uidebug

selfdrive/ui/android/ui.cc

@@ -29,6 +29,18 @@ static void ui_set_brightness(UIState *s, int brightness) {
   }
 }
 
+static bool handle_SA_touched(UIState *s, int touch_x, int touch_y) {
+  if (s->active_app == cereal::UiLayoutState::App::NONE) {  // if onroad (not settings or home)
+    if ((s->awake && s->vision_connected && s->status != STATUS_OFFROAD) || s->ui_debug) {  // if car started or debug mode
+      //if (handle_df_touch(s, touch_x, touch_y) || handle_ls_touch(s, touch_x, touch_y) || handle_ml_touch(s, touch_x, touch_y)) {
+        s->scene.uilayout_sidebarcollapsed = true;  // collapse sidebar when tapping any SA button
+        return true;  // only allow one button to be pressed at a time
+      //}
+    }
+  }
+  return false;
+}
+
 static void handle_display_state(UIState *s, bool user_input) {
 
   static int awake_timeout = 0;
@@ -161,6 +173,7 @@ int main(int argc, char* argv[]) {
   UIState uistate = {};
   UIState *s = &uistate;
   ui_init(s);
+  sa_init(s, true);
   s->sound = &sound;
 
   TouchState touch = {0};
@@ -192,10 +205,16 @@ int main(int argc, char* argv[]) {
   s->scene.dp_alert_type = 1;
   bool show_layer = true;
 
+  bool last_started = s->started;
   while (!do_exit) {
     if (!s->started) {
       usleep(50 * 1000);
     }
+
+    if (s->started && !last_started) {
+      sa_init(s, false);  // reset ml button and regrab params
+    }
+    last_started = s->started;
     double u1 = millis_since_boot();
 
     ui_update(s);
@@ -217,9 +236,11 @@ int main(int argc, char* argv[]) {
     int touch_x = -1, touch_y = -1;
     int touched = touch_poll(&touch, &touch_x, &touch_y, 0);
     if (touched == 1) {
+      if (s->ui_debug) { printf("touched x: %d, y: %d\n", touch_x, touch_y); }
       if (!handle_dp_btn_touch(s, touch_x, touch_y)) {
       handle_sidebar_touch(s, touch_x, touch_y);
-      handle_vision_touch(s, touch_x, touch_y);
+      if (!handle_SA_touched(s, touch_x, touch_y)) {  // if SA button not touched
+        handle_vision_touch(s, touch_x, touch_y);
       }
     }
 

selfdrive/ui/android/uiview.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+import os
+import time
+import signal
+import subprocess
+import cereal.messaging as messaging
+from common.basedir import BASEDIR
+
+services = ['controlsState', 'thermal', 'radarState']  # the services needed to be spoofed to start ui offroad
+procs = {'camerad': 'selfdrive/camerad/camerad', 'ui': 'selfdrive/ui/ui',
+         'modeld': 'selfdrive/modeld/modeld', 'calibrationd': 'selfdrive/locationd/calibrationd.py'}
+started_procs = [subprocess.Popen(os.path.join(BASEDIR, procs[p]), cwd=os.path.join(BASEDIR, os.path.dirname(procs[p]))) for p in procs]  # start needed processes
+pm = messaging.PubMaster(services)
+
+dat_cs, dat_thermal, dat_radar = [messaging.new_message(s) for s in services]
+dat_cs.controlsState.rearViewCam = False  # ui checks for these two messages
+dat_thermal.thermal.started = True
+
+try:
+  while True:
+    pm.send('controlsState', dat_cs)
+    pm.send('thermal', dat_thermal)
+    pm.send('radarState', dat_radar)
+    time.sleep(1 / 100)  # continually send, rate doesn't matter
+except KeyboardInterrupt:
+  [p.send_signal(signal.SIGINT) for p in started_procs]

selfdrive/ui/ui.hpp

@@ -250,6 +250,7 @@ typedef struct UIState {
   bool ignition;
   bool is_metric;
   bool longitudinal_control;
+  bool ui_debug;
   uint64_t last_athena_ping;
   uint64_t started_frame;
 
@@ -264,6 +265,7 @@ typedef struct UIState {
 } UIState;
 
 void ui_init(UIState *s);
+void sa_init(UIState *s, bool full_init);
 void ui_update(UIState *s);
 
 int write_param_float(float param, const char* param_name, bool persistent_param = false);