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

import pyray as rl
from collections.abc import Callable

from openpilot.common.time_helpers import system_time_valid
from openpilot.system.ui.widgets.scroller import Scroller
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl
from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import NavWidget
from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyAction


class DeveloperLayoutMici(NavWidget):
  def __init__(self, back_callback: Callable):
    super().__init__()
    self.set_back_callback(back_callback)

    def github_username_callback(username: str):
      if username:
        ssh_keys = SshKeyAction()
        ssh_keys._fetch_ssh_key(username)
        if not ssh_keys._error_message:
          self._ssh_keys_btn.set_value(username)
        else:
          dlg = BigDialog("", ssh_keys._error_message)
          gui_app.set_modal_overlay(dlg)

    def ssh_keys_callback():
      github_username = ui_state.params.get("GithubUsername") or ""
      dlg = BigInputDialog("enter GitHub username", github_username, confirm_callback=github_username_callback)
      if not system_time_valid():
        dlg = BigDialog("Please connect to Wi-Fi to fetch your key", "")
        gui_app.set_modal_overlay(dlg)
        return
      gui_app.set_modal_overlay(dlg)

    txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 77, 44)
    github_username = ui_state.params.get("GithubUsername") or ""
    self._ssh_keys_btn = BigButton("SSH keys", "Not set" if not github_username else github_username, icon=txt_ssh)
    self._ssh_keys_btn.set_click_callback(ssh_keys_callback)

    # adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
    # ******** Main Scroller ********
    self._adb_toggle = BigParamControl("enable ADB", "AdbEnabled")
    self._ssh_toggle = BigParamControl("enable SSH", "SshEnabled")
    self._joystick_toggle = BigToggle("joystick debug mode",
                                      initial_state=ui_state.params.get_bool("JoystickDebugMode"),
                                      toggle_callback=self._on_joystick_debug_mode)
    self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
                                           initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
                                           toggle_callback=self._on_long_maneuver_mode)
    self._alpha_long_toggle = BigToggle("alpha longitudinal",
                                        initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
                                        toggle_callback=self._on_alpha_long_enabled)
    self._debug_mode_toggle = BigParamControl("ui debug mode", "ShowDebugInfo",
                                              toggle_callback=lambda checked: (gui_app.set_show_touches(checked),
                                                                               gui_app.set_show_fps(checked)))

    self._scroller = Scroller([
      self._adb_toggle,
      self._ssh_toggle,
      self._ssh_keys_btn,
      self._joystick_toggle,
      self._long_maneuver_toggle,
      self._alpha_long_toggle,
      self._debug_mode_toggle,
    ], snap_items=False)

    # Toggle lists
    self._refresh_toggles = (
      ("AdbEnabled", self._adb_toggle),
      ("SshEnabled", self._ssh_toggle),
      ("JoystickDebugMode", self._joystick_toggle),
      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
      ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
      ("ShowDebugInfo", self._debug_mode_toggle),
    )
    onroad_blocked_toggles = (self._adb_toggle, self._joystick_toggle)
    release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle)
    engaged_blocked_toggles = (self._long_maneuver_toggle, self._alpha_long_toggle)

    # Hide non-release toggles on release builds
    for item in release_blocked_toggles:
      item.set_visible(not ui_state.is_release)

    # Disable toggles that require offroad
    for item in onroad_blocked_toggles:
      item.set_enabled(lambda: ui_state.is_offroad())

    # Disable toggles that require not engaged
    for item in engaged_blocked_toggles:
      item.set_enabled(lambda: not ui_state.engaged)

    # Set initial state
    if ui_state.params.get_bool("ShowDebugInfo"):
      gui_app.set_show_touches(True)
      gui_app.set_show_fps(True)

    ui_state.add_offroad_transition_callback(self._update_toggles)

  def show_event(self):
    super().show_event()
    self._scroller.show_event()
    self._update_toggles()

  def _render(self, rect: rl.Rectangle):
    self._scroller.render(rect)

  def _update_toggles(self):
    ui_state.update_params()

    # CP gating
    if ui_state.CP is not None:
      alpha_avail = ui_state.CP.alphaLongitudinalAvailable
      if not alpha_avail or ui_state.is_release:
        self._alpha_long_toggle.set_visible(False)
        ui_state.params.remove("AlphaLongitudinalEnabled")
      else:
        self._alpha_long_toggle.set_visible(True)

      long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
      self._long_maneuver_toggle.set_enabled(long_man_enabled)
      if not long_man_enabled:
        self._long_maneuver_toggle.set_checked(False)
        ui_state.params.put_bool("LongitudinalManeuverMode", False)
    else:
      self._long_maneuver_toggle.set_enabled(False)
      self._alpha_long_toggle.set_visible(False)

    # Refresh toggles from params to mirror external changes
    for key, item in self._refresh_toggles:
      item.set_checked(ui_state.params.get_bool(key))

  def _on_joystick_debug_mode(self, state: bool):
    ui_state.params.put_bool("JoystickDebugMode", state)
    ui_state.params.put_bool("LongitudinalManeuverMode", False)
    self._long_maneuver_toggle.set_checked(False)

  def _on_long_maneuver_mode(self, state: bool):
    ui_state.params.put_bool("LongitudinalManeuverMode", state)
    ui_state.params.put_bool("JoystickDebugMode", False)
    self._joystick_toggle.set_checked(False)
    restart_needed_callback(state)

  def _on_alpha_long_enabled(self, state: bool):
    # TODO: show confirmation dialog before enabling
    ui_state.params.put_bool("AlphaLongitudinalEnabled", state)
    restart_needed_callback(state)
    self._update_toggles()