NavWidget: support programmatic dismiss (#37486)

* add dismiss support

* add to widget

* use in dialogs

* good catch

* fix!!

* fix!!

* it works eitehr way

* frick

* good catch

selfdrive/ui/mici/widgets/dialog.py

@@ -81,8 +81,8 @@ class BigConfirmationDialogV2(BigDialogBase):
 
   def _on_confirm(self):
     if self._exit_on_confirm:
-      gui_app.pop_widget()
-    if self._confirm_callback:
+      self.dismiss(self._confirm_callback)
+    elif self._confirm_callback:
       self._confirm_callback()
 
   def _update_state(self):
@@ -127,9 +127,7 @@ class BigInputDialog(BigDialogBase):
 
     def confirm_callback_wrapper():
       text = self._keyboard.text()
-      gui_app.pop_widget()
-      if confirm_callback:
-        confirm_callback(text)
+      self.dismiss((lambda: confirm_callback(text)) if confirm_callback else None)
     self._confirm_callback = confirm_callback_wrapper
 
   def _update_state(self):

selfdrive/ui/mici/widgets/pairing_dialog.py

@@ -68,8 +68,8 @@ class PairingDialog(NavWidget):
 
   def _update_state(self):
     super()._update_state()
-    if ui_state.prime_state.is_paired():
-      self._playing_dismiss_animation = True
+    if ui_state.prime_state.is_paired() and not self.is_dismissing:
+      self.dismiss()
 
   def _render(self, rect: rl.Rectangle):
     self._check_qr_refresh()

system/ui/widgets/__init__.py

@@ -195,3 +195,9 @@ class Widget(abc.ABC):
 
   def hide_event(self):
     """Optionally handle hide event. Parent must manually call this"""
+
+  def dismiss(self, callback: Callable[[], None] | None = None):
+    """Immediately dismiss the widget, firing the callback after."""
+    gui_app.pop_widget()
+    if callback:
+      callback()

system/ui/widgets/nav_widget.py

@@ -2,6 +2,7 @@ from __future__ import annotations
 
 import abc
 import pyray as rl
+from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
@@ -15,6 +16,7 @@ NAV_BAR_WIDTH = 205
 NAV_BAR_HEIGHT = 8
 
 DISMISS_PUSH_OFFSET = NAV_BAR_MARGIN + NAV_BAR_HEIGHT + 50  # px extra to push down when dismissing
+DISMISS_ANIMATION_RC = 0.2  # slightly slower for non-user triggered dismiss animation
 
 
 class NavBar(Widget):
@@ -61,6 +63,8 @@ class NavWidget(Widget, abc.ABC):
     self._playing_dismiss_animation = False  # released and animating away
     self._y_pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
 
+    self._dismiss_callback: Callable[[], None] | None = None
+
     # TODO: move this state into NavBar
     self._nav_bar = NavBar()
     self._nav_bar_show_time = 0.0
@@ -141,6 +145,9 @@ class NavWidget(Widget, abc.ABC):
 
     if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10:
       gui_app.pop_widget()
+      if self._dismiss_callback is not None:
+        self._dismiss_callback()
+        self._dismiss_callback = None
 
       self._playing_dismiss_animation = False
       self._drag_start_pos = None
@@ -180,6 +187,13 @@ class NavWidget(Widget, abc.ABC):
   def is_dismissing(self) -> bool:
     return self._dragging_down or self._playing_dismiss_animation
 
+  def dismiss(self, callback: Callable[[], None] | None = None):
+    """Programmatically trigger the dismiss animation. Calls pop_widget when done, then callback."""
+    if not self._playing_dismiss_animation:
+      self._playing_dismiss_animation = True
+      self._y_pos_filter.update_alpha(DISMISS_ANIMATION_RC)
+      self._dismiss_callback = callback
+
   def show_event(self):
     super().show_event()
     self._nav_bar.show_event()
@@ -188,6 +202,7 @@ class NavWidget(Widget, abc.ABC):
     self._drag_start_pos = None
     self._dragging_down = False
     self._playing_dismiss_animation = False
+    self._dismiss_callback = None
     # Start NavWidget off-screen, no matter how tall it is
     self._y_pos_filter.update_alpha(0.1)
     self._y_pos_filter.x = gui_app.height