singleton uistate

selfdrive/ui/SConscript

@@ -117,8 +117,7 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
   replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs)
   replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'swscale'] + qt_libs
   qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs)
-
-  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11'])
+  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging'])
 
   if GetOption('test'):
     qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs])

selfdrive/ui/qt/home.cc

@@ -19,7 +19,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
 
   sidebar = new Sidebar(this);
   main_layout->addWidget(sidebar);
-  QObject::connect(this, &HomeWindow::update, sidebar, &Sidebar::updateState);
+  QObject::connect(uiState(), &UIState::uiUpdate, sidebar, &Sidebar::updateState);
   QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
 
   slayout = new QStackedLayout();
@@ -31,15 +31,13 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   onroad = new OnroadWindow(this);
   slayout->addWidget(onroad);
 
-  QObject::connect(this, &HomeWindow::update, onroad, &OnroadWindow::updateStateSignal);
-  QObject::connect(this, &HomeWindow::offroadTransitionSignal, onroad, &OnroadWindow::offroadTransitionSignal);
-
   driver_view = new DriverViewWindow(this);
   connect(driver_view, &DriverViewWindow::done, [=] {
     showDriverView(false);
   });
   slayout->addWidget(driver_view);
   setAttribute(Qt::WA_NoSystemBackground);
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
 }
 
 void HomeWindow::showSidebar(bool show) {
@@ -53,7 +51,6 @@ void HomeWindow::offroadTransition(bool offroad) {
   } else {
     slayout->setCurrentWidget(onroad);
   }
-  emit offroadTransitionSignal(offroad);
 }
 
 void HomeWindow::showDriverView(bool show) {

selfdrive/ui/qt/home.h

@@ -43,10 +43,6 @@ class HomeWindow : public QWidget {
   void openSettings();
   void closeSettings();
 
-  // forwarded signals
-  void update(const UIState &s);
-  void offroadTransitionSignal(bool offroad);
-
 public slots:
   void offroadTransition(bool offroad);
   void showDriverView(bool show);

selfdrive/ui/qt/maps/map.cc

@@ -118,7 +118,7 @@ void MapWindow::initLayers() {
 }
 
 void MapWindow::timerUpdate() {
-  if (!QUIState::ui_state.scene.started) {
+  if (!uiState()->scene.started) {
     return;
   }
 
@@ -275,7 +275,7 @@ static float get_time_typical(const QGeoRouteSegment &segment) {
 
 
 void MapWindow::recomputeRoute() {
-  if (!QUIState::ui_state.scene.started) {
+  if (!uiState()->scene.started) {
     return;
   }
 
@@ -551,7 +551,7 @@ MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
 void MapInstructions::updateDistance(float d) {
   QString distance_str;
 
-  if (QUIState::ui_state.scene.is_metric) {
+  if (uiState()->scene.is_metric) {
     if (d > 500) {
       distance_str.setNum(d / 1000, 'f', 1);
       distance_str += " km";
@@ -788,7 +788,7 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   // Distance
   QString distance_str;
   float num = 0;
-  if (QUIState::ui_state.scene.is_metric) {
+  if (uiState()->scene.is_metric) {
     num = d / 1000.0;
     distance_unit->setText("km");
   } else {

selfdrive/ui/qt/offroad/settings.cc

@@ -154,7 +154,7 @@ DevicePanel::DevicePanel(QWidget* parent) : ListWidget(parent) {
 
   for (auto btn : {dcamBtn, resetCalibBtn, retrainingBtn, regulatoryBtn}) {
     if (btn) {
-      connect(parent, SIGNAL(offroadTransition(bool)), btn, SLOT(setEnabled(bool)));
+      connect(uiState(), &UIState::offroadTransition, btn, &QPushButton::setEnabled);
       addItem(btn);
     }
   }
@@ -218,7 +218,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
       Params().putBool("DoUninstall", true);
     }
   });
-  connect(parent, SIGNAL(offroadTransition(bool)), uninstallBtn, SLOT(setEnabled(bool)));
+  connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled);
 
   QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
   for (QWidget* w : widgets) {

selfdrive/ui/qt/offroad/settings.h

@@ -60,7 +60,6 @@ class SettingsWindow : public QFrame {
 
 signals:
   void closeSettings();
-  void offroadTransition(bool offroad);
   void reviewTrainingGuide();
   void showDriverView();
 

selfdrive/ui/qt/onroad.cc

@@ -36,8 +36,8 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   alerts->raise();
 
   setAttribute(Qt::WA_OpaquePaintEvent);
-  QObject::connect(this, &OnroadWindow::updateStateSignal, this, &OnroadWindow::updateState);
-  QObject::connect(this, &OnroadWindow::offroadTransitionSignal, this, &OnroadWindow::offroadTransition);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
 }
 
 void OnroadWindow::updateState(const UIState &s) {
@@ -79,7 +79,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
 void OnroadWindow::offroadTransition(bool offroad) {
 #ifdef ENABLE_MAPS
   if (!offroad) {
-    if (map == nullptr && (QUIState::ui_state.has_prime || !MAPBOX_TOKEN.isEmpty())) {
+    if (map == nullptr && (uiState()->has_prime || !MAPBOX_TOKEN.isEmpty())) {
       QMapboxGLSettings settings;
 
       // Valid for 4 weeks since we can't swap tokens on the fly
@@ -94,7 +94,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
 
       MapWindow * m = new MapWindow(settings);
       m->setFixedWidth(width() / 2 - bdr_s);
-      QObject::connect(this, &OnroadWindow::offroadTransitionSignal, m, &MapWindow::offroadTransition);
+      QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition);
       split->addWidget(m, 0, Qt::AlignRight);
       map = m;
     }
@@ -181,14 +181,14 @@ void NvgWindow::initializeGL() {
   qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER));
   qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));
 
-  ui_nvg_init(&QUIState::ui_state);
+  ui_nvg_init(uiState());
   prev_draw_t = millis_since_boot();
   setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }
 
 void NvgWindow::paintGL() {
   CameraViewWidget::paintGL();
-  ui_draw(&QUIState::ui_state, width(), height());
+  ui_draw(uiState(), width(), height());
 
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;

selfdrive/ui/qt/onroad.h

@@ -54,10 +54,6 @@ class OnroadWindow : public QWidget {
   QWidget *map = nullptr;
   QHBoxLayout* split;
 
-signals:
-  void updateStateSignal(const UIState &s);
-  void offroadTransitionSignal(bool offroad);
-
 private slots:
   void offroadTransition(bool offroad);
   void updateState(const UIState &s);

selfdrive/ui/qt/request_repeater.cc

@@ -5,7 +5,7 @@ RequestRepeater::RequestRepeater(QObject *parent, const QString &requestURL, con
   timer = new QTimer(this);
   timer->setTimerType(Qt::VeryCoarseTimer);
   QObject::connect(timer, &QTimer::timeout, [=]() {
-    if ((!QUIState::ui_state.scene.started || while_onroad) && QUIState::ui_state.awake && !active()) {
+    if ((!uiState()->scene.started || while_onroad) && uiState()->awake && !active()) {
       sendRequest(requestURL);
     }
   });

selfdrive/ui/qt/widgets/prime.cc

@@ -314,7 +314,7 @@ void SetupWidget::replyFinished(const QString &response) {
     if (!json["prime"].toBool()) {
       mainLayout->setCurrentWidget(primeAd);
     } else {
-      QUIState::ui_state.has_prime = true;
+      uiState()->has_prime = true;
       mainLayout->setCurrentWidget(primeUser);
     }
   }

selfdrive/ui/qt/window.cc

@@ -12,14 +12,10 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout->addWidget(homeWindow);
   QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
   QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
-  QObject::connect(&qs, &QUIState::uiUpdate, homeWindow, &HomeWindow::update);
-  QObject::connect(&qs, &QUIState::offroadTransition, homeWindow, &HomeWindow::offroadTransition);
-  QObject::connect(&qs, &QUIState::offroadTransition, homeWindow, &HomeWindow::offroadTransitionSignal);
 
   settingsWindow = new SettingsWindow(this);
   main_layout->addWidget(settingsWindow);
   QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
-  QObject::connect(&qs, &QUIState::offroadTransition, settingsWindow, &SettingsWindow::offroadTransition);
   QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
     onboardingWindow->showTrainingGuide();
     main_layout->setCurrentWidget(onboardingWindow);
@@ -38,8 +34,8 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   }
 
   device.setAwake(true, true);
-  QObject::connect(&qs, &QUIState::uiUpdate, &device, &Device::update);
-  QObject::connect(&qs, &QUIState::offroadTransition, [=](bool offroad) {
+  QObject::connect(uiState(), &UIState::uiUpdate, &device, &Device::update);
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     if (!offroad) {
       closeSettings();
     }
@@ -80,7 +76,7 @@ void MainWindow::openSettings() {
 void MainWindow::closeSettings() {
   main_layout->setCurrentWidget(homeWindow);
 
-  if (QUIState::ui_state.scene.started) {
+  if (uiState()->scene.started) {
     emit homeWindow->showSidebar(false);
   }
 }

selfdrive/ui/qt/window.h

@@ -19,7 +19,6 @@ class MainWindow : public QWidget {
   void closeSettings();
 
   Device device;
-  QUIState qs;
 
   QStackedLayout *main_layout;
   HomeWindow *homeWindow;

selfdrive/ui/ui.cc

@@ -222,33 +222,33 @@ static void update_status(UIState *s) {
 }
 
 
-QUIState::QUIState(QObject *parent) : QObject(parent) {
-  ui_state.sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
+UIState::UIState(QObject *parent) : QObject(parent) {
+  sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "deviceState", "roadCameraState",
     "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
   });
 
-  ui_state.wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
+  wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
 
   // update timer
   timer = new QTimer(this);
-  QObject::connect(timer, &QTimer::timeout, this, &QUIState::update);
+  QObject::connect(timer, &QTimer::timeout, this, &UIState::update);
   timer->start(1000 / UI_FREQ);
 }
 
-void QUIState::update() {
-  update_params(&ui_state);
-  update_sockets(&ui_state);
-  update_state(&ui_state);
-  update_status(&ui_state);
+void UIState::update() {
+  update_params(this);
+  update_sockets(this);
+  update_state(this);
+  update_status(this);
 
-  if (ui_state.scene.started != started_prev || ui_state.sm->frame == 1) {
-    started_prev = ui_state.scene.started;
-    emit offroadTransition(!ui_state.scene.started);
+  if (scene.started != started_prev || sm->frame == 1) {
+    started_prev = scene.started;
+    emit offroadTransition(!scene.started);
   }
 
   watchdog_kick();
-  emit uiUpdate(ui_state);
+  emit uiUpdate(*this);
 }
 
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
@@ -259,7 +259,7 @@ void Device::update(const UIState &s) {
   updateWakefulness(s);
 
   // TODO: remove from UIState and use signals
-  QUIState::ui_state.awake = awake;
+  uiState()->awake = awake;
 }
 
 void Device::setAwake(bool on, bool reset) {
@@ -319,3 +319,8 @@ void Device::updateWakefulness(const UIState &s) {
 
   setAwake(awake_timeout, should_wake);
 }
+
+UIState *uiState() {
+  static UIState ui_state;
+  return &ui_state;
+}

selfdrive/ui/ui.h

@@ -117,7 +117,12 @@ typedef struct UIScene {
   uint64_t started_frame;
 } UIScene;
 
-typedef struct UIState {
+class UIState : public QObject {
+  Q_OBJECT
+
+public:
+  UIState(QObject* parent = 0);
+
   int fb_w = 0, fb_h = 0;
   NVGcontext *vg;
 
@@ -129,22 +134,11 @@ typedef struct UIState {
   UIStatus status;
   UIScene scene = {};
 
-  bool awake;
+  bool awake = true;
   bool has_prime = false;
 
   float car_space_transform[6];
   bool wide_camera;
-} UIState;
-
-
-class QUIState : public QObject {
-  Q_OBJECT
-
-public:
-  QUIState(QObject* parent = 0);
-
-  // TODO: get rid of this, only use signal
-  inline static UIState ui_state = {0};
 
 signals:
   void uiUpdate(const UIState &s);
@@ -158,6 +152,7 @@ private slots:
   bool started_prev = true;
 };
 
+UIState *uiState();
 
 // device management class