StarPilot/selfdrive/ui/mici/layouts/settings/device.py

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)