from __future__ import annotations import abc import pyray as rl from collections.abc import Callable from openpilot.system.ui.widgets import Widget from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent SWIPE_AWAY_THRESHOLD = 80 # px to dismiss after releasing START_DISMISSING_THRESHOLD = 40 # px to start dismissing while dragging BLOCK_SWIPE_AWAY_THRESHOLD = 60 # px horizontal movement to block swipe away NAV_BAR_MARGIN = 6 NAV_BAR_WIDTH = 205 NAV_BAR_HEIGHT = 8 DISMISS_PUSH_OFFSET = NAV_BAR_MARGIN + NAV_BAR_HEIGHT + 50 # px extra to push down when dismissing DISMISS_ANIMATION_RC = 0.2 # slightly slower for non-user triggered dismiss animation class NavBar(Widget): FADE_AFTER_SECONDS = 2.0 def __init__(self): super().__init__() self.set_rect(rl.Rectangle(0, 0, NAV_BAR_WIDTH, NAV_BAR_HEIGHT)) self._alpha = 1.0 self._alpha_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps) self._fade_time = 0.0 def set_alpha(self, alpha: float) -> None: self._alpha = alpha self._fade_time = rl.get_time() def show_event(self): super().show_event() self._alpha = 1.0 self._alpha_filter.x = 1.0 self._fade_time = rl.get_time() def _render(self, _): if rl.get_time() - self._fade_time > self.FADE_AFTER_SECONDS: self._alpha = 0.0 alpha = self._alpha_filter.update(self._alpha) # white bar with black border rl.draw_rectangle_rounded(self._rect, 1.0, 6, rl.Color(255, 255, 255, int(255 * 0.9 * alpha))) rl.draw_rectangle_rounded_lines_ex(self._rect, 1.0, 6, 2, rl.Color(0, 0, 0, int(255 * 0.3 * alpha))) class NavWidget(Widget, abc.ABC): """ A full screen widget that supports back navigation by swiping down from the top. """ BACK_TOUCH_AREA_PERCENTAGE = 0.65 def __init__(self): super().__init__() # State self._drag_start_pos: MousePos | None = None # cleared after certain amount of horizontal movement self._dragging_down = False # swiped down enough to trigger dismissing on release self._playing_dismiss_animation = False # released and animating away self._y_pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1) self._back_callback: Callable[[], None] | None = None # persistent callback for user-initiated back navigation self._dismiss_callback: Callable[[], None] | None = None # transient callback for programmatic dismiss # TODO: add this functionality to push_widget self._shown_callback: Callable[[], None] | None = None # transient callback fired after show animation completes # TODO: move this state into NavBar self._nav_bar = self._child(NavBar()) self._nav_bar_show_time = 0.0 self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps) def _back_enabled(self) -> bool: # Children can override this to block swipe away, like when not at # the top of a vertical scroll panel to prevent erroneous swipes return True def set_back_callback(self, callback: Callable[[], None]) -> None: self._back_callback = callback def set_shown_callback(self, callback: Callable[[], None] | None) -> None: self._shown_callback = callback def _handle_mouse_event(self, mouse_event: MouseEvent) -> None: super()._handle_mouse_event(mouse_event) # Don't let touch events change filter state during dismiss animation if self._playing_dismiss_animation: return if mouse_event.left_pressed: # user is able to swipe away if starting near top of screen self._y_pos_filter.update_alpha(0.04) in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE if in_dismiss_area and self._back_enabled(): self._drag_start_pos = mouse_event.pos elif mouse_event.left_down: if self._drag_start_pos is not None: # block swiping away if too much horizontal or upward movement # block (lock-in) threshold is higher than start dismissing horizontal_movement = abs(mouse_event.pos.x - self._drag_start_pos.x) > BLOCK_SWIPE_AWAY_THRESHOLD upward_movement = mouse_event.pos.y - self._drag_start_pos.y < -BLOCK_SWIPE_AWAY_THRESHOLD if not (horizontal_movement or upward_movement): # no blocking movement, check if we should start dismissing if mouse_event.pos.y - self._drag_start_pos.y > START_DISMISSING_THRESHOLD: self._dragging_down = True else: if not self._dragging_down: self._drag_start_pos = None elif mouse_event.left_released: # reset rc for either slide up or down animation self._y_pos_filter.update_alpha(0.1) # if far enough, trigger back navigation callback if self._drag_start_pos is not None: if mouse_event.pos.y - self._drag_start_pos.y > SWIPE_AWAY_THRESHOLD: self._playing_dismiss_animation = True self._drag_start_pos = None self._dragging_down = False def _update_state(self): super()._update_state() new_y = 0.0 if self._dragging_down: self._nav_bar.set_alpha(1.0) # FIXME: disabling this widget on new push_widget still causes this widget to track mouse events without mouse down if not self.enabled: self._drag_start_pos = None if self._drag_start_pos is not None: last_mouse_event = gui_app.last_mouse_event # push entire widget as user drags it away new_y = max(last_mouse_event.pos.y - self._drag_start_pos.y, 0) if new_y < SWIPE_AWAY_THRESHOLD: new_y /= 2 # resistance until mouse release would dismiss widget if self._playing_dismiss_animation: new_y = self._rect.height + DISMISS_PUSH_OFFSET new_y = self._y_pos_filter.update(new_y) if abs(new_y) < 1 and abs(self._y_pos_filter.velocity.x) < 0.5: new_y = self._y_pos_filter.x = 0.0 self._y_pos_filter.velocity.x = 0.0 if self._shown_callback is not None: self._shown_callback() self._shown_callback = None if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10: gui_app.pop_widget() # Only one callback should ever be fired if self._dismiss_callback is not None: self._dismiss_callback() self._dismiss_callback = None elif self._back_callback is not None: self._back_callback() self._playing_dismiss_animation = False self._drag_start_pos = None self._dragging_down = False self.set_position(self._rect.x, new_y) def _layout(self): # Dim whatever is behind this widget, fading with position (runs after _update_state so position is correct) overlay_alpha = int(200 * max(0.0, min(1.0, 1.0 - self._rect.y / self._rect.height))) if self._rect.height > 0 else 0 rl.draw_rectangle_rec(rl.Rectangle(0, 0, self._rect.width, self._rect.height), rl.Color(0, 0, 0, overlay_alpha)) bounce_height = 20 rl.draw_rectangle_rec(rl.Rectangle(self._rect.x, self._rect.y, self._rect.width, self._rect.height + bounce_height), rl.BLACK) def render(self, rect: rl.Rectangle | None = None) -> bool | int | None: ret = super().render(rect) bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2 nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4 # User dragging or dismissing, nav bar follows NavWidget if self._drag_start_pos is not None or self._playing_dismiss_animation: self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._y_pos_filter.x # Waiting to show elif nav_bar_delayed: self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT # Animate back to top else: self._nav_bar_y_filter.update(NAV_BAR_MARGIN) self._nav_bar.set_position(bar_x, self._nav_bar_y_filter.x) self._nav_bar.render() return ret @property def is_dismissing(self) -> bool: return self._dragging_down or self._playing_dismiss_animation def dismiss(self, callback: Callable[[], None] | None = None): """Programmatically trigger the dismiss animation. Calls pop_widget when done, then callback.""" if not self._playing_dismiss_animation: self._playing_dismiss_animation = True self._y_pos_filter.update_alpha(DISMISS_ANIMATION_RC) self._dismiss_callback = callback def show_event(self): super().show_event() # Reset state self._drag_start_pos = None self._dragging_down = False self._playing_dismiss_animation = False self._dismiss_callback = None # Start NavWidget off-screen, no matter how tall it is self._y_pos_filter.update_alpha(0.1) self._y_pos_filter.x = gui_app.height self._y_pos_filter.velocity.x = 0.0 self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT self._nav_bar_show_time = rl.get_time()