mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
117 lines
4.8 KiB
Python
117 lines
4.8 KiB
Python
import time
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import pyray as rl
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from openpilot.common.params import Params
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.system.ui.widgets import Widget
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from openpilot.common.filter_simple import FirstOrderFilter
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from openpilot.starpilot.common.experimental_state import (
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requested_experimental_mode,
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toggle_longitudinal_model_preference,
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)
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class ExpButton(Widget):
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def __init__(self, button_size: int, icon_size: int):
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super().__init__()
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self._params = Params()
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self._experimental_mode: bool = False
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self._engageable: bool = False
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# State hold mechanism
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self._hold_duration = 2.0 # seconds
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self._held_mode: bool | None = None
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self._hold_end_time: float | None = None
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self._white_color: rl.Color = rl.Color(255, 255, 255, 255)
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self._black_bg: rl.Color = rl.Color(0, 0, 0, 166)
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self._txt_wheel: rl.Texture = gui_app.texture('icons/chffr_wheel.png', icon_size, icon_size)
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self._txt_exp: rl.Texture = gui_app.texture('icons/experimental.png', icon_size, icon_size)
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self._rect = rl.Rectangle(0, 0, button_size, button_size)
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self._steer_angle_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
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self._bg_colors = {
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"disengaged": rl.Color(0, 0, 0, 166),
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"switchback": rl.Color(0x8b, 0x6c, 0xc5, 255),
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"aol": rl.Color(0x0a, 0xba, 0xb5, 255),
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"experimental": rl.Color(0xda, 0x6f, 0x25, 255),
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"traffic": rl.Color(0xc9, 0x22, 0x31, 255),
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}
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self._bg_color = self._black_bg
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# Visibility controlled by HideSteeringWheel toggle
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self.set_visible(lambda: not (ui_state.starpilot_toggles.get("hide_steering_wheel", False) or
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self._params.get_bool("HideSteeringWheel")))
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def set_rect(self, rect: rl.Rectangle) -> None:
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self._rect.x, self._rect.y = rect.x, rect.y
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def _update_state(self) -> None:
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selfdrive_state = ui_state.sm["selfdriveState"]
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self._experimental_mode = requested_experimental_mode(self._params, ui_state.params_memory)
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self._engageable = selfdrive_state.engageable or selfdrive_state.enabled or ui_state.always_on_lateral_active
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# Smooth steering angle for rotating wheel
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car_state = ui_state.sm["carState"]
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self._steer_angle_filter.update(car_state.steeringAngleDeg)
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# Determine background color based on engagement state
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simple_mode = ui_state.starpilot_toggles.get("simple_mode", False)
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if simple_mode or self.is_pressed or not self._engageable:
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self._bg_color = self._bg_colors["disengaged"]
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elif ui_state.switchback_mode_enabled:
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self._bg_color = self._bg_colors["switchback"]
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elif ui_state.always_on_lateral_active:
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self._bg_color = self._bg_colors["aol"]
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elif self._held_or_actual_mode():
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self._bg_color = self._bg_colors["experimental"]
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elif ui_state.traffic_mode_enabled:
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self._bg_color = self._bg_colors["traffic"]
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else:
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self._bg_color = self._bg_colors["disengaged"]
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def _handle_mouse_release(self, _):
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super()._handle_mouse_release(_)
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if self._is_toggle_allowed():
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new_mode = toggle_longitudinal_model_preference(self._params, ui_state.params_memory)
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self._held_mode = new_mode
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self._hold_end_time = time.monotonic() + self._hold_duration
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def _render(self, rect: rl.Rectangle) -> None:
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center_x = int(self._rect.x + self._rect.width // 2)
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center_y = int(self._rect.y + self._rect.height // 2)
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self._white_color.a = 180 if self.is_pressed or not self._engageable else 255
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texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
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rl.draw_circle(center_x, center_y, self._rect.width / 2, self._bg_color)
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rotating_wheel = ui_state.starpilot_toggles.get("rotating_wheel", False) or self._params.get_bool("RotatingWheel")
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if texture == self._txt_wheel and rotating_wheel:
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source_rect = rl.Rectangle(0, 0, texture.width, texture.height)
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dest_rect = rl.Rectangle(center_x, center_y, texture.width, texture.height)
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origin = rl.Vector2(texture.width / 2, texture.height / 2)
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rl.draw_texture_pro(texture, source_rect, dest_rect, origin, -self._steer_angle_filter.x, self._white_color)
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else:
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rl.draw_texture_ex(texture, rl.Vector2(center_x - texture.width / 2, center_y - texture.height / 2), 0.0, 1.0, self._white_color)
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def _held_or_actual_mode(self):
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now = time.monotonic()
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if self._hold_end_time and now < self._hold_end_time:
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return self._held_mode
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if self._hold_end_time and now >= self._hold_end_time:
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self._hold_end_time = self._held_mode = None
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return self._experimental_mode
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def _is_toggle_allowed(self):
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if self._params.get_bool("SafeMode"):
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return False
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if not self._params.get_bool("ExperimentalModeConfirmed"):
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return False
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# Mirror exp mode toggle using persistent car params
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return ui_state.has_longitudinal_control
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