raylib: implement developer panel (#36292)

* first pass by cursor

* fix

* tell it what's good

* stash

* desc

* clean up junk

* alpha long can't use onroad cycle again due to faults

* lint

* fix kb

selfdrive/ui/layouts/settings/developer.py

@@ -1,5 +1,6 @@
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.widgets.ssh_key import ssh_key_item
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import toggle_item
 from openpilot.system.ui.widgets.scroller import Scroller
@@ -10,11 +11,15 @@ DESCRIPTIONS = {
     "ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. " +
     "See https://docs.comma.ai/how-to/connect-to-comma for more info."
   ),
-  'joystick_debug_mode': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
   'ssh_key': (
     "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " +
     "other than your own. A comma employee will NEVER ask you to add their GitHub username."
   ),
+  'alpha_longitudinal': (
+    "<b>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. " +
+    "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha."
+  ),
 }
 
 
@@ -22,32 +27,55 @@ class DeveloperLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
+    self._is_release = self._params.get_bool("IsReleaseBranch")
+
+    # Build items and keep references for callbacks/state updates
+    self._adb_toggle = toggle_item(
+      "Enable ADB",
+      description=DESCRIPTIONS["enable_adb"],
+      initial_state=self._params.get_bool("AdbEnabled"),
+      callback=self._on_enable_adb,
+    )
+
+    # SSH enable toggle + SSH key management
+    self._ssh_toggle = toggle_item(
+      "Enable SSH",
+      description="",
+      initial_state=self._params.get_bool("SshEnabled"),
+      callback=self._on_enable_ssh,
+    )
+    self._ssh_keys = ssh_key_item("SSH Keys", description=DESCRIPTIONS["ssh_key"])
+
+    self._joystick_toggle = toggle_item(
+      "Joystick Debug Mode",
+      description="",
+      initial_state=self._params.get_bool("JoystickDebugMode"),
+      callback=self._on_joystick_debug_mode,
+    )
+
+    self._long_maneuver_toggle = toggle_item(
+      "Longitudinal Maneuver Mode",
+      description="",
+      initial_state=self._params.get_bool("LongitudinalManeuverMode"),
+      callback=self._on_long_maneuver_mode,
+    )
+
+    self._alpha_long_toggle = toggle_item(
+      "openpilot Longitudinal Control (Alpha)",
+      description=DESCRIPTIONS["alpha_longitudinal"],
+      initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
+      callback=self._on_alpha_long_enabled,
+    )
+
+    self._alpha_long_toggle.set_description(self._alpha_long_toggle.description + " Changing this setting will restart openpilot if the car is powered on.")
+
     items = [
-      toggle_item(
-        "Enable ADB",
-        description=DESCRIPTIONS["enable_adb"],
-        initial_state=self._params.get_bool("AdbEnabled"),
-        callback=self._on_enable_adb,
-      ),
-      ssh_key_item("SSH Key", description=DESCRIPTIONS["ssh_key"]),
-      toggle_item(
-        "Joystick Debug Mode",
-        description=DESCRIPTIONS["joystick_debug_mode"],
-        initial_state=self._params.get_bool("JoystickDebugMode"),
-        callback=self._on_joystick_debug_mode,
-      ),
-      toggle_item(
-        "Longitudinal Maneuver Mode",
-        description="",
-        initial_state=self._params.get_bool("LongitudinalManeuverMode"),
-        callback=self._on_long_maneuver_mode,
-      ),
-      toggle_item(
-        "openpilot Longitudinal Control (Alpha)",
-        description="",
-        initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
-        callback=self._on_alpha_long_enabled,
-      ),
+      self._adb_toggle,
+      self._ssh_toggle,
+      self._ssh_keys,
+      self._joystick_toggle,
+      self._long_maneuver_toggle,
+      self._alpha_long_toggle,
     ]
 
     self._scroller = Scroller(items, line_separator=True, spacing=0)
@@ -55,7 +83,61 @@ class DeveloperLayout(Widget):
   def _render(self, rect):
     self._scroller.render(rect)
 
-  def _on_enable_adb(self): pass
-  def _on_joystick_debug_mode(self): pass
-  def _on_long_maneuver_mode(self): pass
-  def _on_alpha_long_enabled(self): pass
+  def show_event(self):
+    self._update_toggles()
+
+  def _update_toggles(self):
+    # Hide non-release toggles on release builds
+    for item in (self._adb_toggle, self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle):
+      item.set_visible(not self._is_release)
+
+    # CP gating
+    if ui_state.CP is not None:
+      alpha_avail = ui_state.CP.alphaLongitudinalAvailable
+      if not alpha_avail or self._is_release:
+        self._alpha_long_toggle.set_visible(False)
+        self._params.remove("AlphaLongitudinalEnabled")
+      else:
+        self._alpha_long_toggle.set_visible(True)
+
+      self._long_maneuver_toggle.action_item.set_enabled(ui_state.has_longitudinal_control and ui_state.is_offroad)
+    else:
+      self._long_maneuver_toggle.action_item.set_enabled(False)
+      self._alpha_long_toggle.set_visible(False)
+
+    # TODO: make a param control list item so we don't need to manage internal state as much here
+    # refresh toggles from params to mirror external changes
+    for key, item in (
+      ("AdbEnabled", self._adb_toggle),
+      ("SshEnabled", self._ssh_toggle),
+      ("JoystickDebugMode", self._joystick_toggle),
+      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
+    ):
+      item.action_item.set_state(self._params.get_bool(key))
+
+  def _update_state(self):
+    # Disable toggles that require onroad restart
+    # TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
+    for item in (self._adb_toggle, self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle):
+      item.action_item.set_enabled(ui_state.is_offroad)
+
+  def _on_enable_adb(self, state: bool):
+    self._params.put_bool("AdbEnabled", state)
+
+  def _on_enable_ssh(self, state: bool):
+    self._params.put_bool("SshEnabled", state)
+
+  def _on_joystick_debug_mode(self, state: bool):
+    self._params.put_bool("JoystickDebugMode", state)
+    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._long_maneuver_toggle.action_item.set_state(False)
+
+  def _on_long_maneuver_mode(self, state: bool):
+    self._params.put_bool("LongitudinalManeuverMode", state)
+    self._params.put_bool("JoystickDebugMode", False)
+    self._joystick_toggle.action_item.set_state(False)
+
+  def _on_alpha_long_enabled(self, state: bool):
+    self._params.put_bool("AlphaLongitudinalEnabled", state)
+    self._update_toggles()

selfdrive/ui/layouts/settings/toggles.py

@@ -34,6 +34,7 @@ class TogglesLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
+    self._is_release = self._params.get_bool("IsReleaseBranch")
 
     # param, title, desc, icon, needs_restart
     self._toggle_defs = {
@@ -158,8 +159,6 @@ class TogglesLayout(Widget):
       "The Experimental mode logo will also be shown in the top right corner."
     )
 
-    is_release = self._params.get_bool("IsReleaseBranch")
-
     if ui_state.CP is not None:
       if ui_state.has_longitudinal_control:
         self._toggles["ExperimentalMode"].action_item.set_enabled(True)
@@ -176,7 +175,7 @@ class TogglesLayout(Widget):
 
         long_desc = unavailable + " openpilot longitudinal control may come in a future update."
         if ui_state.CP.getAlphaLongitudinalAvailable():
-          if is_release:
+          if self._is_release:
             long_desc = unavailable + " " + ("An alpha version of openpilot longitudinal control can be tested, along with " +
                                              "Experimental mode, on non-release branches.")
           else:

selfdrive/ui/tests/test_ui/raylib_screenshots.py

@@ -76,7 +76,7 @@ def setup_settings_developer(click, pm: PubMaster):
 
 def setup_keyboard(click, pm: PubMaster):
   setup_settings_developer(click, pm)
-  click(1930, 270)
+  click(1930, 470)
 
 
 def setup_pair_device(click, pm: PubMaster):