mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-29 02:43:47 +08:00
ui: add main UI entry point (#35422)
* add new main UI entry point * cleanup * mv to selfdrive/ui * fix imports * handle_mouse_click * use ui_state * remove ui_state from gui_app * setup callbacks * handle clicks * put layouts in a dict * update state in render * rebase master * implement settings sidebar * rename files
This commit is contained in:
Dean Lee
@@ -0,0 +1,17 @@
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import pyray as rl
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from openpilot.system.ui.lib.label import gui_text_box
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class HomeLayout:
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def __init__(self):
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pass
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def render(self, rect: rl.Rectangle):
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gui_text_box(
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rect,
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"Demo Home Layout",
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font_size=170,
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color=rl.WHITE,
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alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
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alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
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)
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@@ -0,0 +1,92 @@
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import pyray as rl
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from enum import IntEnum
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from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
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from openpilot.selfdrive.ui.layouts.home import HomeLayout
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from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
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class MainState(IntEnum):
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HOME = 0
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SETTINGS = 1
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ONROAD = 2
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class MainLayout:
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def __init__(self):
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self._sidebar = Sidebar()
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self._sidebar_visible = True
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self._current_mode = MainState.HOME
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self._prev_onroad = False
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self._window_rect = None
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self._current_callback: callable | None = None
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# Initialize layouts
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self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
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self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
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self._content_rect = rl.Rectangle(0, 0, 0, 0)
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# Set callbacks
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self._setup_callbacks()
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def render(self, rect):
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self._current_callback = None
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self._update_layout_rects(rect)
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self._render_main_content()
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self._handle_input()
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if self._current_callback:
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self._current_callback()
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def _setup_callbacks(self):
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self._sidebar.set_callbacks(
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on_settings=lambda: setattr(self, '_current_callback', self._on_settings_clicked),
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on_flag=lambda: setattr(self, '_current_callback', self._on_flag_clicked),
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)
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self._layouts[MainState.SETTINGS].set_callbacks(
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on_close=lambda: setattr(self, '_current_callback', self._on_settings_closed)
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)
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def _update_layout_rects(self, rect):
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self._window_rect = rect
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self._sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
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x_offset = SIDEBAR_WIDTH if self._sidebar_visible else 0
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self._content_rect = rl.Rectangle(rect.y + x_offset, rect.y, rect.width - x_offset, rect.height)
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def _on_settings_clicked(self):
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self._current_mode = MainState.SETTINGS
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self._sidebar_visible = False
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def _on_settings_closed(self):
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self._current_mode = MainState.HOME if not ui_state.started else MainState.ONROAD
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self._sidebar_visible = True
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def _on_flag_clicked(self):
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pass
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def _render_main_content(self):
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# Render sidebar
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if self._sidebar_visible:
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self._sidebar.render(self._sidebar_rect)
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if ui_state.started != self._prev_onroad:
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self._prev_onroad = ui_state.started
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if ui_state.started:
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self._current_mode = MainState.ONROAD
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else:
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self._current_mode = MainState.HOME
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content_rect = self._content_rect if self._sidebar_visible else self._window_rect
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self._layouts[self._current_mode].render(content_rect)
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def _handle_input(self):
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if self._current_mode != MainState.ONROAD or not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
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return
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mouse_pos = rl.get_mouse_position()
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if rl.check_collision_point_rec(mouse_pos, self._content_rect):
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self._sidebar_visible = not self._sidebar_visible
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@@ -0,0 +1,174 @@
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import pyray as rl
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from dataclasses import dataclass
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from enum import IntEnum
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from collections.abc import Callable
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from openpilot.common.params import Params
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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from openpilot.system.ui.lib.label import gui_text_box
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# Import individual panels
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SETTINGS_CLOSE_TEXT = "X"
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# Constants
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SIDEBAR_WIDTH = 500
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CLOSE_BTN_SIZE = 200
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NAV_BTN_HEIGHT = 80
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PANEL_MARGIN = 50
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SCROLL_SPEED = 30
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# Colors
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SIDEBAR_COLOR = rl.BLACK
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PANEL_COLOR = rl.Color(41, 41, 41, 255)
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CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
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CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
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TEXT_NORMAL = rl.Color(128, 128, 128, 255)
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TEXT_SELECTED = rl.Color(255, 255, 255, 255)
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TEXT_PRESSED = rl.Color(173, 173, 173, 255)
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class PanelType(IntEnum):
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DEVICE = 0
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NETWORK = 1
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TOGGLES = 2
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SOFTWARE = 3
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FIREHOSE = 4
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DEVELOPER = 5
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@dataclass
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class PanelInfo:
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name: str
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instance: object
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button_rect: rl.Rectangle
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class SettingsLayout:
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def __init__(self):
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self._params = Params()
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self._current_panel = PanelType.DEVICE
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self._close_btn_pressed = False
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self._scroll_offset = 0.0
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self._max_scroll = 0.0
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# Panel configuration
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self._panels = {
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PanelType.DEVICE: PanelInfo("Device", None, rl.Rectangle(0, 0, 0, 0)),
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PanelType.TOGGLES: PanelInfo("Toggles", None, rl.Rectangle(0, 0, 0, 0)),
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PanelType.SOFTWARE: PanelInfo("Software", None, rl.Rectangle(0, 0, 0, 0)),
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PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)),
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PanelType.NETWORK: PanelInfo("Network", None, rl.Rectangle(0, 0, 0, 0)),
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PanelType.DEVELOPER: PanelInfo("Developer", None, rl.Rectangle(0, 0, 0, 0)),
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}
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self._font_medium = gui_app.font(FontWeight.MEDIUM)
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self._font_bold = gui_app.font(FontWeight.SEMI_BOLD)
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# Callbacks
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self._close_callback: Callable | None = None
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def set_callbacks(self, on_close: Callable):
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self._close_callback = on_close
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def render(self, rect: rl.Rectangle):
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# Calculate layout
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sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
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panel_rect = rl.Rectangle(rect.x + SIDEBAR_WIDTH, rect.y, rect.width - SIDEBAR_WIDTH, rect.height)
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# Draw components
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self._draw_sidebar(sidebar_rect)
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self._draw_current_panel(panel_rect)
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if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
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self.handle_mouse_release(rl.get_mouse_position())
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def _draw_sidebar(self, rect: rl.Rectangle):
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rl.draw_rectangle_rec(rect, SIDEBAR_COLOR)
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# Close button
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close_btn_rect = rl.Rectangle(
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rect.x + (rect.width - CLOSE_BTN_SIZE) / 2, rect.y + 45, CLOSE_BTN_SIZE, CLOSE_BTN_SIZE
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)
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close_color = CLOSE_BTN_PRESSED if self._close_btn_pressed else CLOSE_BTN_COLOR
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rl.draw_rectangle_rounded(close_btn_rect, 0.5, 20, close_color)
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close_text_size = rl.measure_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, 140, 0)
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close_text_pos = rl.Vector2(
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close_btn_rect.x + (close_btn_rect.width - close_text_size.x) / 2,
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close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2 - 20,
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)
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rl.draw_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, close_text_pos, 140, 0, TEXT_SELECTED)
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# Store close button rect for click detection
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self._close_btn_rect = close_btn_rect
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# Navigation buttons
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nav_start_y = rect.y + 300
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button_spacing = 20
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i = 0
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for panel_type, panel_info in self._panels.items():
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button_rect = rl.Rectangle(
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rect.x + 50,
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nav_start_y + i * (NAV_BTN_HEIGHT + button_spacing),
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rect.width - 150, # Right-aligned with margin
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NAV_BTN_HEIGHT,
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)
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# Button styling
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is_selected = panel_type == self._current_panel
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text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL
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# Draw button text (right-aligned)
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text_size = rl.measure_text_ex(self._font_medium, panel_info.name, 65, 0)
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text_pos = rl.Vector2(
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button_rect.x + button_rect.width - text_size.x, button_rect.y + (button_rect.height - text_size.y) / 2
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)
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rl.draw_text_ex(self._font_medium, panel_info.name, text_pos, 65, 0, text_color)
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# Store button rect for click detection
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panel_info.button_rect = button_rect
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i += 1
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def _draw_current_panel(self, rect: rl.Rectangle):
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content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50)
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rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR)
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gui_text_box(
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content_rect,
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f"Demo {self._panels[self._current_panel].name} Panel",
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font_size=170,
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color=rl.WHITE,
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alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
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alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
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)
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def handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
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# Check close button
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if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
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self._close_btn_pressed = True
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if self._close_callback:
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self._close_callback()
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return True
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# Check navigation buttons
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for panel_type, panel_info in self._panels.items():
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if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
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self._switch_to_panel(panel_type)
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return True
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return False
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def _switch_to_panel(self, panel_type: PanelType):
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if panel_type != self._current_panel:
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self._current_panel = panel_type
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self._scroll_offset = 0.0 # Reset scroll when switching panels
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self._transition_progress = 0.0
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self._transitioning = True
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def set_current_panel(self, index: int, param: str = ""):
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panel_types = list(self._panels.keys())
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if 0 <= index < len(panel_types):
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self._switch_to_panel(panel_types[index])
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def close_settings(self):
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if self._close_callback:
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self._close_callback()
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@@ -0,0 +1,207 @@
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import pyray as rl
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import time
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from dataclasses import dataclass
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from collections.abc import Callable
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from cereal import log
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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SIDEBAR_WIDTH = 300
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METRIC_HEIGHT = 126
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METRIC_WIDTH = 240
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METRIC_MARGIN = 30
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SETTINGS_BTN = rl.Rectangle(50, 35, 200, 117)
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HOME_BTN = rl.Rectangle(60, 860, 180, 180)
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ThermalStatus = log.DeviceState.ThermalStatus
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NetworkType = log.DeviceState.NetworkType
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# Color scheme
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class Colors:
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SIDEBAR_BG = rl.Color(57, 57, 57, 255)
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WHITE = rl.Color(255, 255, 255, 255)
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WHITE_DIM = rl.Color(255, 255, 255, 85)
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GRAY = rl.Color(84, 84, 84, 255)
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# Status colors
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GOOD = rl.Color(255, 255, 255, 255)
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WARNING = rl.Color(218, 202, 37, 255)
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DANGER = rl.Color(201, 34, 49, 255)
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# UI elements
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METRIC_BORDER = rl.Color(255, 255, 255, 85)
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BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
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BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
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NETWORK_TYPES = {
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NetworkType.none: "Offline",
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NetworkType.wifi: "WiFi",
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NetworkType.cell2G: "2G",
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NetworkType.cell3G: "3G",
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NetworkType.cell4G: "LTE",
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NetworkType.cell5G: "5G",
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NetworkType.ethernet: "Ethernet",
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}
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@dataclass(slots=True)
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class MetricData:
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label: str
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value: str
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color: rl.Color
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def update(self, label: str, value: str, color: rl.Color):
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self.label = label
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self.value = value
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self.color = color
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class Sidebar:
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def __init__(self):
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self._net_type = NETWORK_TYPES.get(NetworkType.none)
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self._net_strength = 0
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self._temp_status = MetricData("TEMP", "GOOD", Colors.GOOD)
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self._panda_status = MetricData("VEHICLE", "ONLINE", Colors.GOOD)
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self._connect_status = MetricData("CONNECT", "OFFLINE", Colors.WARNING)
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self._home_img = gui_app.texture("images/button_home.png", HOME_BTN.width, HOME_BTN.height)
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self._flag_img = gui_app.texture("images/button_flag.png", HOME_BTN.width, HOME_BTN.height)
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self._settings_img = gui_app.texture("images/button_settings.png", SETTINGS_BTN.width, SETTINGS_BTN.height)
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self._font_regular = gui_app.font(FontWeight.NORMAL)
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self._font_bold = gui_app.font(FontWeight.SEMI_BOLD)
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# Callbacks
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self._on_settings_click: Callable | None = None
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self._on_flag_click: Callable | None = None
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def set_callbacks(self, on_settings: Callable | None = None, on_flag: Callable | None = None):
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self._on_settings_click = on_settings
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self._on_flag_click = on_flag
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def render(self, rect: rl.Rectangle):
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self.update_state()
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# Background
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rl.draw_rectangle_rec(rect, Colors.SIDEBAR_BG)
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self._draw_buttons(rect)
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self._draw_network_indicator(rect)
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self._draw_metrics(rect)
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self._handle_mouse_release()
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def update_state(self):
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sm = ui_state.sm
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if not sm.updated['deviceState']:
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return
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device_state = sm['deviceState']
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self._update_network_status(device_state)
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self._update_temperature_status(device_state)
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self._update_connection_status(device_state)
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self._update_panda_status()
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def _update_network_status(self, device_state):
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self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, "Unknown")
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strength = device_state.networkStrength
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self._net_strength = max(0, min(5, strength.raw + 1)) if strength > 0 else 0
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def _update_temperature_status(self, device_state):
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thermal_status = device_state.thermalStatus
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if thermal_status == ThermalStatus.green:
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self._temp_status.update("TEMP", "GOOD", Colors.GOOD)
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elif thermal_status == ThermalStatus.yellow:
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self._temp_status.update("TEMP", "OK", Colors.WARNING)
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else:
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self._temp_status.update("TEMP", "HIGH", Colors.DANGER)
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def _update_connection_status(self, device_state):
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last_ping = device_state.lastAthenaPingTime
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if last_ping == 0:
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self._connect_status.update("CONNECT", "OFFLINE", Colors.WARNING)
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elif time.monotonic_ns() - last_ping < 80_000_000_000: # 80 seconds in nanoseconds
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self._connect_status.update("CONNECT", "ONLINE", Colors.GOOD)
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else:
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self._connect_status.update("CONNECT", "ERROR", Colors.DANGER)
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def _update_panda_status(self):
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if ui_state.panda_type == log.PandaState.PandaType.unknown:
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self._panda_status.update("NO", "PANDA", Colors.DANGER)
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else:
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self._panda_status.update("VEHICLE", "ONLINE", Colors.GOOD)
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def _handle_mouse_release(self):
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if not rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
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return
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mouse_pos = rl.get_mouse_position()
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if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN):
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if self._on_settings_click:
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self._on_settings_click()
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elif rl.check_collision_point_rec(mouse_pos, HOME_BTN) and ui_state.started:
|
||||
if self._on_flag_click:
|
||||
self._on_flag_click()
|
||||
|
||||
def _draw_buttons(self, rect: rl.Rectangle):
|
||||
mouse_pos = rl.get_mouse_position()
|
||||
mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
|
||||
|
||||
|
||||
# Settings button
|
||||
settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
|
||||
tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL
|
||||
rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint)
|
||||
|
||||
# Home/Flag button
|
||||
flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN)
|
||||
button_img = self._flag_img if ui_state.started else self._home_img
|
||||
|
||||
tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
|
||||
rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint)
|
||||
|
||||
def _draw_network_indicator(self, rect: rl.Rectangle):
|
||||
# Signal strength dots
|
||||
x_start = rect.x + 58
|
||||
y_pos = rect.y + 196
|
||||
dot_size = 27
|
||||
dot_spacing = 37
|
||||
|
||||
for i in range(5):
|
||||
color = Colors.WHITE if i < self._net_strength else Colors.GRAY
|
||||
x = int(x_start + i * dot_spacing + dot_size // 2)
|
||||
y = int(y_pos + dot_size // 2)
|
||||
rl.draw_circle(x, y, dot_size // 2, color)
|
||||
|
||||
# Network type text
|
||||
text_y = rect.y + 247
|
||||
text_pos = rl.Vector2(rect.x + 58, text_y)
|
||||
rl.draw_text_ex(self._font_regular, self._net_type, text_pos, 35, 0, Colors.WHITE)
|
||||
|
||||
def _draw_metrics(self, rect: rl.Rectangle):
|
||||
metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)]
|
||||
|
||||
for metric, y_offset in metrics:
|
||||
self._draw_metric(rect, metric, rect.y + y_offset)
|
||||
|
||||
def _draw_metric(self, rect: rl.Rectangle, metric: MetricData, y: float):
|
||||
metric_rect = rl.Rectangle(rect.x + METRIC_MARGIN, y, METRIC_WIDTH, METRIC_HEIGHT)
|
||||
# Draw colored left edge (clipped rounded rectangle)
|
||||
edge_rect = rl.Rectangle(metric_rect.x + 4, metric_rect.y + 4, 100, 118)
|
||||
rl.begin_scissor_mode(int(metric_rect.x + 4), int(metric_rect.y), 18, int(metric_rect.height))
|
||||
rl.draw_rectangle_rounded(edge_rect, 0.18, 10, metric.color)
|
||||
rl.end_scissor_mode()
|
||||
|
||||
# Draw border
|
||||
rl.draw_rectangle_rounded_lines_ex(metric_rect, 0.15, 10, 2, Colors.METRIC_BORDER)
|
||||
|
||||
# Draw text
|
||||
text = f"{metric.label}\n{metric.value}"
|
||||
text_size = rl.measure_text_ex(self._font_bold, text, 35, 0)
|
||||
text_pos = rl.Vector2(
|
||||
metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2,
|
||||
metric_rect.y + (metric_rect.height - text_size.y) / 2
|
||||
)
|
||||
rl.draw_text_ex(self._font_bold, text, text_pos, 35, 0, Colors.WHITE)
|
||||
@@ -26,7 +26,7 @@ BORDER_COLORS = {
|
||||
|
||||
|
||||
class AugmentedRoadView(CameraView):
|
||||
def __init__(self, stream_type: VisionStreamType):
|
||||
def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
|
||||
super().__init__("camerad", stream_type)
|
||||
|
||||
self.device_camera: DeviceCameraConfig | None = None
|
||||
|
||||
Executable
+20
@@ -0,0 +1,20 @@
|
||||
#!/usr/bin/env python3
|
||||
import pyray as rl
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.selfdrive.ui.layouts.main import MainLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
|
||||
|
||||
def main():
|
||||
gui_app.init_window("UI")
|
||||
main_layout = MainLayout()
|
||||
for _ in gui_app.render():
|
||||
ui_state.update()
|
||||
|
||||
#TODO handle brigntness and awake state here
|
||||
|
||||
main_layout.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user