import os import pyray as rl from pathlib import Path from collections.abc import Callable from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.time_helpers import system_time_valid from openpilot.system.hardware import PC from openpilot.system.hardware.hw import Paths from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton, BigParamControl from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigMultiOptionDialog from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog, get_pairing_backend_name, get_pairing_host from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.multilang import tr from openpilot.system.ui.widgets import Widget from openpilot.selfdrive.ui.ui_state import device, ui_state from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID from openpilot.starpilot.common.connect_server import prepare_konik_server_switch class ReviewTermsPage(TermsPage, NavScroller): """TermsPage with NavWidget swipe-to-dismiss for reviewing in device settings.""" def __init__(self): super().__init__(on_accept=self.dismiss, on_decline=self.dismiss) self._terms_header.set_visible(False) self._must_accept_card.set_visible(False) self._accept_button.set_visible(False) self._decline_button.set_visible(False) class ReviewTrainingGuide(TrainingGuide): def show_event(self): super().show_event() device.set_override_interactive_timeout(300) def hide_event(self): super().hide_event() device.set_override_interactive_timeout(None) ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False) class MiciFccModal(NavRawScrollPanel): def __init__(self, file_path: str | None = None, text: str | None = None): super().__init__() self._content = HtmlRenderer(file_path=file_path, text=text) self._fcc_logo = gui_app.texture("icons_mici/settings/device/fcc_logo.png", 76, 64) def _render(self, rect: rl.Rectangle): content_height = self._content.get_total_height(int(rect.width)) content_height += self._fcc_logo.height + 20 scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height) scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height)) fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset) scroll_content_rect.y += scroll_offset + self._fcc_logo.height + 20 self._content.render(scroll_content_rect) rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE) def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False): if not ui_state.engaged: def confirm_callback(): # Check engaged again in case it changed while the dialog was open # TODO: if true, we stay on the dialog if not exit_on_confirm until normal onroad timeout if not ui_state.engaged: callback() gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red)) else: gui_app.push_widget(BigDialog("", f"Disengage to {action_text}")) class EngagedConfirmationCircleButton(BigCircleButton): def __init__(self, title: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True, red: bool = False, icon_offset: tuple[int, int] = (0, 0)): super().__init__(icon, red, icon_offset) self.set_click_callback(lambda: _engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red)) class EngagedConfirmationButton(BigButton): def __init__(self, text: str, action_text: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True, red: bool = False): super().__init__(text, "", icon) self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red)) class DeviceInfoLayoutMici(Widget): def __init__(self): super().__init__() self.set_rect(rl.Rectangle(0, 0, 360, 180)) params = Params() subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)) max_width = int(self._rect.width - 20) self._dongle_id_label = UnifiedLabel("device ID", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False) self._dongle_id_text_label = UnifiedLabel(params.get("DongleId") or 'N/A', 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, wrap_text=False) self._serial_number_label = UnifiedLabel("serial", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False) self._serial_number_text_label = UnifiedLabel(params.get("HardwareSerial") or 'N/A', 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, wrap_text=False) def _render(self, _): self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10) self._dongle_id_label.render() self._dongle_id_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25) self._dongle_id_text_label.render() self._serial_number_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30) self._serial_number_label.render() self._serial_number_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25) self._serial_number_text_label.render() def _konik_toggle_path() -> Path: return Path(Paths.comma_home()) / "starpilot" / "cache" / "use_konik" if PC else Path("/cache/use_konik") class ConnectServerBigButton(BigButton): _COMMA_OPTION = "comma connect" _KONIK_OPTION = "konik connect" def __init__(self): self._params = Params() self._reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70) super().__init__("connect\nserver", get_pairing_host(self._params), gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60)) def _get_label_font_size(self): return 52 def _selected_option(self) -> str: return self._KONIK_OPTION if self._params.get_bool("UseKonikServer") else self._COMMA_OPTION def _apply_selection(self, selection: str): use_konik = selection == self._KONIK_OPTION prepare_konik_server_switch(use_konik, self._params) toggle_path = _konik_toggle_path() toggle_path.parent.mkdir(parents=True, exist_ok=True) if use_konik: toggle_path.touch(exist_ok=True) else: try: toggle_path.unlink(missing_ok=True) except TypeError: if toggle_path.exists(): toggle_path.unlink() ui_state.params.put_bool("DoReboot", True) def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) dialog_holder: dict[str, BigMultiOptionDialog] = {} def on_confirm(): selection = dialog_holder["dialog"].get_selected_option() if selection == self._selected_option(): return gui_app.push_widget(BigConfirmationDialog("slide to\nreboot", self._reboot_icon, lambda: self._apply_selection(selection))) dialog = BigMultiOptionDialog(options=[self._COMMA_OPTION, self._KONIK_OPTION], default=self._selected_option(), right_btn_callback=on_confirm) dialog_holder["dialog"] = dialog gui_app.push_widget(dialog) def _update_state(self): super()._update_state() self.set_value(get_pairing_host(self._params)) class PairBigButton(BigButton): def __init__(self): super().__init__("pair", get_pairing_host(ui_state.params), gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60)) def _get_label_font_size(self): return 64 def _update_state(self): super()._update_state() if ui_state.prime_state.is_paired(): self.set_text("paired") if ui_state.prime_state.is_prime(): self.set_value("subscribed") else: self.set_value("upgrade to prime") else: self.set_text("pair") self.set_value(get_pairing_host(ui_state.params)) def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) # TODO: show ad dialog when clicked if not prime if ui_state.prime_state.is_paired(): return dlg: BigDialog | PairingDialog if not system_time_valid(): dlg = BigDialog("", tr("Please connect to Wi-Fi to complete initial pairing.")) elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID): dlg = BigDialog("", f"Device must be registered with the {get_pairing_backend_name(ui_state.params)} backend to pair.") else: dlg = PairingDialog() gui_app.push_widget(dlg) class DeviceLayoutMici(NavScroller): def __init__(self): super().__init__() self._fcc_dialog: HtmlModal | None = None def power_off_callback(): ui_state.params.put_bool("DoShutdown", True) def reboot_callback(): ui_state.params.put_bool("DoReboot", True) def reset_calibration_callback(): params = ui_state.params params.remove("CalibrationParams") params.remove("LiveTorqueParameters") params.remove("LiveParameters") params.remove("LiveParametersV2") params.remove("LiveDelay") params.put_bool("OnroadCycleRequested", True) def reset_driver_monitoring_callback(): params = ui_state.params params.remove("IsRhdDetected") params.remove("IsRHD") params.remove("IsRHDOverride") params.put_bool("OnroadCycleRequested", True) reset_driver_monitoring_btn = EngagedConfirmationButton( "reset driver\nmonitoring", "reset driver monitoring", gui_app.texture("icons_mici/settings/device/cameras.png", 64, 64), reset_driver_monitoring_callback, ) reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64), reset_calibration_callback) reboot_btn = EngagedConfirmationCircleButton("reboot", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70), reboot_callback, exit_on_confirm=False) self._power_off_btn = EngagedConfirmationCircleButton("power off", gui_app.texture("icons_mici/settings/device/power.png", 64, 66), power_off_callback, exit_on_confirm=False, red=True) self._power_off_btn.set_visible(lambda: not ui_state.ignition) regulatory_btn = BigButton("regulatory info", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64)) regulatory_btn.set_click_callback(self._on_regulatory) self._connect_server_btn = ConnectServerBigButton() self._simple_mode_btn = BigParamControl("simple mode", "SimpleMode") driver_cam_btn = BigButton("driver\ncamera preview", "", gui_app.texture("icons_mici/settings/device/cameras.png", 64, 64)) driver_cam_btn.set_click_callback(lambda: gui_app.push_widget(DriverCameraDialog())) driver_cam_btn.set_enabled(lambda: ui_state.is_offroad()) review_training_guide_btn = BigButton("review\ntraining guide", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64)) review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self)))) review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad()) terms_btn = BigButton("terms &\nconditions", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64)) terms_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTermsPage())) self._scroller.add_widgets([ DeviceInfoLayoutMici(), self._connect_server_btn, PairBigButton(), self._simple_mode_btn, review_training_guide_btn, driver_cam_btn, reset_driver_monitoring_btn, terms_btn, regulatory_btn, reset_calibration_btn, reboot_btn, self._power_off_btn, ]) def show_event(self): super().show_event() self._simple_mode_btn.refresh() def _update_state(self): super()._update_state() self._simple_mode_btn.refresh() def _on_regulatory(self): if not self._fcc_dialog: self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html")) gui_app.push_widget(self._fcc_dialog)