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raylib: excessive actuation offroad alert (#36242)

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* excessive actuation check

* from gpt

* back

* use buttons

* use widgets for ultimate clean up - no ai slop

* feature parity

* revert

* clean up
This commit is contained in:
Shane Smiskol
2025-10-02 23:54:31 -07:00
committed by GitHub
parent 75e52427d1
commit 21273c921e
1 changed files with 86 additions and 65 deletions
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selfdrive/ui/widgets/offroad_alerts.py
+86 -65
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@@ -1,10 +1,11 @@
import pyray as rl
from enum import IntEnum
from abc import ABC, abstractmethod
from collections.abc import Callable
from dataclasses import dataclass
from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
from openpilot.system.ui.lib.text_measure import measure_text_cached
from openpilot.system.ui.lib.wrap_text import wrap_text
@@ -17,15 +18,16 @@ class AlertColors:
LOW_SEVERITY = rl.Color(41, 41, 41, 255)
BACKGROUND = rl.Color(57, 57, 57, 255)
BUTTON = rl.WHITE
BUTTON_PRESSED = rl.Color(200, 200, 200, 255)
BUTTON_TEXT = rl.BLACK
SNOOZE_BG = rl.Color(79, 79, 79, 255)
SNOOZE_BG_PRESSED = rl.Color(100, 100, 100, 255)
TEXT = rl.WHITE
class AlertConstants:
BUTTON_SIZE = (400, 125)
SNOOZE_BUTTON_SIZE = (550, 125)
REBOOT_BUTTON_SIZE = (600, 125)
MIN_BUTTON_WIDTH = 400
BUTTON_HEIGHT = 125
MARGIN = 50
SPACING = 30
FONT_SIZE = 48
@@ -43,6 +45,41 @@ class AlertData:
visible: bool = False
class ButtonStyle(IntEnum):
LIGHT = 0
DARK = 1
class ActionButton(Widget):
def __init__(self, text: str, style: ButtonStyle = ButtonStyle.LIGHT,
min_width: int = AlertConstants.MIN_BUTTON_WIDTH):
super().__init__()
self._style = style
self._min_width = min_width
self._font = gui_app.font(FontWeight.MEDIUM)
self.set_text(text)
def set_text(self, text: str):
self._text = text
self._text_width = measure_text_cached(gui_app.font(FontWeight.MEDIUM), self._text, AlertConstants.FONT_SIZE).x
self._rect.width = max(self._text_width + 60 * 2, self._min_width)
self._rect.height = AlertConstants.BUTTON_HEIGHT
def _render(self, _):
roundness = AlertConstants.BORDER_RADIUS / self._rect.height
bg_color = AlertColors.BUTTON if self._style == ButtonStyle.LIGHT else AlertColors.SNOOZE_BG
if self.is_pressed:
bg_color = AlertColors.BUTTON_PRESSED if self._style == ButtonStyle.LIGHT else AlertColors.SNOOZE_BG_PRESSED
rl.draw_rectangle_rounded(self._rect, roundness, 10, bg_color)
# center text
color = rl.WHITE if self._style == ButtonStyle.DARK else rl.BLACK
text_x = int(self._rect.x + (self._rect.width - self._text_width) // 2)
text_y = int(self._rect.y + (self._rect.height - AlertConstants.FONT_SIZE) // 2)
rl.draw_text_ex(self._font, self._text, rl.Vector2(text_x, text_y), AlertConstants.FONT_SIZE, 0, color)
class AbstractAlert(Widget, ABC):
def __init__(self, has_reboot_btn: bool = False):
super().__init__()
@@ -50,17 +87,35 @@ class AbstractAlert(Widget, ABC):
self.has_reboot_btn = has_reboot_btn
self.dismiss_callback: Callable | None = None
self.dismiss_btn_rect = rl.Rectangle(0, 0, *AlertConstants.BUTTON_SIZE)
self.snooze_btn_rect = rl.Rectangle(0, 0, *AlertConstants.SNOOZE_BUTTON_SIZE)
self.reboot_btn_rect = rl.Rectangle(0, 0, *AlertConstants.REBOOT_BUTTON_SIZE)
def snooze_callback():
self.params.put_bool("SnoozeUpdate", True)
if self.dismiss_callback:
self.dismiss_callback()
self.snooze_visible = False
def excessive_actuation_callback():
self.params.remove("Offroad_ExcessiveActuation")
if self.dismiss_callback:
self.dismiss_callback()
self.dismiss_btn = ActionButton("Close")
self.snooze_btn = ActionButton("Snooze Update", style=ButtonStyle.DARK)
self.snooze_btn.set_click_callback(snooze_callback)
self.excessive_actuation_btn = ActionButton("Acknowledge Excessive Actuation", style=ButtonStyle.DARK, min_width=800)
self.excessive_actuation_btn.set_click_callback(excessive_actuation_callback)
self.reboot_btn = ActionButton("Reboot and Update", min_width=600)
self.reboot_btn.set_click_callback(lambda: HARDWARE.reboot())
# TODO: just use a Scroller?
self.content_rect = rl.Rectangle(0, 0, 0, 0)
self.scroll_panel_rect = rl.Rectangle(0, 0, 0, 0)
self.scroll_panel = GuiScrollPanel()
def set_dismiss_callback(self, callback: Callable):
self.dismiss_callback = callback
self.dismiss_btn.set_click_callback(self.dismiss_callback)
@abstractmethod
def refresh(self) -> bool:
@@ -70,28 +125,10 @@ class AbstractAlert(Widget, ABC):
def get_content_height(self) -> float:
pass
def _handle_mouse_release(self, mouse_pos: MousePos):
super()._handle_mouse_release(mouse_pos)
if not self.scroll_panel.is_touch_valid():
return
if rl.check_collision_point_rec(mouse_pos, self.dismiss_btn_rect):
if self.dismiss_callback:
self.dismiss_callback()
elif self.snooze_visible and rl.check_collision_point_rec(mouse_pos, self.snooze_btn_rect):
self.params.put_bool("SnoozeUpdate", True)
if self.dismiss_callback:
self.dismiss_callback()
elif self.has_reboot_btn and rl.check_collision_point_rec(mouse_pos, self.reboot_btn_rect):
HARDWARE.reboot()
def _render(self, rect: rl.Rectangle):
rl.draw_rectangle_rounded(rect, AlertConstants.BORDER_RADIUS / rect.height, 10, AlertColors.BACKGROUND)
footer_height = AlertConstants.BUTTON_SIZE[1] + AlertConstants.SPACING
footer_height = AlertConstants.BUTTON_HEIGHT + AlertConstants.SPACING
content_height = rect.height - 2 * AlertConstants.MARGIN - footer_height
self.content_rect = rl.Rectangle(
@@ -134,47 +171,26 @@ class AbstractAlert(Widget, ABC):
pass
def _render_footer(self, rect: rl.Rectangle):
footer_y = rect.y + rect.height - AlertConstants.MARGIN - AlertConstants.BUTTON_SIZE[1]
font = gui_app.font(FontWeight.MEDIUM)
footer_y = rect.y + rect.height - AlertConstants.MARGIN - AlertConstants.BUTTON_HEIGHT
self.dismiss_btn_rect.x = rect.x + AlertConstants.MARGIN
self.dismiss_btn_rect.y = footer_y
roundness = AlertConstants.BORDER_RADIUS / self.dismiss_btn_rect.height
rl.draw_rectangle_rounded(self.dismiss_btn_rect, roundness, 10, AlertColors.BUTTON)
dismiss_x = rect.x + AlertConstants.MARGIN
self.dismiss_btn.set_position(dismiss_x, footer_y)
self.dismiss_btn.render()
text = "Close"
text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x
text_x = self.dismiss_btn_rect.x + (AlertConstants.BUTTON_SIZE[0] - text_width) // 2
text_y = self.dismiss_btn_rect.y + (AlertConstants.BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2
rl.draw_text_ex(
font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT
)
if self.has_reboot_btn:
reboot_x = rect.x + rect.width - AlertConstants.MARGIN - self.reboot_btn.rect.width
self.reboot_btn.set_position(reboot_x, footer_y)
self.reboot_btn.render()
if self.snooze_visible:
self.snooze_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.SNOOZE_BUTTON_SIZE[0]
self.snooze_btn_rect.y = footer_y
roundness = AlertConstants.BORDER_RADIUS / self.snooze_btn_rect.height
rl.draw_rectangle_rounded(self.snooze_btn_rect, roundness, 10, AlertColors.SNOOZE_BG)
elif self.excessive_actuation_btn.is_visible:
actuation_x = rect.x + rect.width - AlertConstants.MARGIN - self.excessive_actuation_btn.rect.width
self.excessive_actuation_btn.set_position(actuation_x, footer_y)
self.excessive_actuation_btn.render()
text = "Snooze Update"
text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x
text_x = self.snooze_btn_rect.x + (AlertConstants.SNOOZE_BUTTON_SIZE[0] - text_width) // 2
text_y = self.snooze_btn_rect.y + (AlertConstants.SNOOZE_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2
rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.TEXT)
elif self.has_reboot_btn:
self.reboot_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.REBOOT_BUTTON_SIZE[0]
self.reboot_btn_rect.y = footer_y
roundness = AlertConstants.BORDER_RADIUS / self.reboot_btn_rect.height
rl.draw_rectangle_rounded(self.reboot_btn_rect, roundness, 10, AlertColors.BUTTON)
text = "Reboot and Update"
text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x
text_x = self.reboot_btn_rect.x + (AlertConstants.REBOOT_BUTTON_SIZE[0] - text_width) // 2
text_y = self.reboot_btn_rect.y + (AlertConstants.REBOOT_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2
rl.draw_text_ex(
font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT
)
elif self.snooze_btn.is_visible:
snooze_x = rect.x + rect.width - AlertConstants.MARGIN - self.snooze_btn.rect.width
self.snooze_btn.set_position(snooze_x, footer_y)
self.snooze_btn.render()
class OffroadAlert(AbstractAlert):
@@ -188,6 +204,7 @@ class OffroadAlert(AbstractAlert):
active_count = 0
connectivity_needed = False
excessive_actuation = False
for alert_data in self.sorted_alerts:
text = ""
@@ -205,7 +222,11 @@ class OffroadAlert(AbstractAlert):
if alert_data.key == "Offroad_ConnectivityNeeded" and alert_data.visible:
connectivity_needed = True
self.snooze_visible = connectivity_needed
if alert_data.key == "Offroad_ExcessiveActuation" and alert_data.visible:
excessive_actuation = True
self.excessive_actuation_btn.set_visible(excessive_actuation)
self.snooze_btn.set_visible(connectivity_needed and not excessive_actuation)
return active_count
def get_content_height(self) -> float: