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>

system/ui/text.py

@@ -1,16 +1,17 @@
 #!/usr/bin/env python3
-import sys
+import re
+import time
 import pyray as rl
-
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.window import BaseWindow
 
 MARGIN = 50
-SPACING = 50
-FONT_SIZE = 60
-LINE_HEIGHT = 64
+SPACING = 40
+FONT_SIZE = 72
+LINE_HEIGHT = 80
 BUTTON_SIZE = rl.Vector2(310, 160)
 
 DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
@@ -18,47 +19,73 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess
 
 def wrap_text(text, font_size, max_width):
   lines = []
-  current_line = ""
   font = gui_app.font()
 
-  for word in text.split():
-    test_line = current_line + word + " "
-    if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
-      current_line = test_line
-    else:
+  for paragraph in text.split("\n"):
+    if not paragraph.strip():
+      # Don't add empty lines first, ensuring wrap_text("") returns []
+      if lines:
+        lines.append("")
+      continue
+    indent = re.match(r"^\s*", paragraph).group()
+    current_line = indent
+    words = re.split(r"(\s+)", paragraph[len(indent):])
+    while len(words):
+      word = words.pop(0)
+      test_line = current_line + word + (words.pop(0) if words else "")
+      if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
+        current_line = test_line
+      else:
+        lines.append(current_line)
+        current_line = word + " "
+    current_line = current_line.rstrip()
+    if current_line:
       lines.append(current_line)
-      current_line = word + " "
-  if current_line:
-    lines.append(current_line)
 
   return lines
 
 
-def main():
-  gui_app.init_window("Text")
+class TextWindowRenderer:
+  def __init__(self, text: str):
+    self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2)
+    self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20)
+    self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT)
+    self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True)
+    self._scroll_panel._offset.y = -max(self._content_rect.height - self._textarea_rect.height, 0)
 
-  text_content = sys.argv[1] if len(sys.argv) > 1 else DEMO_TEXT
-
-  textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2)
-  wrapped_lines = wrap_text(text_content, FONT_SIZE, textarea_rect.width - 20)
-  content_rect = rl.Rectangle(0, 0, textarea_rect.width - 20, len(wrapped_lines) * LINE_HEIGHT)
-  scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True)
-
-  for _ in gui_app.render():
-    scroll = scroll_panel.handle_scroll(textarea_rect, content_rect)
-
-    rl.begin_scissor_mode(int(textarea_rect.x), int(textarea_rect.y), int(textarea_rect.width), int(textarea_rect.height))
-    for i, line in enumerate(wrapped_lines):
-      position = rl.Vector2(textarea_rect.x + scroll.x, textarea_rect.y + scroll.y + i * LINE_HEIGHT)
-      if position.y + LINE_HEIGHT < textarea_rect.y or position.y > textarea_rect.y + textarea_rect.height:
+  def render(self):
+    scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect)
+    rl.begin_scissor_mode(int(self._textarea_rect.x), int(self._textarea_rect.y), int(self._textarea_rect.width), int(self._textarea_rect.height))
+    for i, line in enumerate(self._wrapped_lines):
+      position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
+      if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height:
         continue
-      rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE)
+      rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE)
     rl.end_scissor_mode()
 
-    button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
-    if gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT):
-      HARDWARE.reboot()
+    button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x - SPACING, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
+    ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT)
+    if ret:
+      if PC:
+        gui_app.request_close()
+      else:
+        HARDWARE.reboot()
+    return ret
+
+
+class TextWindow(BaseWindow[TextWindowRenderer]):
+  def __init__(self, text: str):
+    self._text = text
+    super().__init__("Text")
+
+  def _create_renderer(self):
+    return TextWindowRenderer(self._text)
+
+  def wait_for_exit(self):
+    while self._thread.is_alive():
+      time.sleep(0.01)
 
 
 if __name__ == "__main__":
-  main()
+  with TextWindow(DEMO_TEXT):
+    time.sleep(30)