raylib: implement calibration description (#36300)

* this is all cursor * also cursor * inline reset calib * calib desc * way better * huh * clean up * rcvr * stash changes to change params * Revert "stash changes to change params" This reverts commit ee998f04c4235ed20493b83e35c9f28e182d89b0.
2026-06-28 18:12:05 +08:00 · 2025-10-10 03:57:12 -07:00
parent ddbbcc6f5d
commit f04ee80452
4 changed files with 79 additions and 21 deletions
@@ -70,8 +70,6 @@ class DeveloperLayout(Widget):
      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 = [
      self._adb_toggle,
      self._ssh_toggle,
@@ -1,8 +1,11 @@
 import os
 import json
+import math

+from cereal import messaging, log
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.layouts.onboarding import TrainingGuide
@@ -20,10 +23,7 @@ from openpilot.system.ui.widgets.scroller import Scroller
 DESCRIPTIONS = {
  'pair_device': "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.",
  'driver_camera': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
-  'reset_calibration': (
-      "openpilot requires the device to be mounted within 4° left or right and within 5° " +
-      "up or 9° down. openpilot is continuously calibrating, resetting is rarely required."
-  ),
+  'reset_calibration': "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.",
  'review_guide': "Review the rules, features, and limitations of openpilot",
 }

@@ -49,12 +49,15 @@ class DeviceLayout(Widget):
    self._pair_device_btn = button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], callback=self._pair_device)
    self._pair_device_btn.set_visible(lambda: not ui_state.prime_state.is_paired())

+    self._reset_calib_btn = button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], callback=self._reset_calibration_prompt)
+    self._reset_calib_btn.set_description_opened_callback(self._update_calib_description)
+
    items = [
      text_item("Dongle ID", dongle_id),
      text_item("Serial", serial),
      self._pair_device_btn,
      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], callback=self._show_driver_camera, enabled=ui_state.is_offroad),
-      button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], callback=self._reset_calibration_prompt),
+      self._reset_calib_btn,
      button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide),
      regulatory_btn := button_item("Regulatory", "VIEW", callback=self._on_regulatory),
      button_item("Change Language", "CHANGE", callback=self._show_language_selection, enabled=ui_state.is_offroad),
@@ -95,19 +98,68 @@ class DeviceLayout(Widget):
      gui_app.set_modal_overlay(alert_dialog("Disengage to Reset Calibration"))
      return

+    def reset_calibration(result: int):
+      # Check engaged again in case it changed while the dialog was open
+      if ui_state.engaged or result != DialogResult.CONFIRM:
+        return
+
+      self._params.remove("CalibrationParams")
+      self._params.remove("LiveTorqueParameters")
+      self._params.remove("LiveParameters")
+      self._params.remove("LiveParametersV2")
+      self._params.remove("LiveDelay")
+      self._params.put_bool("OnroadCycleRequested", True)
+      self._update_calib_description()
+
    dialog = ConfirmDialog("Are you sure you want to reset calibration?", "Reset")
-    gui_app.set_modal_overlay(dialog, callback=self._reset_calibration)
+    gui_app.set_modal_overlay(dialog, callback=reset_calibration)

-  def _reset_calibration(self, result: int):
-    if ui_state.engaged or result != DialogResult.CONFIRM:
-      return
+  def _update_calib_description(self):
+    desc = DESCRIPTIONS['reset_calibration']

-    self._params.remove("CalibrationParams")
-    self._params.remove("LiveTorqueParameters")
-    self._params.remove("LiveParameters")
-    self._params.remove("LiveParametersV2")
-    self._params.remove("LiveDelay")
-    self._params.put_bool("OnroadCycleRequested", True)
+    calib_bytes = self._params.get("CalibrationParams")
+    if calib_bytes:
+      try:
+        calib = messaging.log_from_bytes(calib_bytes, log.Event).liveCalibration
+
+        if calib.calStatus != log.LiveCalibrationData.Status.uncalibrated:
+          pitch = math.degrees(calib.rpyCalib[1])
+          yaw = math.degrees(calib.rpyCalib[2])
+          desc += f" Your device is pointed {abs(pitch):.1f}° {'down' if pitch > 0 else 'up'} and {abs(yaw):.1f}° {'left' if yaw > 0 else 'right'}."
+      except Exception:
+        cloudlog.exception("invalid CalibrationParams")
+
+    lag_perc = 0
+    lag_bytes = self._params.get("LiveDelay")
+    if lag_bytes:
+      try:
+        lag_perc = messaging.log_from_bytes(lag_bytes, log.Event).liveDelay.calPerc
+      except Exception:
+        cloudlog.exception("invalid LiveDelay")
+    if lag_perc < 100:
+      desc += f"<br><br>Steering lag calibration is {lag_perc}% complete."
+    else:
+      desc += "<br><br>Steering lag calibration is complete."
+
+    torque_bytes = self._params.get("LiveTorqueParameters")
+    if torque_bytes:
+      try:
+        torque = messaging.log_from_bytes(torque_bytes, log.Event).liveTorqueParameters
+        # don't add for non-torque cars
+        if torque.useParams:
+          torque_perc = torque.calPerc
+          if torque_perc < 100:
+            desc += f" Steering torque response calibration is {torque_perc}% complete."
+          else:
+            desc += " Steering torque response calibration is complete."
+      except Exception:
+        cloudlog.exception("invalid LiveTorqueParameters")
+
+    desc += "<br><br>"
+    desc += ("openpilot is continuously calibrating, resetting is rarely required. " +
+             "Resetting calibration will restart openpilot if the car is powered on.")
+
+    self._reset_calib_btn.set_description(desc)

  def _reboot_prompt(self):
    if ui_state.engaged:
@@ -78,12 +78,12 @@ class ConfirmDialog(Widget):
      self._confirm_button.render(confirm_button)
      self._cancel_button.render(cancel_button)
    else:
-      centered_button_x = dialog_rect.x + (dialog_rect.width - button_width) / 2
-      centered_confirm_button = rl.Rectangle(centered_button_x, button_y, button_width, BUTTON_HEIGHT)
-      self._confirm_button.render(centered_confirm_button)
+      full_button_width = dialog_rect.width - 2 * MARGIN
+      full_confirm_button = rl.Rectangle(dialog_rect.x + MARGIN, button_y, full_button_width, BUTTON_HEIGHT)
+      self._confirm_button.render(full_confirm_button)

    return self._dialog_result


-def alert_dialog(message: str, button_text: str = "OK"):
+def alert_dialog(message: str, button_text: str = "Ok"):
  return ConfirmDialog(message, button_text, cancel_text="")
@@ -268,6 +268,7 @@ class ListItem(Widget):
    self._description = description
    self.description_visible = description_visible
    self.callback = callback
+    self.description_opened_callback: Callable | None = None
    self.action_item = action_item

    self.set_rect(rl.Rectangle(0, 0, ITEM_BASE_WIDTH, ITEM_BASE_HEIGHT))
@@ -280,6 +281,9 @@ class ListItem(Widget):
    # Cached properties for performance
    self._prev_description: str | None = self.description

+  def set_description_opened_callback(self, callback: Callable) -> None:
+    self.description_opened_callback = callback
+
  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
    super().set_touch_valid_callback(touch_callback)
    if self.action_item:
@@ -302,6 +306,10 @@ class ListItem(Widget):

    if self.description:
      self.description_visible = not self.description_visible
+      # do callback first in case receiver changes description
+      if self.description_visible and self.description_opened_callback is not None:
+        self.description_opened_callback()
+
      content_width = int(self._rect.width - ITEM_PADDING * 2)
      self._rect.height = self.get_item_height(self._font, content_width)