mirror of
https://github.com/firestar5683/StarPilot.git
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Vehicle Researcher
db0642ec47
date: 2025-12-18T23:23:16 master commit: 154c2334110373950bac1c36fc6e943cb1208326
266 lines
12 KiB
Python
266 lines
12 KiB
Python
import time
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from cereal import log
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import pyray as rl
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from collections.abc import Callable
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from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.text import wrap_text
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from openpilot.system.version import training_version, RELEASE_BRANCHES
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HEAD_BUTTON_FONT_SIZE = 40
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HOME_PADDING = 8
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NetworkType = log.DeviceState.NetworkType
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NETWORK_TYPES = {
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NetworkType.none: "Offline",
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NetworkType.wifi: "WiFi",
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NetworkType.cell2G: "2G",
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NetworkType.cell3G: "3G",
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NetworkType.cell4G: "LTE",
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NetworkType.cell5G: "5G",
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NetworkType.ethernet: "Ethernet",
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}
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class DeviceStatus(Widget):
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def __init__(self):
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super().__init__()
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self.set_rect(rl.Rectangle(0, 0, 300, 175))
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self._update_state()
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self._version_text = self._get_version_text()
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self._do_welcome()
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def _do_welcome(self):
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ui_state.params.put("CompletedTrainingVersion", training_version)
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def refresh(self):
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self._update_state()
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self._version_text = self._get_version_text()
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def _get_version_text(self) -> str:
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brand = "openpilot"
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description = ui_state.params.get("UpdaterCurrentDescription")
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return f"{brand} {description}" if description else brand
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def _update_state(self):
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# TODO: refresh function that can be called periodically, not at 60 fps, so we can update version
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# update system status
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self._system_status = "SYSTEM READY ✓" if ui_state.panda_type != log.PandaState.PandaType.unknown else "BOOTING UP..."
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# update network status
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strength = ui_state.sm['deviceState'].networkStrength.raw
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strength_text = "● " * strength + "○ " * (4 - strength) # ◌ also works
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network_type = NETWORK_TYPES[ui_state.sm['deviceState'].networkType.raw]
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self._network_status = f"{network_type} {strength_text}"
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def _render(self, _):
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# draw status
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status_rect = rl.Rectangle(self._rect.x, self._rect.y, self._rect.width, 40)
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gui_label(status_rect, self._system_status, font_size=HEAD_BUTTON_FONT_SIZE, color=DEFAULT_TEXT_COLOR,
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font_weight=FontWeight.BOLD, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
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# draw network status
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network_rect = rl.Rectangle(self._rect.x, self._rect.y + 60, self._rect.width, 40)
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gui_label(network_rect, self._network_status, font_size=40, color=DEFAULT_TEXT_COLOR,
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font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
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# draw version
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version_font_size = 30
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version_rect = rl.Rectangle(self._rect.x, self._rect.y + 140, self._rect.width + 20, 40)
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wrapped_text = '\n'.join(wrap_text(self._version_text, version_font_size, version_rect.width))
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gui_label(version_rect, wrapped_text, font_size=version_font_size, color=DEFAULT_TEXT_COLOR,
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font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
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class MiciHomeLayout(Widget):
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def __init__(self):
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super().__init__()
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self._on_settings_click: Callable | None = None
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self._last_refresh = 0
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self._mouse_down_t: None | float = None
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self._did_long_press = False
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self._is_pressed_prev = False
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self._version_text = None
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self._experimental_mode = False
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self._settings_txt = gui_app.texture("icons_mici/settings.png", 48, 48)
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self._experimental_txt = gui_app.texture("icons_mici/experimental_mode.png", 48, 48)
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self._mic_txt = gui_app.texture("icons_mici/microphone.png", 48, 48)
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self._net_type = NETWORK_TYPES.get(NetworkType.none)
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self._net_strength = 0
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self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44)
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self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 44)
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self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 44)
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self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 44)
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self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 44)
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self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 55, 35)
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self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 55, 35)
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self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 55, 35)
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self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35)
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self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35)
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self._openpilot_label = MiciLabel("openpilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
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self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
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self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
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self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
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self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
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self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
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def show_event(self):
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self._version_text = self._get_version_text()
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self._update_network_status(ui_state.sm['deviceState'])
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self._update_params()
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def _update_params(self):
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self._experimental_mode = ui_state.params.get_bool("ExperimentalMode")
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def _update_state(self):
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if self.is_pressed and not self._is_pressed_prev:
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self._mouse_down_t = time.monotonic()
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elif not self.is_pressed and self._is_pressed_prev:
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self._mouse_down_t = None
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self._did_long_press = False
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self._is_pressed_prev = self.is_pressed
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if self._mouse_down_t is not None:
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if time.monotonic() - self._mouse_down_t > 0.5:
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# long gating for experimental mode - only allow toggle if longitudinal control is available
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if ui_state.has_longitudinal_control:
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self._experimental_mode = not self._experimental_mode
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ui_state.params.put("ExperimentalMode", self._experimental_mode)
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self._mouse_down_t = None
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self._did_long_press = True
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if rl.get_time() - self._last_refresh > 5.0:
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device_state = ui_state.sm['deviceState']
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self._update_network_status(device_state)
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# Update version text
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self._version_text = self._get_version_text()
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self._last_refresh = rl.get_time()
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self._update_params()
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def _update_network_status(self, device_state):
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self._net_type = device_state.networkType
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strength = device_state.networkStrength
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self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0
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def set_callbacks(self, on_settings: Callable | None = None):
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self._on_settings_click = on_settings
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def _handle_mouse_release(self, mouse_pos: MousePos):
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if not self._did_long_press:
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if self._on_settings_click:
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self._on_settings_click()
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self._did_long_press = False
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def _get_version_text(self) -> tuple[str, str, str, str] | None:
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description = ui_state.params.get("UpdaterCurrentDescription")
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if description is not None and len(description) > 0:
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# Expect "version / branch / commit / date"; be tolerant of other formats
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try:
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version, branch, commit, date = description.split(" / ")
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return version, branch, commit, date
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except Exception:
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return None
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return None
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def _render(self, _):
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# TODO: why is there extra space here to get it to be flush?
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text_pos = rl.Vector2(self.rect.x - 2 + HOME_PADDING, self.rect.y - 16)
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self._openpilot_label.set_position(text_pos.x, text_pos.y)
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self._openpilot_label.render()
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if self._version_text is not None:
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# release branch
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release_branch = self._version_text[1] in RELEASE_BRANCHES
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version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
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self._version_label.set_text(self._version_text[0])
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self._version_label.set_position(version_pos.x, version_pos.y)
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self._version_label.render()
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self._date_label.set_text(" " + self._version_text[3])
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self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
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self._date_label.render()
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self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
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self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
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self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
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self._branch_label.render()
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if not release_branch:
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# 2nd line
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self._version_commit_label.set_text(self._version_text[2])
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self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
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self._version_commit_label.render()
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self._render_bottom_status_bar()
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def _render_bottom_status_bar(self):
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# ***** Center-aligned bottom section icons *****
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# TODO: refactor repeated icon drawing into a small loop
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ITEM_SPACING = 18
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Y_CENTER = 24
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last_x = self.rect.x + HOME_PADDING
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# Draw settings icon in bottom left corner
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rl.draw_texture(self._settings_txt, int(last_x), int(self._rect.y + self.rect.height - self._settings_txt.height / 2 - Y_CENTER),
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rl.Color(255, 255, 255, int(255 * 0.9)))
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last_x = last_x + self._settings_txt.width + ITEM_SPACING
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# draw network
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if self._net_type == NetworkType.wifi:
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# There is no 1
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draw_net_txt = {0: self._wifi_none_txt,
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2: self._wifi_low_txt,
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3: self._wifi_medium_txt,
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4: self._wifi_full_txt,
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5: self._wifi_full_txt}.get(self._net_strength, self._wifi_low_txt)
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rl.draw_texture(draw_net_txt, int(last_x),
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int(self._rect.y + self.rect.height - draw_net_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, int(255 * 0.9)))
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last_x += draw_net_txt.width + ITEM_SPACING
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elif self._net_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
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draw_net_txt = {0: self._cell_none_txt,
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2: self._cell_low_txt,
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3: self._cell_medium_txt,
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4: self._cell_high_txt,
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5: self._cell_full_txt}.get(self._net_strength, self._cell_none_txt)
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rl.draw_texture(draw_net_txt, int(last_x),
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int(self._rect.y + self.rect.height - draw_net_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, int(255 * 0.9)))
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last_x += draw_net_txt.width + ITEM_SPACING
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else:
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# No network
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# Offset by difference in height between slashless and slash icons to make center align match
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rl.draw_texture(self._wifi_slash_txt, int(last_x), int(self._rect.y + self.rect.height - self._wifi_slash_txt.height / 2 -
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(self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2 - Y_CENTER),
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rl.Color(255, 255, 255, 255))
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last_x += self._wifi_slash_txt.width + ITEM_SPACING
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# draw experimental icon
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if self._experimental_mode:
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rl.draw_texture(self._experimental_txt, int(last_x),
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int(self._rect.y + self.rect.height - self._experimental_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, 255))
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last_x += self._experimental_txt.width + ITEM_SPACING
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# draw microphone icon when recording audio is enabled
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if ui_state.recording_audio:
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rl.draw_texture(self._mic_txt, int(last_x),
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int(self._rect.y + self.rect.height - self._mic_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, 255))
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last_x += self._mic_txt.width + ITEM_SPACING
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