selfdrive/ui: add experimental mode toggle button with visual indicator (#35439)

add experimental mode toggle button with visual indicator

selfdrive/ui/onroad/hud_renderer.py

@@ -4,6 +4,7 @@ from cereal.messaging import SubMaster
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
 
 # Constants
 SET_SPEED_NA = 255
@@ -61,8 +62,17 @@ class HudRenderer:
     self.set_speed: float = SET_SPEED_NA
     self.speed: float = 0.0
     self.v_ego_cluster_seen: bool = False
+    self._experimental_mode: bool = False
+    self._engageable: bool = False
+
     self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {}
+
+    self._white_color: rl.Color = rl.Color(255, 255, 255, 255)
     self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size)
+    self._experimental_texture: rl.Texture = gui_app.texture('icons/experimental.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size)
+    self._wheel_rect: rl.Rectangle = rl.Rectangle(0, 0, UI_CONFIG.button_size, UI_CONFIG.button_size)
+    self._params = Params()
+
     self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
     self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
     self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
@@ -94,9 +104,15 @@ class HudRenderer:
     speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
     self.speed = max(0.0, v_ego * speed_conversion)
 
+    selfdrive_state = sm["selfdriveState"]
+    self._experimental_mode = selfdrive_state.experimentalMode
+    self._engageable = selfdrive_state.engageable or selfdrive_state.enabled
+
   def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None:
     """Render HUD elements to the screen."""
     self._update_state(sm)
+
+    # Draw the header background
     rl.draw_rectangle_gradient_v(
       int(rect.x),
       int(rect.y),
@@ -110,7 +126,17 @@ class HudRenderer:
       self._draw_set_speed(rect)
 
     self._draw_current_speed(rect)
-    self._draw_wheel_icon(rect)
+
+    self._wheel_rect.x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size
+    self._wheel_rect.y = rect.y + UI_CONFIG.border_size
+    self._handle_click()
+    self._draw_wheel_icon()
+
+  def _handle_click(self) -> None:
+    if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+        rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)):
+      if self._experimental_toggle_allowed():
+        self._params.putBool("ExperimentalMode", not self._experimental_mode)
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""
@@ -167,15 +193,18 @@ class HudRenderer:
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
     rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
 
-  def _draw_wheel_icon(self, rect: rl.Rectangle) -> None:
+  def _draw_wheel_icon(self) -> None:
     """Draw the steering wheel icon with status-based opacity."""
-    center_x = int(rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size / 2)
-    center_y = int(rect.y + UI_CONFIG.border_size + UI_CONFIG.button_size / 2)
-    rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent)
+    center_x = int(self._wheel_rect.x + self._wheel_rect.width // 2)
+    center_y = int(self._wheel_rect.y + self._wheel_rect.height // 2)
 
-    opacity = 0.7 if ui_state.status == UIStatus.DISENGAGED else 1.0
-    img_pos = rl.Vector2(center_x - self._wheel_texture.width / 2, center_y - self._wheel_texture.height / 2)
-    rl.draw_texture_v(self._wheel_texture, img_pos, rl.Color(255, 255, 255, int(255 * opacity)))
+    mouse_down = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+                  rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect))
+    self._white_color.a = 180 if (mouse_down or not self._engageable) else 255
+    texture = self._experimental_texture if self._experimental_mode else self._wheel_texture
+
+    rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent)
+    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
 
   def _measure_text(self, text: str, font: rl.Font, font_size: int, font_type: str) -> rl.Vector2:
     """Measure text dimensions with caching."""
@@ -183,3 +212,13 @@ class HudRenderer:
     if key not in self.font_metrics_cache:
       self.font_metrics_cache[key] = rl.measure_text_ex(font, text, font_size, 0)
     return self.font_metrics_cache[key]
+
+  def _experimental_toggle_allowed(self):
+    if not self._params.get_bool("ExperimentalModeConfirmed"):
+      return False
+
+    car_params = ui_state.sm["carParams"]
+    if car_params.alphaLongitudinalAvailable:
+      return self._params.get_bool("AlphaLongitudinalEnabled")
+    else:
+      return car_params.openpilotLongitudinalControl