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ui: Models panel (#1495)
* param to control stock vs sp ui * init styles * SP Toggles * Lint * optimizations * sp raylib preview * fix callback * fix ui preview * dialog txt * compare vs what used to be done before InputDialog * introducing ui_state_sp for py * raylib: input dialog * raylib: SP Toggles * raylib: SP Panels * raylib: Option Control * init * param to control stock vs sp ui * better * tree dialog, progress bar widget cool stuff * merge origin raylib toggles * tree dialog * less trees for the planet * the heck * add ui_update callback * save the trees we got icons * Update process.py * yesssssssssss * utilize ON_COLOR constant form op system * Revert "add ui_update callback" This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958. * # Conflicts: # system/ui/sunnypilot/widgets/list_view.py # system/ui/sunnypilot/widgets/option_control.py * Merge remote-tracking branch 'openpilot/master' into nov-19-sync * ui: `GuiApplicationExt` * add to readme * scroller_tici :) * use gui_app.sunnypilot_ui() * # Conflicts: # selfdrive/ui/layouts/main.py # selfdrive/ui/sunnypilot/layouts/settings/cruise.py # selfdrive/ui/sunnypilot/layouts/settings/display.py # selfdrive/ui/sunnypilot/layouts/settings/models.py # selfdrive/ui/sunnypilot/layouts/settings/navigation.py # selfdrive/ui/sunnypilot/layouts/settings/osm.py # selfdrive/ui/sunnypilot/layouts/settings/steering.py # selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py # selfdrive/ui/sunnypilot/layouts/settings/trips.py # selfdrive/ui/sunnypilot/layouts/settings/vehicle.py # selfdrive/ui/sunnypilot/layouts/settings/visuals.py # system/ui/sunnypilot/widgets/option_control.py * init value * Remove 'sunnypilot_ui' Removed 'sunnypilot_ui' parameter from params_keys.h * Update raylib_screenshots.py Removed the parameter setting for 'sunnypilot_ui' in the test. * easier to see * Update progress_bar.py * try something * adjust placement * more simple * smoothing updating components * ui: fuzzy search helper * ui_state_sp * description! * fuzzy af searching * better tree. fully dynamic and stuff * rm * rearrange * license * idk how maybe the merge * more indent * more indent * cleanup * temporaily revert ui_state_sp * only show if fav_param is used in the call * conditional for mypy * mypy * conditional for mypy * str concatenation to reduce line len * level * sunny's new x,y makes this even easier! * refreshing half a second seems legit. * loathing loathing, unadulterated loathing, i loathe it all * loathing loathing, unadulterated loathing, i loathe it all * # Conflicts: # system/ui/sunnypilot/lib/styles.py # system/ui/sunnypilot/widgets/tree_dialog.py * Update models.py * Change BUTTON_DISABLED_BG_COLOR to a lighter shade * I think this is it * Update tree_dialog.py * Update models.py * Update models.py * oops, angry f string * bool * Update ui_state.py * Update ui_state.py * wtf where'd the end quote go lol * some * more * quick test * Revert "quick test" This reverts commit fb97afa54c2b94129e772a23a789059adf01f609. * try this out * use sp's * cap * how weird? --------- Co-authored-by: nayan <nayan8teen@gmail.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
James Vecellio-Grant
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GitHub
parent
1d9bda65fe
commit
57eca29970
@@ -4,24 +4,252 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.common.params import Params
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import os
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import re
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import time
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import pyray as rl
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from cereal import custom
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from openpilot.common.constants import CV
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from openpilot.selfdrive.ui.ui_state import device, ui_state
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from openpilot.system.ui.lib.multilang import tr
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.system.ui.widgets import DialogResult, Widget
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from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
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from openpilot.system.ui.widgets.scroller_tici import Scroller
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.toggle import ON_COLOR
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from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
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from openpilot.system.ui.sunnypilot.lib.styles import style
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from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP, ListItemSP, toggle_item_sp, option_item_sp
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from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
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from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
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if gui_app.sunnypilot_ui():
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from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
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class ModelAction(ButtonActionSP):
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def get_width_hint(self):
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return super().get_width_hint() + 1
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class ModelsLayout(Widget):
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def __init__(self):
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super().__init__()
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self.model_manager = None
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self.download_status = None
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self.prev_download_status = None
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self.model_dialog = None
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self.last_cache_calc_time = 0
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self._params = Params()
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items = self._initialize_items()
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self._scroller = Scroller(items, line_separator=True, spacing=0)
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self._initialize_items()
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self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
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for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
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ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
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self._scroller = Scroller(self.items, line_separator=True, spacing=0)
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def _initialize_items(self):
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items = [
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self.current_model_item = ListItemSP(
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title=tr("Current Model"),
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description="",
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action_item=ModelAction(tr("SELECT")),
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callback=self._handle_current_model_clicked
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)
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]
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return items
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self.supercombo_label = progress_item(tr("Driving Model"))
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self.vision_label = progress_item(tr("Vision Model"))
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self.policy_label = progress_item(tr("Policy Model"))
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self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
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lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
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gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models")))))
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self.clear_cache_item = ListItemSP(
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title=tr("Clear Model Cache"),
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description="",
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action_item=ModelAction(tr("CLEAR")),
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callback=self._clear_cache
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)
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self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
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self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
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tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
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int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_WIDTH, None, True,
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lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
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f" {'km/h' if ui_state.is_metric else 'mph'}")
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self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
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tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on," +
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" the car will plan a turn in that direction at the nearest drivable path. " +
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"This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
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param="LaneTurnDesire")
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self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
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tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
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1, None, True, "", style.BUTTON_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
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self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
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self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
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self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
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self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
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def _update_lagd_description(self, lagd_toggle: bool):
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desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
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"Keeping this on provides the stock openpilot experience.")
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if lagd_toggle:
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desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
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elif ui_state.CP:
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sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
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cp = ui_state.CP.steerActuatorDelay
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desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
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self.lagd_toggle.set_description(desc)
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def _is_downloading(self):
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return (self.model_manager and self.model_manager.selectedBundle and
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self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
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@staticmethod
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def _calculate_cache_size():
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cache_size = 0.0
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if os.path.exists(CUSTOM_MODEL_PATH):
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cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
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return cache_size
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def _clear_cache(self):
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def _callback(response):
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if response == DialogResult.CONFIRM:
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ui_state.params.put_bool("ModelManager_ClearCache", True)
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self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
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gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
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tr("Clear Cache")), callback=_callback)
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def _handle_bundle_download_progress(self):
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labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
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custom.ModelManagerSP.Model.Type.vision: self.vision_label,
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custom.ModelManagerSP.Model.Type.policy: self.policy_label}
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for label in labels.values():
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label.set_visible(False)
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self.cancel_download_item.set_visible(False)
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if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
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return
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bundle = self.model_manager.selectedBundle if self._is_downloading() or (
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self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed
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) else self.model_manager.activeBundle
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if not bundle:
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return
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self.download_status = bundle.status
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status_changed = self.prev_download_status != self.download_status
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self.prev_download_status = self.download_status
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self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
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if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
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self.last_cache_calc_time = current_time
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self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
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if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
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device.reset_interactive_timeout()
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for model in bundle.models:
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if label := labels.get(getattr(model.type, 'raw', model.type)):
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label.set_visible(True)
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p = model.artifact.downloadProgress
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text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
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if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
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text, show = f"{int(p.progress)}% - {bundle.displayName}", True
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elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
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status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
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text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
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elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
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text, color = f"download failed - {bundle.displayName}", rl.RED
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label.action_item.update(p.progress, text, show, color)
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@staticmethod
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def _show_reset_params_dialog():
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def _callback(response):
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if response == DialogResult.CONFIRM:
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ui_state.params.remove("CalibrationParams")
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ui_state.params.remove("LiveTorqueParameters")
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msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
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gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback)
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def _on_model_selected(self, result):
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if result != DialogResult.CONFIRM:
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return
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selected_ref = self.model_dialog.selection_ref
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if selected_ref == "Default":
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ui_state.params.remove("ModelManager_ActiveBundle")
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self._show_reset_params_dialog()
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elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
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ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
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if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation:
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self._show_reset_params_dialog()
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self.model_dialog = None
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@staticmethod
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def _bundle_to_node(bundle):
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return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName})
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def _get_folders(self, favorites):
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bundles = self.model_manager.availableBundles
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folders = {}
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for bundle in bundles:
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folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
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folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
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for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
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folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
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name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
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folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles]))
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if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]):
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folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
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return folders_list
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def _handle_current_model_clicked(self):
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favs = ui_state.params.get("ModelManager_Favs")
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favorites = set(favs.split(';')) if favs else set()
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folders_list = self._get_folders(favorites)
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active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
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self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
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get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
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gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected)
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def _update_state(self):
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advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
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turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
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live_delay: bool = ui_state.params.get_bool("LagdToggle")
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self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
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self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
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self.lagd_toggle.action_item.set_state(live_delay)
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self.delay_control.set_visible(not live_delay and advanced_controls)
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new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
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if self.lane_turn_value_control.action_item.value_change_step != new_step:
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self.lane_turn_value_control.action_item.value_change_step = new_step
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self._update_lagd_description(live_delay)
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self.model_manager = ui_state.sm["modelManagerSP"]
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self._handle_bundle_download_progress()
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active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
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self.current_model_item.action_item.set_value(active_name)
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if not ui_state.is_offroad():
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self.current_model_item.action_item.set_enabled(False)
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self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
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else:
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self.current_model_item.action_item.set_enabled(True)
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self.current_model_item.set_description("")
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def _render(self, rect):
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self._scroller.render(rect)
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@@ -14,7 +14,7 @@ class UIStateSP:
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self.params = Params()
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self.sm_services_ext = [
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"modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
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"gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP"
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"gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
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]
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self.sunnylink_state = SunnylinkState()
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@@ -63,6 +63,9 @@ class ModelManagerSP:
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f.write(chunk)
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bytes_downloaded += len(chunk)
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if not self.params.get("ModelManager_DownloadIndex"):
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raise Exception("Download cancelled")
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if total_size > 0:
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progress = (bytes_downloaded / total_size) * 100
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model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
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@@ -176,6 +179,7 @@ class ModelManagerSP:
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cloudlog.exception(e)
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finally:
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self.params.remove("ModelManager_DownloadIndex")
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self.selected_bundle = None
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if self.params.get("ModelManager_ClearCache"):
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self.clear_model_cache()
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