UI

selfdrive/ui/onroad/augmented_road_view.py

@@ -325,6 +325,7 @@ class AugmentedRoadView(CameraView):
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
   road_camera_view = AugmentedRoadView(ROAD_CAM)
+  gui_app.push_widget(road_camera_view)
   print("***press space to switch camera view***")
   try:
     for _ in gui_app.render():
@@ -333,6 +334,5 @@ if __name__ == "__main__":
         if WIDE_CAM in road_camera_view.available_streams:
           stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
           road_camera_view.switch_stream(stream)
-      road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
     road_camera_view.close()

selfdrive/ui/onroad/driver_camera_dialog.py

@@ -14,7 +14,7 @@ class DriverCameraDialog(CameraView):
     super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer()
     # TODO: this can grow unbounded, should be given some thought
-    device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
+    device.add_interactive_timeout_callback(gui_app.pop_widget)
     ui_state.params.put_bool("IsDriverViewEnabled", True)
 
   def hide_event(self):
@@ -24,7 +24,7 @@ class DriverCameraDialog(CameraView):
 
   def _handle_mouse_release(self, _):
     super()._handle_mouse_release(_)
-    gui_app.set_modal_overlay(None)
+    gui_app.pop_widget()
 
   def __del__(self):
     self.close()
@@ -103,9 +103,9 @@ if __name__ == "__main__":
   gui_app.init_window("Driver Camera View")
 
   driver_camera_view = DriverCameraDialog()
+  gui_app.push_widget(driver_camera_view)
   try:
     for _ in gui_app.render():
       ui_state.update()
-      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
     driver_camera_view.close()

selfdrive/ui/onroad/exp_button.py

@@ -63,7 +63,7 @@ class ExpButton(Widget):
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
     rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
-    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
+    rl.draw_texture_ex(texture, rl.Vector2(center_x - texture.width / 2, center_y - texture.height / 2), 0.0, 1.0, self._white_color)
 
   def _held_or_actual_mode(self):
     now = time.monotonic()

selfdrive/ui/onroad/hud_renderer.py

@@ -86,7 +86,7 @@ class HudRenderer(Widget):
 
     v_cruise_cluster = car_state.vCruiseCluster
     self.set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
     self.is_cruise_available = self.set_speed != -1