ui: offroad experimental mode button (#26498)

* draft

* draft

* before qpushbutton

* icon, clean up button, clicked goes to toggles

* fix icon

* add imgs

* img

* make square

* works with layouts!

* fix gradient

* this looks good

* clean up

* clean up

* remove padding around couch

* use scene's experimental_model, new onroad design

* rename widget

* def want 3

* update translations

* add img

* add 25px of padding!

* make 300px (no change)

* clean up old images

* 5 px smaller

* add white img

* fix from merge

* no style sheets

* see how this looks on device

* aliased vertical line (clean up)

* clean up

* imgs

* couch

* delete

* bye bye

* expand toggle support

* clean up

* fix dynamic icon

* make exp icon dynamic

* order

* move to offroad
old-commit-hash: 58b84fb

selfdrive/ui/SConscript

@@ -58,7 +58,7 @@ qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
 qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
-          "qt/offroad/driverview.cc"]
+          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"]
 qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
 if GetOption('test'):
   qt_src.remove("main.cc")  # replaced by test_runner

selfdrive/ui/qt/home.cc

@@ -4,6 +4,7 @@
 #include <QMouseEvent>
 #include <QVBoxLayout>
 
+#include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/drive_stats.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
@@ -22,7 +23,8 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout = new QStackedLayout();
   main_layout->addLayout(slayout);
 
-  home = new OffroadHome();
+  home = new OffroadHome(this);
+  QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
   slayout->addWidget(home);
 
   onroad = new OnroadWindow(this);
@@ -128,11 +130,24 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   main_layout->addSpacing(25);
   center_layout = new QStackedLayout();
 
+  // Vertical experimental button and drive stats layout
+  QWidget* statsAndExperimentalModeButtonWidget = new QWidget(this);
+  QVBoxLayout* statsAndExperimentalModeButton = new QVBoxLayout(statsAndExperimentalModeButtonWidget);
+  statsAndExperimentalModeButton->setSpacing(30);
+  statsAndExperimentalModeButton->setMargin(0);
+
+  ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
+  QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
+
+  statsAndExperimentalModeButton->addWidget(experimental_mode, 1);
+  statsAndExperimentalModeButton->addWidget(new DriveStats, 1);
+
+  // Horizontal experimental + drive stats and setup widget
   QWidget* statsAndSetupWidget = new QWidget(this);
   QHBoxLayout* statsAndSetup = new QHBoxLayout(statsAndSetupWidget);
   statsAndSetup->setMargin(0);
   statsAndSetup->setSpacing(30);
-  statsAndSetup->addWidget(new DriveStats, 1);
+  statsAndSetup->addWidget(statsAndExperimentalModeButtonWidget, 1);
   statsAndSetup->addWidget(new SetupWidget);
 
   center_layout->addWidget(statsAndSetupWidget);

selfdrive/ui/qt/home.h

@@ -22,6 +22,9 @@ class OffroadHome : public QFrame {
 public:
   explicit OffroadHome(QWidget* parent = 0);
 
+signals:
+  void openSettings(int index = 0, const QString &param = "");
+
 private:
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
@@ -45,7 +48,7 @@ class HomeWindow : public QWidget {
   explicit HomeWindow(QWidget* parent = 0);
 
 signals:
-  void openSettings();
+  void openSettings(int index = 0, const QString &param = "");
   void closeSettings();
 
 public slots:

selfdrive/ui/qt/offroad/experimental_mode.cc

@@ -0,0 +1,75 @@
+#include "selfdrive/ui/qt/offroad/experimental_mode.h"
+
+#include <QDebug>
+#include <QHBoxLayout>
+#include <QPainter>
+#include <QStyle>
+
+#include "selfdrive/ui/ui.h"
+
+ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) {
+  chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
+  experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
+
+  // go to toggles and expand experimental mode description
+  connect(this, &QPushButton::clicked, [=]() { emit openSettings(2, "ExperimentalMode"); });
+
+  setFixedHeight(125);
+  QHBoxLayout *main_layout = new QHBoxLayout;
+  main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0);
+
+  mode_label = new QLabel;
+  mode_icon = new QLabel;
+  mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+
+  main_layout->addWidget(mode_label, 1, Qt::AlignLeft);
+  main_layout->addWidget(mode_icon, 0, Qt::AlignRight);
+
+  setLayout(main_layout);
+
+  setStyleSheet(R"(
+    QPushButton {
+      border: none;
+    }
+
+    QLabel {
+      font-size: 45px;
+      font-weight: 300;
+      text-align: left;
+      font-family: JetBrainsMono;
+      color: #000000;
+    }
+  )");
+}
+
+void ExperimentalModeButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setPen(Qt::NoPen);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  QPainterPath path;
+  path.addRoundedRect(rect(), 10, 10);
+
+  // gradient
+  bool pressed = isDown();
+  QLinearGradient gradient(rect().left(), 0, rect().right(), 0);
+  if (experimental_mode) {
+    gradient.setColorAt(0, QColor(255, 155, 63, pressed ? 0xcc : 0xff));
+    gradient.setColorAt(1, QColor(219, 56, 34, pressed ? 0xcc : 0xff));
+  } else {
+    gradient.setColorAt(0, QColor(20, 255, 171, pressed ? 0xcc : 0xff));
+    gradient.setColorAt(1, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
+  }
+  p.fillPath(path, gradient);
+
+  // vertical line
+  p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine));
+  int line_x = rect().right() - img_width - (2 * horizontal_padding);
+  p.drawLine(line_x, rect().bottom(), line_x, rect().top());
+}
+
+void ExperimentalModeButton::showEvent(QShowEvent *event) {
+  experimental_mode = params.getBool("ExperimentalMode");
+  mode_icon->setPixmap(experimental_mode ? experimental_pixmap : chill_pixmap);
+  mode_label->setText(experimental_mode ? tr("EXPERIMENTAL MODE ON") : tr("CHILL MODE ON"));
+}

selfdrive/ui/qt/offroad/experimental_mode.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include <QLabel>
+#include <QPushButton>
+
+#include "common/params.h"
+
+class ExperimentalModeButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit ExperimentalModeButton(QWidget* parent = 0);
+
+signals:
+  void openSettings(int index = 0, const QString &toggle = "");
+
+private:
+  void showEvent(QShowEvent *event) override;
+
+  Params params;
+  bool experimental_mode;
+  int img_width = 100;
+  int horizontal_padding = 30;
+  QPixmap experimental_pixmap;
+  QPixmap chill_pixmap;
+  QLabel *mode_label;
+  QLabel *mode_icon;
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+};

selfdrive/ui/qt/offroad/settings.cc

@@ -39,7 +39,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "ExperimentalMode",
       tr("Experimental Mode"),
       "",
-      "../assets/offroad/icon_road.png",
+      "../assets/img_experimental_white.svg",
     },
     {
       "ExperimentalLongitudinalEnabled",
@@ -100,6 +100,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   // Toggles with confirmation dialogs
+  toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
   toggles["ExperimentalMode"]->setConfirmation(true, true);
   toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);
 
@@ -108,6 +109,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
 }
 
+void TogglesPanel::expandToggleDescription(const QString &param) {
+  toggles[param.toStdString()]->showDescription();
+}
+
 void TogglesPanel::showEvent(QShowEvent *event) {
   updateToggles();
 }
@@ -299,8 +304,15 @@ void DevicePanel::poweroff() {
 }
 
 void SettingsWindow::showEvent(QShowEvent *event) {
-  panel_widget->setCurrentIndex(0);
-  nav_btns->buttons()[0]->setChecked(true);
+  setCurrentPanel(0);
+}
+
+void SettingsWindow::setCurrentPanel(int index, const QString &param) {
+  panel_widget->setCurrentIndex(index);
+  nav_btns->buttons()[index]->setChecked(true);
+  if (!param.isEmpty()) {
+    emit expandToggleDescription(param);
+  }
 }
 
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
@@ -341,10 +353,13 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
   QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
 
+  TogglesPanel *toggles = new TogglesPanel(this);
+  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
     {tr("Network"), new Networking(this)},
-    {tr("Toggles"), new TogglesPanel(this)},
+    {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
   };
 

selfdrive/ui/qt/offroad/settings.h

@@ -17,6 +17,7 @@ class SettingsWindow : public QFrame {
 
 public:
   explicit SettingsWindow(QWidget *parent = 0);
+  void setCurrentPanel(int index, const QString &param = "");
 
 protected:
   void showEvent(QShowEvent *event) override;
@@ -25,6 +26,7 @@ class SettingsWindow : public QFrame {
   void closeSettings();
   void reviewTrainingGuide();
   void showDriverView();
+  void expandToggleDescription(const QString &param);
 
 private:
   QPushButton *sidebar_alert_widget;
@@ -56,6 +58,9 @@ class TogglesPanel : public ListWidget {
   explicit TogglesPanel(SettingsWindow *parent);
   void showEvent(QShowEvent *event) override;
 
+public slots:
+  void expandToggleDescription(const QString &param);
+
 private:
   Params params;
   std::map<std::string, ParamControl*> toggles;

selfdrive/ui/qt/onroad.cc

@@ -174,6 +174,7 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
 
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
+  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size - 5, img_size - 5});
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
 }
 
@@ -378,8 +379,9 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
 
   // engage-ability icon
   if (engageable) {
+    SubMaster &sm = *(uiState()->sm);
     drawIcon(p, rect().right() - radius / 2 - bdr_s * 2, radius / 2 + int(bdr_s * 1.5),
-             engage_img, bg_colors[status], 1.0);
+             sm["controlsState"].getControlsState().getExperimentalMode() ? experimental_img : engage_img, blackColor(166), 1.0);
   }
 
   // dm icon
@@ -409,7 +411,7 @@ void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QB
   p.setBrush(bg);
   p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius);
   p.setOpacity(opacity);
-  p.drawPixmap(x - img_size / 2, y - img_size / 2, img);
+  p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img);
 }
 
 

selfdrive/ui/qt/onroad.h

@@ -51,6 +51,7 @@ class AnnotatedCameraWidget : public CameraWidget {
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
 
   QPixmap engage_img;
+  QPixmap experimental_img;
   QPixmap dm_img;
   const int radius = 192;
   const int img_size = (radius / 2) * 1.5;

selfdrive/ui/qt/sidebar.h

@@ -20,7 +20,7 @@ class Sidebar : public QFrame {
   explicit Sidebar(QWidget* parent = 0);
 
 signals:
-  void openSettings();
+  void openSettings(int index = 0, const QString &param = "");
   void valueChanged();
 
 public slots:

selfdrive/ui/qt/window.cc

@@ -53,6 +53,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-Regular.ttf");
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-SemiBold.ttf");
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-Thin.ttf");
+  QFontDatabase::addApplicationFont("../assets/fonts/JetBrainsMono-Medium.ttf");
 
   // no outline to prevent the focus rectangle
   setStyleSheet(R"(
@@ -64,8 +65,9 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   setAttribute(Qt::WA_NoSystemBackground);
 }
 
-void MainWindow::openSettings() {
+void MainWindow::openSettings(int index, const QString &param) {
   main_layout->setCurrentWidget(settingsWindow);
+  settingsWindow->setCurrentPanel(index, param);
 }
 
 void MainWindow::closeSettings() {

selfdrive/ui/qt/window.h

@@ -15,7 +15,7 @@ class MainWindow : public QWidget {
 
 private:
   bool eventFilter(QObject *obj, QEvent *event) override;
-  void openSettings();
+  void openSettings(int index = 0, const QString &param = "");
   void closeSettings();
 
   Device device;

selfdrive/ui/translations/main_ja.ts

@@ -281,6 +281,17 @@
         <translation>ｶﾒﾗを起動しています</translation>
     </message>
 </context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>

selfdrive/ui/translations/main_ko.ts

@@ -281,6 +281,17 @@
         <translation>카메라 시작중</translation>
     </message>
 </context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>