BigUI WIP: Full screen settings exit + bread margins

2026-07-12 12:52:13 +08:00 · 2026-07-09 23:50:24 -04:00
parent 1153010f85
commit 4916143a5d
5 changed files with 186 additions and 22 deletions
@@ -27,7 +27,7 @@ env_var_truthy() {
 usage() {
  cat <<'EOF'
 Usage:
-  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [-nav] [--cem] [--prefix name] <route-or-replay-args...>
+  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [-nav] [-alert] [--cem] [--prefix name] <route-or-replay-args...>

 Examples:
  ./onroad --c3 <route>
@@ -35,6 +35,7 @@ Examples:
  ./onroad --c4 -nav <route>
  ./onroad --c4 --cem --demo
  ./onroad --raybig --cem --demo
+  ./onroad --raybig --cem -alert --demo --no-loop
  ./onroad --all <route>
  ./onroad --replay-only --demo --no-vipc --no-loop

@@ -44,6 +45,7 @@ Notes:
  - Use multiple UI flags together if you want more than one desktop UI at once.
  - -nav injects a fake navigation demo stream and blocks replay from publishing navInstruction/navRoute.
  - --cem publishes fake CEM statuses for desktop visual review in the raylib UIs.
+  - -alert blocks replay from publishing selfdriveState and fires a fake critical full-screen red alert (alertSize=full, alertStatus=critical) 20 seconds after the demo publisher starts (10s for replay route + UI to come up, plus 10s for the user to open Settings). Default alert text mimics a real controlsMismatch event; run tools/replay/fake_alert_demo.py directly to override --text1/--text2/--delay.
 EOF
 }

@@ -60,9 +62,11 @@ LEGACY_UI_SELECTION=""
 REPLAY_ONLY=0
 NAV_DEMO=0
 CEM_DEMO=0
+ALERT_DEMO=0
 REPLAY_PID=""
 NAV_PID=""
 CEM_PID=""
+ALERT_PID=""
 UI_PIDS=()

 parse_args() {
@@ -100,6 +104,10 @@ parse_args() {
        CEM_DEMO=1
        shift
        ;;
+      -alert|--alert|--alert-demo)
+        ALERT_DEMO=1
+        shift
+        ;;
      --ui)
        if [[ $# -lt 2 ]]; then
          echo "Missing value for --ui" >&2
@@ -217,6 +225,9 @@ cleanup() {
  if [[ -n "${CEM_PID}" ]]; then
    kill "${CEM_PID}" >/dev/null 2>&1 || true
  fi
+  if [[ -n "${ALERT_PID}" ]]; then
+    kill "${ALERT_PID}" >/dev/null 2>&1 || true
+  fi

  for pid in "${UI_PIDS[@]-}"; do
    if [[ -n "${pid}" ]]; then
@@ -232,6 +243,9 @@ cleanup() {
  if [[ -n "${CEM_PID}" ]]; then
    wait "${CEM_PID}" >/dev/null 2>&1 || true
  fi
+  if [[ -n "${ALERT_PID}" ]]; then
+    wait "${ALERT_PID}" >/dev/null 2>&1 || true
+  fi

  if [[ -n "${OPENPILOT_PREFIX:-}" && "${OPENPILOT_PREFIX}" == desktop-onroad-* ]]; then
    echo "Cleaning up temporary prefix environment (${OPENPILOT_PREFIX})..."
@@ -305,6 +319,30 @@ ensure_nav_demo_replay_blocklist() {
  REPLAY_ARGS=(-b "${nav_services}" "${REPLAY_ARGS[@]}")
 }

+ensure_alert_demo_replay_blocklist() {
+  local alert_services="selfdriveState"
+  local idx=0
+
+  for ((idx=0; idx<${#REPLAY_ARGS[@]}; idx++)); do
+    case "${REPLAY_ARGS[$idx]}" in
+      -b|--block)
+        if (( idx + 1 >= ${#REPLAY_ARGS[@]} )); then
+          echo "Missing value for ${REPLAY_ARGS[$idx]}" >&2
+          exit 1
+        fi
+        REPLAY_ARGS[$((idx + 1))]="$(append_blocked_service_names "${REPLAY_ARGS[$((idx + 1))]}" "${alert_services}")"
+        return
+        ;;
+      --block=*)
+        REPLAY_ARGS[$idx]="--block=$(append_blocked_service_names "${REPLAY_ARGS[$idx]#*=}" "${alert_services}")"
+        return
+        ;;
+    esac
+  done
+
+  REPLAY_ARGS=(-b "${alert_services}" "${REPLAY_ARGS[@]}")
+}
+
 prepare_env() {
  source .venv/bin/activate

@@ -331,6 +369,7 @@ prepare_env() {
  export SP_ALLOW_DESKTOP_FAKE_WIFI=0
  export SP_ONROAD_NAV_DEMO="${NAV_DEMO}"
  export SP_CEM_DEMO="${CEM_DEMO}"
+  export SP_ONROAD_ALERT_DEMO="${ALERT_DEMO}"

  if [[ "$(uname -s)" == "Darwin" ]] || env_var_truthy "${ZMQ:-0}"; then
    export OPENPILOT_ZMQ_NAMESPACE="${PREFIX_ARG:-${OPENPILOT_ZMQ_NAMESPACE:-desktop-onroad-$$}}"
@@ -423,6 +462,18 @@ launch_cem_demo() {
  fi
 }

+launch_alert_demo() {
+  echo "Starting fake critical alert demo publisher (fires after 20s on-road; blocks replay's selfdriveState)..."
+  "${ROOT_DIR}/.venv/bin/python3" "${ROOT_DIR}/tools/replay/fake_alert_demo.py" &
+  ALERT_PID=$!
+
+  sleep 0.5
+  if ! kill -0 "${ALERT_PID}" >/dev/null 2>&1; then
+    wait "${ALERT_PID}"
+    return 1
+  fi
+}
+
 launch_c3_ui() {
  local os_ext="linux"
  if [[ "$(uname -s)" == "Darwin" ]]; then
@@ -473,6 +524,10 @@ if [[ "${NAV_DEMO}" == "1" ]]; then
  ensure_nav_demo_replay_blocklist
 fi

+if [[ "${ALERT_DEMO}" == "1" ]]; then
+  ensure_alert_demo_replay_blocklist
+fi
+
 if [[ ${#REPLAY_ARGS[@]} -eq 0 ]]; then
  usage >&2
  exit 1
@@ -520,6 +575,10 @@ if [[ "${CEM_DEMO}" == "1" ]]; then
  launch_cem_demo
 fi

+if [[ "${ALERT_DEMO}" == "1" ]]; then
+  launch_alert_demo
+fi
+
 if [[ ${#UI_TARGETS[@]} -eq 0 ]]; then
  echo "Replay is running without UI windows. Press Ctrl-C to stop."
  wait "${REPLAY_PID}"
@@ -1,5 +1,6 @@
 import pyray as rl
 from enum import IntEnum
+from cereal import log
 import cereal.messaging as messaging
 from openpilot.system.hardware import PC
 from openpilot.system.ui.lib.application import gui_app
@@ -46,7 +47,18 @@ class MainLayout(Widget):
      if not self._onboarding_window.completed:
        gui_app.push_widget(self._onboarding_window)

+  @staticmethod
+  def _critical_full_alert_active() -> bool:
+    if not ui_state.sm.recv_frame['selfdriveState']:
+      return False
+    ss = ui_state.sm['selfdriveState']
+    return ss.alertSize == log.SelfdriveState.AlertSize.full and ss.alertStatus == log.SelfdriveState.AlertStatus.critical
+
  def _render(self, _):
+    if self._current_mode == MainState.SETTINGS and self._critical_full_alert_active():
+      self._set_current_layout(MainState.ONROAD)
+      return
+
    self._handle_onroad_transition()
    self._render_main_content()

@@ -1177,11 +1177,11 @@ class BreadcrumbController:
    target = 1.0 if self._expanded else 0.0
    self._expand_alpha += (target - self._expand_alpha) * ANIM_LERP

-    ACTIVE_SIZE   = 58
-    PAST_SIZE     = 50
-    CHEVRON_SIZE  = 38
-    CHEVRON_W     = 32
-    GAP           = 23
+    ACTIVE_SIZE   = 48
+    PAST_SIZE     = 40
+    CHEVRON_SIZE  = 30
+    CHEVRON_W     = 26
+    GAP           = 20

    center_y = rect.y + rect.height / 2

@@ -1198,8 +1198,8 @@ class BreadcrumbController:

    mouse_pos = gui_app.last_mouse_event.pos

-    MIN_ACTIVE_SIZE = 34
-    CAPSULE_W = 102
+    MIN_ACTIVE_SIZE = 30
+    CAPSULE_W = 92
    capsule_need = CAPSULE_W + GAP + CHEVRON_W + GAP

    active_size = ACTIVE_SIZE
@@ -1264,7 +1264,7 @@ class BreadcrumbController:
          current_x += GAP
          continue

-        capsule_w, capsule_h = CAPSULE_W, 58
+        capsule_w, capsule_h = CAPSULE_W, 48
        cap_rect = rl.Rectangle(current_x, center_y - capsule_h / 2, capsule_w, capsule_h)
        hovered = point_hits(mouse_pos, cap_rect, None, pad_x=4, pad_y=6)
        
@@ -1297,10 +1297,10 @@ class BreadcrumbController:
          rl.draw_rectangle_rounded_lines_ex(cap_rect, 1.0, 16, 1.0, outline)

          font_dots = gui_app.font(FontWeight.BOLD)
-          dots_ts = measure_text_cached(font_dots, "...", 41)
+          dots_ts = measure_text_cached(font_dots, "...", 34)
          rl.draw_text_ex(font_dots, "...",
            rl.Vector2(cap_rect.x + (cap_rect.width - dots_ts.x) / 2, center_y - dots_ts.y / 2),
-            41, 0, dots_c)
+            34, 0, dots_c)
        current_x += capsule_w + GAP

      else:
@@ -1326,7 +1326,7 @@ class BreadcrumbController:
          c_pressed = rl.Color(past_pressed.r, past_pressed.g, past_pressed.b, item_alpha)

        ts = measure_text_cached(font, text, font_size)
-        hit_rect = rl.Rectangle(current_x - 9, center_y - 44, ts.x + 17, 87)
+        hit_rect = rl.Rectangle(current_x - 8, center_y - 38, ts.x + 16, 76)
        hovered  = point_hits(mouse_pos, hit_rect, None, pad_x=0, pad_y=0)
        
        # Only add to interactive rects if it's visible within the bounds
@@ -3382,7 +3382,7 @@ class AetherSettingsView(PanelManagerView):


 def draw_back_button(pill_rect: rl.Rectangle, center_y: float, pressed: bool, hovered: bool) -> rl.Rectangle:
-  back_size = 55
+  back_size = 48
  back_x = pill_rect.x + 12
  btn = rl.Rectangle(back_x, center_y - back_size / 2, back_size, back_size)
  if pressed or hovered:
@@ -3458,16 +3458,16 @@ class AetherCategoryDrawer(AetherSettingsView):
      rl.draw_rectangle_rec(rl.Rectangle(drawer_rect.x + drawer_rect.width - 4, drawer_rect.y, 4, drawer_rect.height), self._color)

    # Draw header with navigation breadcrumbs
-    header_rect = rl.Rectangle(drawer_rect.x + 36, drawer_rect.y + 24, drawer_rect.width - 72, 80)
+    header_rect = rl.Rectangle(drawer_rect.x + 36, drawer_rect.y + 24, drawer_rect.width - 72, 60)
    if self._has_header:
      self._draw_header(header_rect)

    # Set up scroll area (vertical scroll list)
    self._scroll_rect = rl.Rectangle(
      drawer_rect.x + 36,
-      drawer_rect.y + 120,
+      drawer_rect.y + 100,
      drawer_rect.width - 72,
-      drawer_rect.height - 144
+      drawer_rect.height - 124
    )

    content_width = self._scroll_rect.width - AETHER_LIST_METRICS.content_right_gutter
@@ -3518,7 +3518,7 @@ class AetherCategoryDrawer(AetherSettingsView):
      super()._activate_target(target_id)

  def _draw_header(self, rect: rl.Rectangle):
-    pill_h = 52
+    pill_h = 48
    pill_rect = rl.Rectangle(rect.x, rect.y + (rect.height - pill_h) / 2, rect.width, pill_h)
    center_y = pill_rect.y + pill_h / 2

@@ -273,7 +273,7 @@ class StarPilotLayout(Widget):
    self._commit_navigation()

  def _render(self, rect: rl.Rectangle):
-    TOP_BAR_HEIGHT = 160
+    TOP_BAR_HEIGHT = 72
    content_rect = rl.Rectangle(rect.x, rect.y + TOP_BAR_HEIGHT, rect.width, rect.height - TOP_BAR_HEIGHT)

    # Standardize width to perfectly match subpanel shells
@@ -281,20 +281,20 @@ class StarPilotLayout(Widget):
    shell_x = rect.x + (rect.width - shell_w) / 2

    # 0. Draw top bar with HubTile-style purple glow
-    glass_rect = rl.Rectangle(shell_x, rect.y + 20, shell_w, TOP_BAR_HEIGHT - 35)
+    glass_rect = rl.Rectangle(shell_x, rect.y + 2, shell_w, TOP_BAR_HEIGHT - 4)

    # 0a. Purple glow rings — 4 concentric, fading outward (HubTile parity)
    for i in range(4, 0, -1):
      off = i * 2.5
      gr = rl.Rectangle(glass_rect.x - off, glass_rect.y - off, glass_rect.width + off * 2, glass_rect.height + off * 2)
      a = int(25 * (1.0 - i / 5))
-      draw_rounded_fill(gr, rl.Color(139, 92, 246, max(0, min(255, a))), radius_px=145)
+      draw_rounded_fill(gr, rl.Color(139, 92, 246, max(0, min(255, a))), radius_px=34)

    # 0b. Dark fill — strict parity with HubTile _HUD_BG_ON
-    draw_rounded_fill(glass_rect, rl.Color(12, 10, 18, 255), radius_px=145)
+    draw_rounded_fill(glass_rect, rl.Color(12, 10, 18, 255), radius_px=34)

    # 0c. Full bright purple border — strict parity
-    draw_rounded_stroke(glass_rect, rl.Color(139, 92, 246, 255), radius_px=145)
+    draw_rounded_stroke(glass_rect, rl.Color(139, 92, 246, 255), radius_px=34)

    # 1. Draw breadcrumbs in top bar
    crumb_rect = rl.Rectangle(glass_rect.x, glass_rect.y, glass_rect.width, glass_rect.height)
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+
+import argparse
+import signal
+import time
+
+from cereal import car, log, messaging
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+AudibleAlert = log.SelfdriveState.AudibleAlert
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
+
+running = True
+
+
+def _handle_signal(_signum, _frame) -> None:
+  global running
+  running = False
+
+
+def build_msg(text1: str, text2: str, size: int, status: int,
+              audible: int = AudibleAlert.none,
+              visual: int = VisualAlert.none,
+              alert_type: str = ""):
+  m = messaging.new_message("selfdriveState")
+  m.valid = True
+  ss = m.selfdriveState
+  ss.alertSize = size
+  ss.alertStatus = status
+  ss.alertText1 = text1
+  ss.alertText2 = text2
+  ss.alertType = alert_type
+  ss.alertSound = audible
+  ss.alertHudVisual = visual
+  return m
+
+
+def main() -> None:
+  parser = argparse.ArgumentParser(description="Publish a fake critical full-screen selfdriveState alert for desktop onroad replay.")
+  parser.add_argument("--delay", type=float, default=20.0, help="Seconds to wait after start before firing the alert (allows replay route + UI to come up, then ~10s for the user to open Settings).")
+  parser.add_argument("--hold-interval", type=float, default=0.25, help="Seconds between selfdriveState publishes.")
+  parser.add_argument("--hold", type=float, default=5.0, help="Seconds to keep the critical alert active before clearing it.")
+  parser.add_argument("--text1", type=str, default="TAKE CONTROL IMMEDIATELY", help="Primary alert text.")
+  parser.add_argument("--text2", type=str, default="Controls Mismatch", help="Secondary alert text.")
+  parser.add_argument("--audible", action="store_true", default=True, help="Include warningImmediate audible alert.")
+  parser.add_argument("--silent", dest="audible", action="store_false", help="Omit audible alert (override --audible).")
+  args = parser.parse_args()
+
+  signal.signal(signal.SIGINT, _handle_signal)
+  signal.signal(signal.SIGTERM, _handle_signal)
+
+  pm = messaging.PubMaster(["selfdriveState"])
+
+  audible = AudibleAlert.warningImmediate if args.audible else AudibleAlert.none
+  visual = VisualAlert.steerRequired
+
+  none_msg = build_msg("", "", AlertSize.none, AlertStatus.normal)
+  fire_msg = build_msg(args.text1, args.text2, AlertSize.full, AlertStatus.critical,
+                        audible=audible, visual=visual,
+                        alert_type="controlsMismatch/immediateDisable")
+
+  print(f"fake_alert_demo: waiting {args.delay:.1f}s before firing critical alert...", flush=True)
+
+  end = time.monotonic() + args.delay
+  while running and time.monotonic() < end:
+    pm.send("selfdriveState", none_msg)
+    none_msg.clear_write_flag()
+    time.sleep(args.hold_interval)
+
+  if not running:
+    return
+
+  print(f"fake_alert_demo: firing critical red alert: '{args.text1}' / '{args.text2}' for {args.hold:.1f}s", flush=True)
+
+  held = time.monotonic() + args.hold
+  try:
+    while running and time.monotonic() < held:
+      pm.send("selfdriveState", fire_msg)
+      fire_msg.clear_write_flag()
+      time.sleep(args.hold_interval)
+  finally:
+    print("fake_alert_demo: clearing alert (sending AlertSize.none) so UI fades out...", flush=True)
+    clear = build_msg("", "", AlertSize.none, AlertStatus.normal)
+    for _ in range(3):
+      pm.send("selfdriveState", clear)
+      clear.clear_write_flag()
+      time.sleep(args.hold_interval)
+
+
+if __name__ == "__main__":
+  main()