exp c4 ui

selfdrive/ui/lib/starpilot_mode_banner.py

@@ -0,0 +1,60 @@
+import time
+
+import pyray as rl
+
+from openpilot.selfdrive.ui.lib.starpilot_status import get_border_color, get_mode_transition_banner_text
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.widgets.label import UnifiedLabel
+
+
+class ModeTransitionBanner:
+  SHOW_TIME_SECONDS = 2.5
+
+  def __init__(self, *, font_size: int = 34, width: int = 520, height: int = 72, top_margin: int = 22):
+    self._last_mode: str | None = None
+    self._visible_until = 0.0
+    self._width = width
+    self._height = height
+    self._top_margin = top_margin
+    self._label = UnifiedLabel(
+      "",
+      font_size,
+      FontWeight.BOLD,
+      text_color=rl.WHITE,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+    )
+
+  def update(self):
+    if not ui_state.started:
+      self._last_mode = None
+      self._visible_until = 0.0
+      return
+
+    current_mode = get_mode_transition_banner_text(ui_state)
+    if self._last_mode is None:
+      self._last_mode = current_mode
+      return
+
+    if current_mode != self._last_mode:
+      self._last_mode = current_mode
+      if current_mode is not None:
+        self._label.set_text(f"{current_mode} MODE")
+        self._visible_until = time.monotonic() + self.SHOW_TIME_SECONDS
+
+  def render(self, rect: rl.Rectangle):
+    if not ui_state.started or time.monotonic() > self._visible_until:
+      return
+
+    banner_width = min(rect.width - 120, self._width)
+    banner_rect = rl.Rectangle(
+      rect.x + (rect.width - banner_width) / 2,
+      rect.y + self._top_margin,
+      banner_width,
+      self._height,
+    )
+
+    rl.draw_rectangle_rounded(banner_rect, 0.3, 12, rl.Color(0, 0, 0, 175))
+    rl.draw_rectangle_rounded_lines_ex(banner_rect, 0.3, 12, 4, get_border_color(ui_state))
+    self._label.render(banner_rect)

selfdrive/ui/lib/starpilot_status.py

@@ -74,3 +74,19 @@ def get_experimental_mode_banner_text(state: UIState):
   if state.sm["selfdriveState"].experimentalMode:
     return "EXPERIMENTAL"
   return "CHILL"
+
+
+def get_mode_transition_banner_text(state: UIState):
+  enabled = state.sm["selfdriveState"].enabled
+  lateral_active = enabled or state.always_on_lateral_active
+  conditional_enabled = state.params.get_bool("ConditionalExperimental")
+
+  if state.status == UIStatus.OVERRIDE:
+    return "OVERRIDE"
+  if state.switchback_mode_enabled and lateral_active:
+    return "SWITCHBACK"
+  if conditional_enabled and enabled and state.conditional_status in CEM_MANUAL_OVERRIDE_STATUSES:
+    return "OVERRIDDEN"
+  if enabled and state.sm["selfdriveState"].experimentalMode:
+    return "EXPERIMENTAL"
+  return None

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -17,8 +17,8 @@ from openpilot.selfdrive.ui.mici.onroad.starpilot_status import (
   EXPERIMENTAL_COLOR,
   TRAFFIC_COLOR,
   get_border_color,
-  get_experimental_mode_banner_text,
 )
+from openpilot.selfdrive.ui.lib.starpilot_mode_banner import ModeTransitionBanner
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.lib.starpilot_visuals import get_border_width
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
@@ -147,54 +147,6 @@ class BookmarkIcon(Widget):
       rl.draw_texture(self._icon, int(icon_x), int(icon_y), rl.WHITE)
 
 
-class ExperimentalModeBanner(Widget):
-  SHOW_TIME_SECONDS = 2.5
-
-  def __init__(self):
-    super().__init__()
-    self._last_mode: str | None = None
-    self._visible_until = 0.0
-    self._label = UnifiedLabel(
-      "",
-      34,
-      FontWeight.BOLD,
-      text_color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-    )
-
-  def _update_state(self):
-    current_mode = get_experimental_mode_banner_text(ui_state)
-    if current_mode is None:
-      return
-
-    if self._last_mode is None:
-      self._last_mode = current_mode
-      return
-
-    if current_mode != self._last_mode:
-      self._last_mode = current_mode
-      self._label.set_text(f"{current_mode} MODE")
-      self._visible_until = time.monotonic() + self.SHOW_TIME_SECONDS
-
-  def _render(self, rect):
-    if not ui_state.started or time.monotonic() > self._visible_until:
-      return
-
-    banner_width = min(rect.width - 120, 520)
-    banner_height = 72
-    banner_rect = rl.Rectangle(
-      rect.x + (rect.width - banner_width) / 2,
-      rect.y + 22,
-      banner_width,
-      banner_height,
-    )
-
-    rl.draw_rectangle_rounded(banner_rect, 0.3, 12, rl.Color(0, 0, 0, 175))
-    rl.draw_rectangle_rounded_lines_ex(banner_rect, 0.3, 12, 4, get_border_color(ui_state))
-    self._label.render(banner_rect)
-
-
 class MinSteerSpeedBanner(Widget):
   """One-shot-per-drive banner shown for the full first below-min-steer interval."""
 
@@ -420,7 +372,7 @@ class AugmentedRoadView(CameraView):
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
-    self._experimental_mode_banner = ExperimentalModeBanner()
+    self._mode_transition_banner = ModeTransitionBanner()
     self._min_steer_speed_banner = MinSteerSpeedBanner()
     self._standstill_timer = StandstillTimerOverlay()
     self._offroad_label = UnifiedLabel("start the car to\nuse openpilot", 54, FontWeight.DISPLAY,
@@ -536,13 +488,14 @@ class AugmentedRoadView(CameraView):
     self._hud_renderer.set_can_draw_top_icons((not in_reverse) and (not is_driver_stream) and (alert_to_render is None))
     self._hud_renderer.set_wheel_critical_icon((not in_reverse) and (not is_driver_stream) and alert_to_render is not None and not not_animating_out and
                                                alert_to_render.visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired)
+    self._mode_transition_banner.update()
     # TODO: have alert renderer draw offroad mici label below
     if ui_state.started:
       self._alert_renderer.render(self._content_rect)
     if not in_reverse and not is_driver_stream:
       self._hud_renderer.render_foreground()
     if (not in_reverse) and (not is_driver_stream) and alert_to_render is None:
-      self._experimental_mode_banner.render(self._content_rect)
+      self._mode_transition_banner.render(self._content_rect)
     rendered_standstill_timer = False
     if not in_reverse and not is_driver_stream:
       rendered_standstill_timer = self._standstill_timer.render(self._content_rect, in_reverse)

selfdrive/ui/onroad/augmented_road_view.py

@@ -12,6 +12,7 @@ from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.lib.starpilot_mode_banner import ModeTransitionBanner
 from openpilot.selfdrive.ui.lib.starpilot_status import get_screen_edge_color
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
@@ -149,6 +150,7 @@ class AugmentedRoadView(CameraView):
     self._hud_renderer = HudRenderer()
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
+    self._mode_transition_banner = ModeTransitionBanner()
     self._min_steer_speed_banner = MinSteerSpeedBanner()
 
     # debug
@@ -188,10 +190,14 @@ class AugmentedRoadView(CameraView):
     super()._render(self._content_rect)
 
     # Draw all UI overlays
+    current_alert = self.alert_renderer.get_alert(ui_state.sm)
     self.model_renderer.render(self._content_rect)
     self._hud_renderer.render(self._content_rect)
+    self._mode_transition_banner.update()
     self.alert_renderer.render(self._content_rect)
     self.driver_state_renderer.render(self._content_rect)
+    if current_alert is None:
+      self._mode_transition_banner.render(self._content_rect)
     self._min_steer_speed_banner.render(self._content_rect)
 
     # Custom UI extension point - add custom overlays here