mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
87 lines
3.3 KiB
Python
87 lines
3.3 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.starpilot.common.experimental_state import (
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CEStatus,
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next_manual_ce_status,
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sync_manual_ce_state,
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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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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 = selfdrive_state.experimentalMode
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self._engageable = selfdrive_state.engageable or selfdrive_state.enabled
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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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if self._params.get_bool("ConditionalExperimental"):
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current_status = ui_state.params_memory.get_int("CEStatus", default=CEStatus["OFF"])
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override_value = next_manual_ce_status(current_status, self._experimental_mode)
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ui_state.params_memory.put_int("CEStatus", override_value)
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sync_manual_ce_state(self._params, override_value)
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self._held_mode = None
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self._hold_end_time = None
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else:
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new_mode = not self._experimental_mode
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self._params.put_bool("ExperimentalMode", new_mode)
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# Hold new state temporarily
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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._black_bg)
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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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