openpilot v0.9.9 release (#35334)

* openpilot v0.9.9 release date: 2025-06-05T19:54:08 master commit: 8aadf02b2fd91f4e1285e18c2c7feb32d93b66f5 * AGNOS 12.4 (#35558) agnos12.4 --------- Co-authored-by: Vehicle Researcher <user@comma.ai> Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
2026-10-01 03:43:42 +08:00 · 2025-06-17 16:32:08 -07:00
parent dd778596b7
commit 100f89a161
1240 changed files with 310104 additions and 30549 deletions
@@ -1,75 +1,107 @@
 #!/usr/bin/env python3
 import pyray as rl
-import os
-import select
-import sys
+import threading
+import time

-from openpilot.common.basedir import BASEDIR
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.window import BaseWindow
+from openpilot.system.ui.text import wrap_text

 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
-ROTATION_TIME_SECONDS = 1.0  # Time for one full circle
-MARGIN = 200
+DEGREES_PER_SECOND = 360.0  # one full rotation per second
+MARGIN_H = 100
 TEXTURE_SIZE = 360
-FONT_SIZE = 80
+FONT_SIZE = 96
+LINE_HEIGHT = 104
+DARKGRAY = (55, 55, 55, 255)


 def clamp(value, min_value, max_value):
  return max(min(value, max_value), min_value)


-def check_input_non_blocking():
-  if sys.stdin in select.select([sys.stdin], [], [], 0)[0]:
-    return sys.stdin.readline().strip()
-  return ""
+class SpinnerRenderer:
+  def __init__(self):
+    self._comma_texture = gui_app.texture("images/spinner_comma.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True)
+    self._rotation = 0.0
+    self._progress: int | None = None
+    self._wrapped_lines: list[str] = []
+    self._lock = threading.Lock()
+
+  def set_text(self, text: str) -> None:
+    with self._lock:
+      if text.isdigit():
+        self._progress = clamp(int(text), 0, 100)
+        self._wrapped_lines = []
+      else:
+        self._progress = None
+        self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
+
+  def render(self):
+    with self._lock:
+      progress = self._progress
+      wrapped_lines = self._wrapped_lines
+
+    if wrapped_lines:
+      # Calculate total height required for spinner and text
+      spacing = 50
+      total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT
+      center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
+    else:
+      # Center spinner vertically
+      spacing = 150
+      center_y = gui_app.height / 2.0
+    y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
+
+    center = rl.Vector2(gui_app.width / 2.0, center_y)
+    spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
+    comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
+
+    delta_time = rl.get_frame_time()
+    self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0
+
+    # Draw rotating spinner and static comma logo
+    rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
+                        rl.Rectangle(center.x, center.y, TEXTURE_SIZE, TEXTURE_SIZE),
+                        spinner_origin, self._rotation, rl.WHITE)
+    rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
+
+    # Display the progress bar or text based on user input
+    if progress is not None:
+      bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
+      rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
+
+      bar.width *= progress / 100.0
+      rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
+    elif wrapped_lines:
+      for i, line in enumerate(wrapped_lines):
+        text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0)
+        rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT),
+                        FONT_SIZE, 0.0, rl.WHITE)
+
+
+class Spinner(BaseWindow[SpinnerRenderer]):
+  def __init__(self):
+    super().__init__("Spinner")
+
+  def _create_renderer(self):
+    return SpinnerRenderer()
+
+  def update(self, spinner_text: str):
+    if self._renderer is not None:
+      self._renderer.set_text(spinner_text)
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))


 def main():
-  gui_app.init_window("Spinner")
-
-  # Load textures
-  comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE)
-  spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
-
-  # Initial values
-  rotation = 0.0
-  user_input = ""
-  center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
-  spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
-  comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
-
-  for _ in gui_app.render():
-    fps = rl.get_fps()
-    if fps > 0:
-      degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps)
-      rotation = (rotation + degrees_per_frame) % 360.0
-
-    # Draw rotating spinner and static comma logo
-    rl.draw_texture_pro(spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
-                        rl.Rectangle(center.x, center.y, TEXTURE_SIZE, TEXTURE_SIZE),
-                        spinner_origin, rotation, rl.WHITE)
-    rl.draw_texture_v(comma_texture, comma_position, rl.WHITE)
-
-    # Read user input
-    if input_str := check_input_non_blocking():
-      user_input = input_str
-
-    # Display progress bar or text based on user input
-    if user_input:
-      y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
-      if user_input.isdigit():
-        progress = clamp(int(user_input), 0, 100)
-        bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
-        rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY)
-
-        bar.width *= progress / 100.0
-        rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE)
-      else:
-        text_size = rl.measure_text_ex(gui_app.font(), user_input, FONT_SIZE, 1.0)
-        rl.draw_text_ex(gui_app.font(), user_input,
-                        rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5)


 if __name__ == "__main__":