if (alert.size == cereal::SelfdriveState::AlertSize::FULL) {
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margin = 0;
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radius = 0;
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}
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QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
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QPainter p(this);
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// draw background + gradient
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p.setPen(Qt::NoPen);
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p.setCompositionMode(QPainter::CompositionMode_SourceOver);
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p.setBrush(QBrush(alert_colors[alert.status]));
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p.drawRoundedRect(r, radius, radius);
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QLinearGradient g(0, r.y(), 0, r.bottom());
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g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
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g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
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p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
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p.setBrush(QBrush(g));
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p.drawRoundedRect(r, radius, radius);
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p.setCompositionMode(QPainter::CompositionMode_SourceOver);
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// text
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const QPoint c = r.center();
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p.setPen(QColor(0xff, 0xff, 0xff));
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p.setRenderHint(QPainter::TextAntialiasing);
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if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) {
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p.setFont(InterFont(74, QFont::DemiBold));
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p.drawText(r, Qt::AlignCenter, alert.text1);
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} else if (alert.size == cereal::SelfdriveState::AlertSize::MID) {
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p.setFont(InterFont(88, QFont::Bold));
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p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
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p.setFont(InterFont(66));
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p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
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} else if (alert.size == cereal::SelfdriveState::AlertSize::FULL) {
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bool l = alert.text1.length() > 15;
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p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
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p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
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p.setFont(InterFont(88));
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p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
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}
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}
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