raylib: implement toggles (#36284)

* start on exp mode

* more

* fmt

* rm

* 2nd try

* almost there

* clean up

* and this

* fmt

* more

* exp is colored when active

* move out, and rm redudnant self.state

* revert html changes for now

* fix untagged text inheriting previous tag

* why would this be unknown

* here too

* update live with car

* clean up + refresh toggles on showEvent + catch from cursor about setting desc if no carparams

* not sure why

* fix disengaged re-enabling locked toggles

selfdrive/ui/layouts/settings/toggles.py

@@ -1,7 +1,11 @@
-from openpilot.common.params import Params
+from cereal import log
+from openpilot.common.params import Params, UnknownKeyName
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
 from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 # Description constants
 DESCRIPTIONS = {
@@ -30,66 +34,179 @@ class TogglesLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    items = [
-      toggle_item(
+
+    # param, title, desc, icon, needs_restart
+    self._toggle_defs = {
+      "OpenpilotEnabledToggle": (
         "Enable openpilot",
         DESCRIPTIONS["OpenpilotEnabledToggle"],
-        self._params.get_bool("OpenpilotEnabledToggle"),
-        icon="chffr_wheel.png",
+        "chffr_wheel.png",
+        True,
       ),
-      toggle_item(
+      "ExperimentalMode": (
         "Experimental Mode",
-        initial_state=self._params.get_bool("ExperimentalMode"),
-        icon="experimental_white.png",
+        "",
+        "experimental_white.png",
+        False,
       ),
-      toggle_item(
+      "DisengageOnAccelerator": (
         "Disengage on Accelerator Pedal",
         DESCRIPTIONS["DisengageOnAccelerator"],
-        self._params.get_bool("DisengageOnAccelerator"),
-        icon="disengage_on_accelerator.png",
+        "disengage_on_accelerator.png",
+        False,
       ),
-      multiple_button_item(
-        "Driving Personality",
-        DESCRIPTIONS["LongitudinalPersonality"],
-        buttons=["Aggressive", "Standard", "Relaxed"],
-        button_width=255,
-        callback=self._set_longitudinal_personality,
-        selected_index=self._params.get("LongitudinalPersonality", return_default=True),
-        icon="speed_limit.png"
-      ),
-      toggle_item(
+      "IsLdwEnabled": (
         "Enable Lane Departure Warnings",
         DESCRIPTIONS["IsLdwEnabled"],
-        self._params.get_bool("IsLdwEnabled"),
-        icon="warning.png",
+        "warning.png",
+        False,
       ),
-      toggle_item(
+      "AlwaysOnDM": (
         "Always-On Driver Monitoring",
         DESCRIPTIONS["AlwaysOnDM"],
-        self._params.get_bool("AlwaysOnDM"),
-        icon="monitoring.png",
+        "monitoring.png",
+        False,
       ),
-      toggle_item(
+      "RecordFront": (
         "Record and Upload Driver Camera",
         DESCRIPTIONS["RecordFront"],
-        self._params.get_bool("RecordFront"),
-        icon="monitoring.png",
+        "monitoring.png",
+        True,
       ),
-      toggle_item(
+      "RecordAudio": (
         "Record and Upload Microphone Audio",
         DESCRIPTIONS["RecordAudio"],
-        self._params.get_bool("RecordAudio"),
-        icon="microphone.png",
+        "microphone.png",
+        True,
       ),
-      toggle_item(
-        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
+      "IsMetric": (
+        "Use Metric System",
+        DESCRIPTIONS["IsMetric"],
+        "metric.png",
+        False,
       ),
-    ]
+    }
 
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
+    self._long_personality_setting = multiple_button_item(
+      "Driving Personality",
+      DESCRIPTIONS["LongitudinalPersonality"],
+      buttons=["Aggressive", "Standard", "Relaxed"],
+      button_width=255,
+      callback=self._set_longitudinal_personality,
+      selected_index=self._params.get("LongitudinalPersonality", return_default=True),
+      icon="speed_limit.png"
+    )
+
+    self._toggles = {}
+    self._locked_toggles = set()
+    for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
+      toggle = toggle_item(
+        title,
+        desc,
+        self._params.get_bool(param),
+        callback=lambda state, p=param: self._toggle_callback(state, p),
+        icon=icon,
+      )
+
+      try:
+        locked = self._params.get_bool(param + "Lock")
+      except UnknownKeyName:
+        locked = False
+      toggle.action_item.set_enabled(not locked)
+
+      if needs_restart and not locked:
+        toggle.set_description(toggle.description + " Changing this setting will restart openpilot if the car is powered on.")
+
+      # track for engaged state updates
+      if locked:
+        self._locked_toggles.add(param)
+
+      self._toggles[param] = toggle
+
+      # insert longitudinal personality after NDOG toggle
+      if param == "DisengageOnAccelerator":
+        self._toggles["LongitudinalPersonality"] = self._long_personality_setting
+
+    self._update_experimental_mode_icon()
+    self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
+
+  def _update_state(self):
+    if ui_state.sm.updated["selfdriveState"]:
+      personality = PERSONALITY_TO_INT[ui_state.sm["selfdriveState"].personality]
+      if personality != ui_state.personality and ui_state.started:
+        self._long_personality_setting.action_item.set_selected_button(personality)
+      ui_state.personality = personality
+
+    # these toggles need restart, block while engaged
+    for toggle_def in self._toggle_defs:
+      if self._toggle_defs[toggle_def][3] and toggle_def not in self._locked_toggles:
+        self._toggles[toggle_def].action_item.set_enabled(not ui_state.engaged)
+
+  def show_event(self):
+    self._update_toggles()
+
+  def _update_toggles(self):
+    e2e_description = (
+      "openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. " +
+      "Experimental features are listed below:<br>" +
+      "<h4>End-to-End Longitudinal Control</h4><br>" +
+      "Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
+      "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " +
+      "mistakes should be expected.<br>" +
+      "<h4>New Driving Visualization</h4><br>" +
+      "The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. " +
+      "The Experimental mode logo will also be shown in the top right corner."
+    )
+
+    is_release = self._params.get_bool("IsReleaseBranch")
+
+    if ui_state.CP is not None:
+      if ui_state.has_longitudinal_control:
+        self._toggles["ExperimentalMode"].action_item.set_enabled(True)
+        self._toggles["ExperimentalMode"].set_description(e2e_description)
+        self._long_personality_setting.action_item.set_enabled(True)
+      else:
+        # no long for now
+        self._toggles["ExperimentalMode"].action_item.set_enabled(False)
+        self._toggles["ExperimentalMode"].action_item.set_state(False)
+        self._long_personality_setting.action_item.set_enabled(False)
+        self._params.remove("ExperimentalMode")
+
+        unavailable = "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+
+        long_desc = unavailable + " openpilot longitudinal control may come in a future update."
+        if ui_state.CP.getAlphaLongitudinalAvailable():
+          if is_release:
+            long_desc = unavailable + " " + ("An alpha version of openpilot longitudinal control can be tested, along with " +
+                                             "Experimental mode, on non-release branches.")
+          else:
+            long_desc = "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."
+
+        self._toggles["ExperimentalMode"].set_description("<b>" + long_desc + "</b><br><br>" + e2e_description)
+    else:
+      self._toggles["ExperimentalMode"].set_description(e2e_description)
+
+    self._update_experimental_mode_icon()
+
+    # TODO: make a param control list item so we don't need to manage internal state as much here
+    # refresh toggles from params to mirror external changes
+    for param in self._toggle_defs:
+      self._toggles[param].action_item.set_state(self._params.get_bool(param))
 
   def _render(self, rect):
     self._scroller.render(rect)
 
+  def _update_experimental_mode_icon(self):
+    icon = "experimental.png" if self._toggles["ExperimentalMode"].action_item.get_state() else "experimental_white.png"
+    self._toggles["ExperimentalMode"].set_icon(icon)
+
+  def _toggle_callback(self, state: bool, param: str):
+    if param == "ExperimentalMode":
+      self._update_experimental_mode_icon()
+
+    self._params.put_bool(param, state)
+    if self._toggle_defs[param][3]:
+      self._params.put_bool("OnroadCycleRequested", True)
+
   def _set_longitudinal_personality(self, button_index: int):
     self._params.put("LongitudinalPersonality", button_index)

selfdrive/ui/ui_state.py

@@ -4,9 +4,9 @@ import time
 import threading
 from collections.abc import Callable
 from enum import Enum
-from cereal import messaging, log
+from cereal import messaging, car, log
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.params import Params, UnknownKeyName
+from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
@@ -69,7 +69,10 @@ class UIState:
     self.ignition: bool = False
     self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
     self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
+    self.has_longitudinal_control: bool = False
+    self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
+    self._param_update_time: float = 0.0
 
     self._update_params()
 
@@ -87,6 +90,9 @@ class UIState:
     self.sm.update(0)
     self._update_state()
     self._update_status()
+    if time.monotonic() - self._param_update_time > 5.0:
+      self._update_params()
+      self._param_update_time = time.monotonic()
     device.update()
 
   def _update_state(self) -> None:
@@ -137,10 +143,16 @@ class UIState:
       self._started_prev = self.started
 
   def _update_params(self) -> None:
-    try:
-      self.is_metric = self.params.get_bool("IsMetric")
-    except UnknownKeyName:
-      self.is_metric = False
+    self.is_metric = self.params.get_bool("IsMetric")
+
+    # Update longitudinal control state
+    CP_bytes = self.params.get("CarParams")
+    if CP_bytes is not None:
+      self.CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
+      if self.CP.alphaLongitudinalAvailable:
+        self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
+      else:
+        self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
 
 
 class Device:

system/ui/widgets/list_view.py

@@ -56,10 +56,10 @@ class ItemAction(Widget, ABC):
 
 
 class ToggleAction(ItemAction):
-  def __init__(self, initial_state: bool = False, width: int = TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True):
+  def __init__(self, initial_state: bool = False, width: int = TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True,
+               callback: Callable[[bool], None] | None = None):
     super().__init__(width, enabled)
-    self.toggle = Toggle(initial_state=initial_state)
-    self.state = initial_state
+    self.toggle = Toggle(initial_state=initial_state, callback=callback)
 
   def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
     super().set_touch_valid_callback(touch_callback)
@@ -68,15 +68,13 @@ class ToggleAction(ItemAction):
   def _render(self, rect: rl.Rectangle) -> bool:
     self.toggle.set_enabled(self.enabled)
     clicked = self.toggle.render(rl.Rectangle(rect.x, rect.y + (rect.height - TOGGLE_HEIGHT) / 2, self._rect.width, TOGGLE_HEIGHT))
-    self.state = self.toggle.get_state()
     return bool(clicked)
 
   def set_state(self, state: bool):
-    self.state = state
     self.toggle.set_state(state)
 
   def get_state(self) -> bool:
-    return self.state
+    return self.toggle.get_state()
 
 
 class ButtonAction(ItemAction):
@@ -207,6 +205,13 @@ class MultipleButtonAction(ItemAction):
     self.callback = callback
     self._font = gui_app.font(FontWeight.MEDIUM)
 
+  def set_selected_button(self, index: int):
+    if 0 <= index < len(self.buttons):
+      self.selected_button = index
+
+  def get_selected_button(self) -> int:
+    return self.selected_button
+
   def _render(self, rect: rl.Rectangle):
     spacing = RIGHT_ITEM_PADDING
     button_y = rect.y + (rect.height - BUTTON_HEIGHT) / 2
@@ -259,7 +264,7 @@ class ListItem(Widget):
                action_item: ItemAction | None = None):
     super().__init__()
     self.title = title
-    self.icon = icon
+    self.set_icon(icon)
     self._description = description
     self.description_visible = description_visible
     self.callback = callback
@@ -267,7 +272,6 @@ class ListItem(Widget):
 
     self.set_rect(rl.Rectangle(0, 0, ITEM_BASE_WIDTH, ITEM_BASE_HEIGHT))
     self._font = gui_app.font(FontWeight.NORMAL)
-    self._icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) if self.icon else None
 
     self._html_renderer = HtmlRenderer(text="", text_size={ElementType.P: ITEM_DESC_FONT_SIZE},
                                        text_color=ITEM_DESC_TEXT_COLOR)
@@ -352,6 +356,10 @@ class ListItem(Widget):
         if self.callback:
           self.callback()
 
+  def set_icon(self, icon: str | None):
+    self.icon = icon
+    self._icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) if self.icon else None
+
   def set_description(self, description: str | Callable[[], str] | None):
     self._description = description
     new_desc = self.description
@@ -398,8 +406,8 @@ def simple_item(title: str, callback: Callable | None = None) -> ListItem:
 
 def toggle_item(title: str, description: str | Callable[[], str] | None = None, initial_state: bool = False,
                 callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True) -> ListItem:
-  action = ToggleAction(initial_state=initial_state, enabled=enabled)
-  return ListItem(title=title, description=description, action_item=action, icon=icon, callback=callback)
+  action = ToggleAction(initial_state=initial_state, enabled=enabled, callback=callback)
+  return ListItem(title=title, description=description, action_item=action, icon=icon)
 
 
 def button_item(title: str, button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None,

system/ui/widgets/toggle.py

@@ -1,4 +1,5 @@
 import pyray as rl
+from collections.abc import Callable
 from openpilot.system.ui.lib.application import MousePos
 from openpilot.system.ui.widgets import Widget
 
@@ -14,9 +15,10 @@ ANIMATION_SPEED = 8.0
 
 
 class Toggle(Widget):
-  def __init__(self, initial_state=False):
+  def __init__(self, initial_state: bool = False, callback: Callable[[bool], None] | None = None):
     super().__init__()
     self._state = initial_state
+    self._callback = callback
     self._enabled = True
     self._progress = 1.0 if initial_state else 0.0
     self._target = self._progress
@@ -32,8 +34,10 @@ class Toggle(Widget):
     self._clicked = True
     self._state = not self._state
     self._target = 1.0 if self._state else 0.0
+    if self._callback:
+      self._callback(self._state)
 
-  def get_state(self):
+  def get_state(self) -> bool:
     return self._state
 
   def set_state(self, state: bool):