update entry and gps

Author: Comma Device

cereal/custom.capnp

@@ -11,6 +11,7 @@ $Cxx.namespace("cereal");
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
 struct CustomReserved0 @0x81c2f05a394cf4af {
+  dashcamEnable @0 :Bool;
 }
 
 struct CustomReserved1 @0xaedffd8f31e7b55d {

cereal/services.py

@@ -91,6 +91,8 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
+
+  "customReserved0": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}

selfdrive/ui/SConscript

@@ -29,7 +29,7 @@ qt_libs = [widgets, qt_util] + base_libs
 qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
-          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
+          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc", "qt/offroad/dashcam_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
           "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
 

selfdrive/ui/qt/home.cc

@@ -6,6 +6,7 @@
 #include <QVBoxLayout>
 
 #include "selfdrive/ui/qt/offroad/experimental_mode.h"
+#include "selfdrive/ui/qt/offroad/dashcam_mode.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 
@@ -25,6 +26,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
 
   home = new OffroadHome(this);
   QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
+  QObject::connect(home, &OffroadHome::toggleDashcam, this, &HomeWindow::toggleDashcam);
   slayout->addWidget(home);
 
   onroad = new OnroadWindow(this);
@@ -44,6 +46,15 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition);
 }
 
+void HomeWindow::toggleDashcam(){
+  MessageBuilder msg;
+  printf("Toggle dashcam\n");
+  this->enableDashcam = !this->enableDashcam;
+  auto cr0 = msg.initEvent().initCustomReserved0();
+  cr0.setDashcamEnable(this->enableDashcam);
+  uiState()->pm->send("customReserved0", msg);
+}
+
 void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
@@ -168,6 +179,10 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
     right_column->addWidget(experimental_mode, 1);
 
+    DashcamModeButton *dashcam_button = new DashcamModeButton(this);
+    QObject::connect(dashcam_button, &DashcamModeButton::toggleDashcam, this, &OffroadHome::toggleDashcam);
+    right_column->addWidget(dashcam_button,1);
+
     SetupWidget *setup_widget = new SetupWidget;
     QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
     right_column->addWidget(setup_widget, 1);

selfdrive/ui/qt/home.h

@@ -24,6 +24,7 @@ class OffroadHome : public QFrame {
 
 signals:
   void openSettings(int index = 0, const QString &param = "");
+  void toggleDashcam();
 
 private:
   void showEvent(QShowEvent *event) override;
@@ -55,6 +56,7 @@ public slots:
   void offroadTransition(bool offroad);
   void showDriverView(bool show);
   void showSidebar(bool show);
+  void toggleDashcam();
 
 protected:
   void mousePressEvent(QMouseEvent* e) override;
@@ -68,6 +70,8 @@ public slots:
   DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 
+  bool enableDashcam;
+
 private slots:
   void updateState(const UIState &s);
 };

selfdrive/ui/qt/offroad/dashcam_mode.cc

@@ -0,0 +1,63 @@
+#include "selfdrive/ui/qt/offroad/dashcam_mode.h"
+
+#include <QDebug>
+#include <QHBoxLayout>
+#include <QPainter>
+#include <QPainterPath>
+#include <QStyle>
+
+#include "selfdrive/ui/ui.h"
+
+DashcamModeButton::DashcamModeButton(QWidget *parent) : QPushButton(parent) {
+  // go to toggles and expand experimental mode description
+  connect(this, &QPushButton::clicked, [=]() { emit toggleDashcam(); });
+
+  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 DashcamModeButton::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);
+  gradient.setColorAt(0, QColor(20, 255, 171, pressed ? 0xcc : 0xff));
+  gradient.setColorAt(1, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
+  p.fillPath(path, gradient);
+}
+
+void DashcamModeButton::showEvent(QShowEvent *event) {
+  // experimental_mode = params.getBool("ExperimentalMode");
+  // mode_icon->setPixmap(experimental_mode ? experimental_pixmap : chill_pixmap);
+  mode_label->setText("Launch Dashcam Mode");
+}

selfdrive/ui/qt/offroad/dashcam_mode.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <QLabel>
+#include <QPushButton>
+
+#include "common/params.h"
+
+class DashcamModeButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit DashcamModeButton(QWidget* parent = 0);
+
+signals:
+  void toggleDashcam();
+
+private:
+  void showEvent(QShowEvent *event) override;
+
+  Params params;
+  int img_width = 100;
+  int horizontal_padding = 30;
+  QLabel *mode_label;
+  QLabel *mode_icon;
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+};

selfdrive/ui/qt/offroad/settings.cc

@@ -14,6 +14,7 @@
 #include "selfdrive/ui/qt/widgets/prime.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
+#include "selfdrive/ui/qt/home.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -266,6 +267,11 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   power_layout->addWidget(poweroff_btn);
   QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);
 
+  // QPushButton *dashcam_toggle = new QPushButton("Toggle Dashcam");
+  // dashcam_toggle->setObjectName("dashcam_toggle");
+  // power_layout->addWidget(dashcam_toggle);
+  // QObject::connect(dashcam_toggle, &QPushButton::clicked, &HomeWindow::toggleDashcam);
+
   if (!Hardware::PC()) {
     connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
   }
@@ -275,6 +281,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     #reboot_btn:pressed { background-color: #4a4a4a; }
     #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
     #poweroff_btn:pressed { background-color: #FF2424; }
+    #dashcam_toggle { height: 120px; border-radius: 15px; background-color: #393939; }
+    #dashcam_toggle:pressed { background-color: #4a4a4a; }
   )");
   addItem(power_layout);
 }

selfdrive/ui/ui.cc

@@ -95,6 +95,9 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
   });
+  pm = std::make_unique<PubMaster>(std::vector<const char*> {
+    "customReserved0"
+  });
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));
 

selfdrive/ui/ui.h

@@ -73,6 +73,7 @@ class UIState : public QObject {
   }
 
   std::unique_ptr<SubMaster> sm;
+  std::unique_ptr<PubMaster> pm;
   UIStatus status;
   UIScene scene = {};
   QString language;