mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-17 23:32:07 +08:00
firestar5683
124 lines
4.7 KiB
Python
124 lines
4.7 KiB
Python
import pyray as rl
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import cereal.messaging as messaging
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from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
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from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
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from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
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from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
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from openpilot.selfdrive.ui.ui_state import device, ui_state
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from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.scroller import Scroller
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from openpilot.system.ui.lib.application import gui_app
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ONROAD_DELAY = 2.5 # seconds
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class MiciMainLayout(Scroller):
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def __init__(self):
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super().__init__(snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
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self._pm = messaging.PubMaster(['bookmarkButton'])
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self._prev_onroad = False
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self._prev_standstill = False
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self._onroad_time_delay: float | None = None
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self._setup = False
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# Initialize widgets
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self._home_layout = MiciHomeLayout()
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self._alerts_layout = MiciOffroadAlerts()
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self._settings_layout = SettingsLayout()
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self._onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
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# Initialize widget rects
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for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout):
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# TODO: set parent rect and use it if never passed rect from render (like in Scroller)
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widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
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self._scroller.add_widgets([
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self._alerts_layout,
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self._home_layout,
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self._onroad_layout,
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])
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self._scroller.set_reset_scroll_at_show(False)
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# Disable scrolling when onroad is interacting with bookmark
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self._scroller.set_scrolling_enabled(lambda: not self._onroad_layout.is_swiping_left())
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# Set callbacks
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self._setup_callbacks()
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gui_app.add_nav_stack_tick(self._handle_transitions)
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gui_app.push_widget(self)
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# Start onboarding if terms or training not completed, make sure to push after self
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self._onboarding_window = OnboardingWindow(lambda: gui_app.pop_widgets_to(self))
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if not self._onboarding_window.completed:
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gui_app.push_widget(self._onboarding_window)
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def _setup_callbacks(self):
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self._home_layout.set_callbacks(on_settings=lambda: gui_app.push_widget(self._settings_layout))
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self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
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device.add_interactive_timeout_callback(self._on_interactive_timeout)
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def _scroll_to(self, layout: Widget):
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layout_x = int(layout.rect.x)
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self._scroller.scroll_to(layout_x, smooth=True)
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def _render(self, _):
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if not self._setup:
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if self._alerts_layout.active_alerts() > 0:
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self._scroller.scroll_to(self._alerts_layout.rect.x)
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else:
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self._scroller.scroll_to(self._rect.width)
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self._setup = True
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# Render
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super()._render(self._rect)
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def _handle_transitions(self):
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# Don't pop if onboarding
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if gui_app.widget_in_stack(self._onboarding_window):
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return
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if ui_state.started != self._prev_onroad:
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self._prev_onroad = ui_state.started
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# onroad: after delay, pop nav stack and scroll to onroad
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# offroad: immediately scroll to home, but don't pop nav stack (can stay in settings)
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if ui_state.started:
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self._onroad_time_delay = rl.get_time()
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else:
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self._scroll_to(self._home_layout)
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# FIXME: these two pops can interrupt user interacting in the settings
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if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
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gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
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self._onroad_time_delay = None
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# When car leaves standstill, pop nav stack and scroll to onroad
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CS = ui_state.sm["carState"]
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if not CS.standstill and self._prev_standstill:
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gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
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self._prev_standstill = CS.standstill
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def _on_interactive_timeout(self):
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# Don't pop if onboarding
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if gui_app.widget_in_stack(self._onboarding_window):
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return
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if ui_state.started:
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# Don't pop if at standstill
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if not ui_state.sm["carState"].standstill:
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gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
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else:
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# Screen turns off on timeout offroad, so pop immediately without animation
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gui_app.pop_widgets_to(self, instant=True)
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self._scroll_to(self._home_layout)
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def _on_bookmark_clicked(self):
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user_bookmark = messaging.new_message('bookmarkButton')
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user_bookmark.valid = True
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self._pm.send('bookmarkButton', user_bookmark)
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