dragonpilot v0.9.8

system/ui/README.md

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+# ui
+
+The user interfaces here are built with [raylib](https://www.raylib.com/).
+
+Quick start:
+* set `DEBUG_FPS=1` to show the FPS
+* set `STRICT_MODE=1` to kill the app if it drops too much below 60fps
+* https://www.raylib.com/cheatsheet/cheatsheet.html
+* https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart

system/ui/lib/application.py

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+import atexit
+import os
+import time
+import pyray as rl
+from enum import IntEnum
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.swaglog import cloudlog
+
+DEFAULT_FPS = 60
+FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
+FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
+FPS_CRITICAL_THRESHOLD = 0.5  # Critical threshold for triggering strict actions
+
+DEBUG_FPS = os.getenv("DEBUG_FPS") == '1'
+STRICT_MODE = os.getenv("STRICT_MODE") == '1'
+
+DEFAULT_TEXT_SIZE = 60
+DEFAULT_TEXT_COLOR = rl.Color(200, 200, 200, 255)
+FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts")
+
+
+class FontWeight(IntEnum):
+  BLACK = 0
+  BOLD = 1
+  EXTRA_BOLD = 2
+  EXTRA_LIGHT = 3
+  MEDIUM = 4
+  NORMAL = 5
+  SEMI_BOLD = 6
+  THIN = 7
+
+
+class GuiApplication:
+  def __init__(self, width: int, height: int):
+    self._fonts: dict[FontWeight, rl.Font] = {}
+    self._width = width
+    self._height = height
+    self._textures: list[rl.Texture] = []
+    self._target_fps: int = DEFAULT_FPS
+    self._last_fps_log_time: float = time.monotonic()
+
+  def init_window(self, title: str, fps: int=DEFAULT_FPS):
+    atexit.register(self.close)  # Automatically call close() on exit
+
+    rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT)
+    rl.init_window(self._width, self._height, title)
+    rl.set_target_fps(fps)
+
+    self._target_fps = fps
+    self._set_styles()
+    self._load_fonts()
+
+  def load_texture_from_image(self, file_name: str, width: int, height: int):
+    """Load and resize a texture, storing it for later automatic unloading."""
+    image = rl.load_image(file_name)
+    rl.image_resize(image, width, height)
+    texture = rl.load_texture_from_image(image)
+    # Set texture filtering to smooth the result
+    rl.set_texture_filter(texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+
+    rl.unload_image(image)
+
+    self._textures.append(texture)
+    return texture
+
+  def close(self):
+    for texture in self._textures:
+      rl.unload_texture(texture)
+
+    for font in self._fonts.values():
+      rl.unload_font(font)
+
+    rl.close_window()
+
+  def render(self):
+    while not rl.window_should_close():
+      rl.begin_drawing()
+      rl.clear_background(rl.BLACK)
+
+      yield
+
+      if DEBUG_FPS:
+        rl.draw_fps(10, 10)
+
+      rl.end_drawing()
+      self._monitor_fps()
+
+  def font(self, font_wight: FontWeight=FontWeight.NORMAL):
+    return self._fonts[font_wight]
+
+  @property
+  def width(self):
+    return self._width
+
+  @property
+  def height(self):
+    return self._height
+
+  def _load_fonts(self):
+    font_files = (
+      "Inter-Black.ttf",
+      "Inter-Bold.ttf",
+      "Inter-ExtraBold.ttf",
+      "Inter-ExtraLight.ttf",
+      "Inter-Medium.ttf",
+      "Inter-Regular.ttf",
+      "Inter-SemiBold.ttf",
+      "Inter-Thin.ttf"
+      )
+
+    for index, font_file in enumerate(font_files):
+      font = rl.load_font_ex(os.path.join(FONT_DIR, font_file), 120, None, 0)
+      rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+      self._fonts[index] = font
+
+    rl.gui_set_font(self._fonts[FontWeight.NORMAL])
+
+  def _set_styles(self):
+    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BORDER_WIDTH, 0)
+    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_TEXT_SIZE)
+    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK))
+    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR))
+    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.Color(30, 30, 30, 255)))
+    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255)))
+
+  def _monitor_fps(self):
+    fps = rl.get_fps()
+
+    # Log FPS drop below threshold at regular intervals
+    if fps < self._target_fps * FPS_DROP_THRESHOLD:
+      current_time = time.monotonic()
+      if current_time - self._last_fps_log_time >= FPS_LOG_INTERVAL:
+        cloudlog.warning(f"FPS dropped below {self._target_fps}: {fps}")
+        self._last_fps_log_time = current_time
+
+    # Strict mode: terminate UI if FPS drops too much
+    if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD:
+      cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.")
+      os._exit(1)
+
+
+gui_app = GuiApplication(2160, 1080)

system/ui/lib/button.py

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+import pyray as rl
+from enum import IntEnum
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+
+
+class ButtonStyle(IntEnum):
+  NORMAL = 0  # Most common, neutral buttons
+  PRIMARY = 1  # For main actions
+  DANGER = 2  # For critical actions, like reboot or delete
+  TRANSPARENT = 3  # For buttons with transparent background and border
+
+
+DEFAULT_BUTTON_FONT_SIZE = 60
+BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255)
+BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51)
+
+
+BUTTON_BACKGROUND_COLORS = {
+  ButtonStyle.NORMAL: rl.Color(51, 51, 51, 255),
+  ButtonStyle.PRIMARY: rl.Color(70, 91, 234, 255),
+  ButtonStyle.DANGER: rl.Color(255, 36, 36, 255),
+  ButtonStyle.TRANSPARENT: rl.BLACK,
+}
+
+BUTTON_PRESSED_BACKGROUND_COLORS = {
+  ButtonStyle.NORMAL: rl.Color(74, 74, 74, 255),
+  ButtonStyle.PRIMARY: rl.Color(48, 73, 244, 255),
+  ButtonStyle.DANGER: rl.Color(255, 36, 36, 255),
+  ButtonStyle.TRANSPARENT: rl.BLACK,
+}
+
+
+def gui_button(
+  rect: rl.Rectangle,
+  text: str,
+  font_size: int = DEFAULT_BUTTON_FONT_SIZE,
+  font_weight: FontWeight = FontWeight.MEDIUM,
+  button_style: ButtonStyle = ButtonStyle.NORMAL,
+  is_enabled: bool = True,
+  border_radius: int = 10,  # Corner rounding in pixels
+) -> int:
+  result = 0
+
+  # Set background color based on button type
+  bg_color = BUTTON_BACKGROUND_COLORS[button_style]
+  if is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect):
+    if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      bg_color = BUTTON_PRESSED_BACKGROUND_COLORS[button_style]
+    elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      result = 1
+
+  # Draw the button with rounded corners
+  roundness = border_radius / (min(rect.width, rect.height) / 2)
+  if button_style != ButtonStyle.TRANSPARENT:
+    rl.draw_rectangle_rounded(rect, roundness, 20, bg_color)
+  else:
+    rl.draw_rectangle_rounded(rect, roundness, 20, rl.BLACK)
+    rl.draw_rectangle_rounded_lines_ex(rect, roundness, 20, 2, rl.WHITE)
+
+  font = gui_app.font(font_weight)
+  # Center text in the button
+  text_size = rl.measure_text_ex(font, text, font_size, 0)
+  text_pos = rl.Vector2(
+    rect.x + (rect.width - text_size.x) // 2, rect.y + (rect.height - text_size.y) // 2
+  )
+
+  # Draw the button text
+  text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR
+  rl.draw_text_ex(font, text, text_pos, font_size, 0, text_color)
+
+  return result

system/ui/lib/label.py

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+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR
+from openpilot.system.ui.lib.utils import GuiStyleContext
+
+
+def gui_label(
+  rect: rl.Rectangle,
+  text: str,
+  font_size: int = DEFAULT_TEXT_SIZE,
+  color: rl.Color = DEFAULT_TEXT_COLOR,
+  font_weight: FontWeight = FontWeight.NORMAL,
+  alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE
+):
+  # Set font based on the provided weight
+  font = gui_app.font(font_weight)
+
+  # Measure text size
+  text_size = rl.measure_text_ex(font, text, font_size, 0)
+
+  # Calculate horizontal position based on alignment
+  text_x = rect.x + {
+    rl.GuiTextAlignment.TEXT_ALIGN_LEFT: 0,
+    rl.GuiTextAlignment.TEXT_ALIGN_CENTER: (rect.width - text_size.x) / 2,
+    rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: rect.width - text_size.x,
+  }.get(alignment, 0)
+
+  # Calculate vertical position based on alignment
+  text_y = rect.y + {
+    rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: 0,
+    rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE: (rect.height - text_size.y) / 2,
+    rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: rect.height - text_size.y,
+  }.get(alignment_vertical, 0)
+
+  # Draw the text in the specified rectangle
+  rl.draw_text_ex(font, text, rl.Vector2(text_x, text_y), font_size, 0, color)
+
+
+def gui_text_box(
+  rect: rl.Rectangle,
+  text: str,
+  font_size: int = DEFAULT_TEXT_SIZE,
+  color: rl.Color = DEFAULT_TEXT_COLOR,
+  alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP
+):
+  styles = [
+    (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(color)),
+    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, font_size),
+    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_LINE_SPACING, font_size),
+    (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_ALIGNMENT, alignment),
+    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, alignment_vertical),
+    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD)
+  ]
+
+  with GuiStyleContext(styles):
+    rl.gui_label(rect, text)

system/ui/lib/scroll_panel.py

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+import pyray as rl
+from enum import IntEnum
+
+MOUSE_WHEEL_SCROLL_SPEED = 30
+INERTIA_FRICTION = 0.95  # The rate at which the inertia slows down
+MIN_VELOCITY = 0.1  # Minimum velocity before stopping the inertia
+
+
+class ScrollState(IntEnum):
+  IDLE = 0
+  DRAGGING_CONTENT = 1
+  DRAGGING_SCROLLBAR = 2
+
+
+class GuiScrollPanel:
+  def __init__(self, show_vertical_scroll_bar: bool = False):
+    self._scroll_state: ScrollState = ScrollState.IDLE
+    self._last_mouse_y: float = 0.0
+    self._offset = rl.Vector2(0, 0)
+    self._view = rl.Rectangle(0, 0, 0, 0)
+    self._show_vertical_scroll_bar: bool = show_vertical_scroll_bar
+    self._velocity_y = 0.0  # Velocity for inertia
+
+  def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2:
+    mouse_pos = rl.get_mouse_position()
+
+    # Handle dragging logic
+    if rl.check_collision_point_rec(mouse_pos, bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      if self._scroll_state == ScrollState.IDLE:
+        self._scroll_state = ScrollState.DRAGGING_CONTENT
+        if self._show_vertical_scroll_bar:
+          scrollbar_width = rl.gui_get_style(rl.GuiControl.LISTVIEW, rl.GuiListViewProperty.SCROLLBAR_WIDTH)
+          scrollbar_x = bounds.x + bounds.width - scrollbar_width
+          if mouse_pos.x >= scrollbar_x:
+            self._scroll_state = ScrollState.DRAGGING_SCROLLBAR
+
+        self._last_mouse_y = mouse_pos.y
+        self._velocity_y = 0.0  # Reset velocity when drag starts
+
+    if self._scroll_state != ScrollState.IDLE:
+      if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
+        delta_y = mouse_pos.y - self._last_mouse_y
+
+        if self._scroll_state == ScrollState.DRAGGING_CONTENT:
+          self._offset.y += delta_y
+        else:
+          delta_y = -delta_y
+
+        self._last_mouse_y = mouse_pos.y
+        self._velocity_y = delta_y  # Update velocity during drag
+      else:
+        self._scroll_state = ScrollState.IDLE
+
+    # Handle mouse wheel scrolling
+    wheel_move = rl.get_mouse_wheel_move()
+    if self._show_vertical_scroll_bar:
+      self._offset.y += wheel_move * (MOUSE_WHEEL_SCROLL_SPEED - 20)
+      rl.gui_scroll_panel(bounds, rl.ffi.NULL, content, self._offset, self._view)
+    else:
+      self._offset.y += wheel_move * MOUSE_WHEEL_SCROLL_SPEED
+
+    # Apply inertia (continue scrolling after mouse release)
+    if self._scroll_state == ScrollState.IDLE:
+      self._offset.y += self._velocity_y
+      self._velocity_y *= INERTIA_FRICTION  # Slow down velocity over time
+
+      # Stop scrolling when velocity is low
+      if abs(self._velocity_y) < MIN_VELOCITY:
+        self._velocity_y = 0.0
+
+    # Ensure scrolling doesn't go beyond bounds
+    max_scroll_y = max(content.height - bounds.height, 0)
+    self._offset.y = max(min(self._offset.y, 0), -max_scroll_y)
+
+    return self._offset

system/ui/lib/utils.py

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+import pyray as rl
+
+
+class GuiStyleContext:
+  def __init__(self, styles: list[tuple[int, int, int]]):
+    """styles is a list of tuples (control, prop, new_value)"""
+    self.styles = styles
+    self.prev_styles: list[tuple[int, int, int]] = []
+
+  def __enter__(self):
+    for control, prop, new_value in self.styles:
+      prev_value = rl.gui_get_style(control, prop)
+      self.prev_styles.append((control, prop, prev_value))
+      rl.gui_set_style(control, prop, new_value)
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    for control, prop, prev_value in self.prev_styles:
+      rl.gui_set_style(control, prop, prev_value)

system/ui/reset.py

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+#!/usr/bin/env python3
+import os
+import pyray as rl
+import sys
+import threading
+from enum import IntEnum
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.label import gui_label, gui_text_box
+
+NVME = "/dev/nvme0n1"
+USERDATA = "/dev/disk/by-partlabel/userdata"
+
+
+class ResetMode(IntEnum):
+  USER_RESET = 0  # user initiated a factory reset from openpilot
+  RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
+  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
+
+
+class ResetState(IntEnum):
+  NONE = 0
+  CONFIRM = 1
+  RESETTING = 2
+  FAILED = 3
+
+
+class Reset:
+  def __init__(self, mode):
+    self.mode = mode
+    self.reset_state = ResetState.NONE
+
+  def do_reset(self):
+    # Best effort to wipe NVME
+    os.system(f"sudo umount {NVME}")
+    os.system(f"yes | sudo mkfs.ext4 {NVME}")
+
+    # Removing data and formatting
+    rm = os.system("sudo rm -rf /data/*")
+    os.system(f"sudo umount {USERDATA}")
+    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
+
+    if rm == 0 or fmt == 0:
+      os.system("sudo reboot")
+    else:
+      self.reset_state = ResetState.FAILED
+
+  def start_reset(self):
+    self.reset_state = ResetState.RESETTING
+    threading.Timer(0.1, self.do_reset).start()
+
+  def render(self, rect: rl.Rectangle):
+    label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100)
+    gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
+
+    text_rect = rl.Rectangle(rect.x + 140, rect.y + 140, rect.width - 280, rect.height - 90 - 100)
+    gui_text_box(text_rect, self.get_body_text(), 90)
+
+    button_height = 160
+    button_spacing = 50
+    button_top = rect.y + rect.height - button_height
+    button_width = (rect.width - button_spacing) / 2.0
+
+    if self.reset_state != ResetState.RESETTING:
+      if self.mode == ResetMode.RECOVER or self.reset_state == ResetState.FAILED:
+        if gui_button(rl.Rectangle(rect.x, button_top, button_width, button_height), "Reboot"):
+          os.system("sudo reboot")
+      elif self.mode == ResetMode.USER_RESET:
+        if gui_button(rl.Rectangle(rect.x, button_top, button_width, button_height), "Cancel"):
+          return False
+
+      if self.reset_state != ResetState.FAILED:
+        if gui_button(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height),
+                       "Confirm", button_style=ButtonStyle.PRIMARY):
+          self.confirm()
+
+    return True
+
+  def confirm(self):
+    if self.reset_state == ResetState.CONFIRM:
+      self.start_reset()
+    else:
+      self.reset_state = ResetState.CONFIRM
+
+  def get_body_text(self):
+    if self.reset_state == ResetState.CONFIRM:
+      return "Are you sure you want to reset your device?"
+    if self.reset_state == ResetState.RESETTING:
+      return "Resetting device...\nThis may take up to a minute."
+    if self.reset_state == ResetState.FAILED:
+      return "Reset failed. Reboot to try again."
+    if self.mode == ResetMode.RECOVER:
+      return "Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."
+    return "System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."
+
+
+def main():
+  mode = ResetMode.USER_RESET
+  if len(sys.argv) > 1:
+    if sys.argv[1] == '--recover':
+      mode = ResetMode.RECOVER
+    elif sys.argv[1] == "--format":
+      mode = ResetMode.FORMAT
+
+  gui_app.init_window("System Reset")
+  reset = Reset(mode)
+
+  if mode == ResetMode.FORMAT:
+    reset.start_reset()
+
+  for _ in gui_app.render():
+    if not reset.render(rl.Rectangle(45, 200, gui_app.width - 90, gui_app.height - 245)):
+      break
+
+
+if __name__ == "__main__":
+  main()

system/ui/spinner.py

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+#!/usr/bin/env python3
+import pyray as rl
+import os
+import select
+import sys
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.ui.lib.application import gui_app
+
+# Constants
+PROGRESS_BAR_WIDTH = 1000
+PROGRESS_BAR_HEIGHT = 20
+ROTATION_TIME_SECONDS = 1.0  # Time for one full circle
+MARGIN = 200
+TEXTURE_SIZE = 360
+FONT_SIZE = 80
+
+
+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 ""
+
+
+def main():
+  gui_app.init_window("Spinner")
+
+  # Load textures
+  comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/dragonpilot.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)
+
+
+if __name__ == "__main__":
+  main()

system/ui/text.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+import sys
+import pyray as rl
+
+from openpilot.system.hardware import HARDWARE
+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
+
+MARGIN = 50
+SPACING = 50
+FONT_SIZE = 60
+LINE_HEIGHT = 64
+BUTTON_SIZE = rl.Vector2(310, 160)
+
+DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
+            The text is long enough to demonstrate scrolling and word wrapping.""" * 30
+
+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:
+      lines.append(current_line)
+      current_line = word + " "
+  if current_line:
+    lines.append(current_line)
+
+  return lines
+
+
+def main():
+  gui_app.init_window("Text")
+
+  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:
+        continue
+      rl.draw_text_ex(gui_app.font(), line.strip(), 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()
+
+
+if __name__ == "__main__":
+  main()

system/ui/widgets/confirm_dialog.py

@@ -0,0 +1,62 @@
+import pyray as rl
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.label import gui_text_box
+
+# Constants for dialog dimensions and styling
+DIALOG_WIDTH = 1520
+DIALOG_HEIGHT = 600
+BUTTON_HEIGHT = 160
+MARGIN = 50
+TEXT_AREA_HEIGHT_REDUCTION = 200
+BACKGROUND_COLOR = rl.Color(27, 27, 27, 255)
+
+
+def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_text: str = "Cancel") -> int:
+  # Calculate dialog position and size, centered within the parent rectangle
+  dialog_x = rect.x + (rect.width - DIALOG_WIDTH) / 2
+  dialog_y = rect.y + (rect.height - DIALOG_HEIGHT) / 2
+  dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT)
+
+  # Calculate button positions at the bottom of the dialog
+  bottom = dialog_rect.y + dialog_rect.height
+  button_width = (dialog_rect.width - 3 * MARGIN) // 2
+  no_button_x = dialog_rect.x + MARGIN
+  yes_button_x = dialog_rect.x + dialog_rect.width - button_width - MARGIN
+  button_y = bottom - BUTTON_HEIGHT - MARGIN
+  no_button = rl.Rectangle(no_button_x, button_y, button_width, BUTTON_HEIGHT)
+  yes_button = rl.Rectangle(yes_button_x, button_y, button_width, BUTTON_HEIGHT)
+
+  # Draw the dialog background
+  rl.draw_rectangle(
+    int(dialog_rect.x),
+    int(dialog_rect.y),
+    int(dialog_rect.width),
+    int(dialog_rect.height),
+    BACKGROUND_COLOR,
+  )
+
+  # Draw the message in the dialog, centered
+  text_rect = rl.Rectangle(dialog_rect.x, dialog_rect.y, dialog_rect.width, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION)
+  gui_text_box(
+    text_rect,
+    message,
+    alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+  )
+
+  # Initialize result; -1 means no action taken yet
+  result = -1
+
+  # Check for keyboard input for accessibility
+  if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER):
+    result = 1  # Confirm
+  elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE):
+    result = 0  # Cancel
+
+  # Check for button clicks
+  if gui_button(yes_button, confirm_text, button_style=ButtonStyle.PRIMARY):
+    result = 1  # Confirm
+  if gui_button(no_button, cancel_text):
+    result = 0  # Cancel
+
+  return result

system/ui/widgets/keyboard.py

@@ -0,0 +1,104 @@
+import pyray as rl
+from openpilot.system.ui.lib.button import gui_button
+from openpilot.system.ui.lib.label import gui_label
+
+# Constants for special keys
+BACKSPACE_KEY = "<-"
+ENTER_KEY = "Enter"
+SPACE_KEY = "  "
+SHIFT_KEY = "↑"
+SHIFT_DOWN_KEY = "↓"
+NUMERIC_KEY = "123"
+SYMBOL_KEY = "#+="
+ABC_KEY = "ABC"
+
+# Define keyboard layouts as a dictionary for easier access
+keyboard_layouts = {
+  "lowercase": [
+    ["q", "w", "e", "r", "t", "y", "u", "i", "o", "p"],
+    ["a", "s", "d", "f", "g", "h", "j", "k", "l"],
+    [SHIFT_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY],
+    [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY],
+  ],
+  "uppercase": [
+    ["Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"],
+    ["A", "S", "D", "F", "G", "H", "J", "K", "L"],
+    [SHIFT_DOWN_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY],
+    [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY],
+  ],
+  "numbers": [
+    ["1", "2", "3", "4", "5", "6", "7", "8", "9", "0"],
+    ["-", "/", ":", ";", "(", ")", "$", "&", "@", "\""],
+    [SYMBOL_KEY, ".", ",", "?", "!", "`", BACKSPACE_KEY],
+    [ABC_KEY, SPACE_KEY, ".", ENTER_KEY],
+  ],
+  "specials": [
+    ["[", "]", "{", "}", "#", "%", "^", "*", "+", "="],
+    ["_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"],
+    [NUMERIC_KEY, ".", ",", "?", "!", "'", BACKSPACE_KEY],
+    [ABC_KEY, SPACE_KEY, ".", ENTER_KEY],
+  ],
+}
+
+
+class Keyboard:
+  def __init__(self, max_text_size: int = 255):
+    self._layout = keyboard_layouts["lowercase"]
+    self._input_text = ""
+    self._max_text_size = max_text_size
+
+  @property
+  def text(self) -> str:
+    return self._input_text
+
+  def clear(self):
+    self._input_text = ""
+
+  def render(self, rect, title, sub_title):
+    gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90)
+    gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY)
+    if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"):
+      return -1
+
+    # Text box for input
+    rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._input_text, self._max_text_size, True)
+
+    h_space, v_space = 15, 15
+    row_y_start = rect.y + 300  # Starting Y position for the first row
+    key_height = (rect.height - 300 - 3 * v_space) / 4
+    key_max_width = (rect.width - (len(self._layout[2]) - 1) * h_space) / len(self._layout[2])
+
+    # Iterate over the rows of keys in the current layout
+    for row, keys in enumerate(self._layout):
+      key_width = min((rect.width - (180 if row == 1 else 0) - h_space * (len(keys) - 1)) / len(keys), key_max_width)
+      start_x = rect.x + (90 if row == 1 else 0)
+
+      for i, key in enumerate(keys):
+        if i > 0:
+          start_x += h_space
+
+        new_width = (key_width * 3 + h_space * 2) if key == SPACE_KEY else (key_width * 2 + h_space if key == ENTER_KEY else key_width)
+        key_rect = rl.Rectangle(start_x, row_y_start + row * (key_height + v_space), new_width, key_height)
+        start_x += new_width
+
+        if gui_button(key_rect, key):
+          if key == ENTER_KEY:
+            return 1
+          else:
+            self.handle_key_press(key)
+
+    return 0
+
+  def handle_key_press(self, key):
+    if key in (SHIFT_DOWN_KEY, ABC_KEY):
+      self._layout = keyboard_layouts["lowercase"]
+    elif key == SHIFT_KEY:
+      self._layout = keyboard_layouts["uppercase"]
+    elif key == NUMERIC_KEY:
+      self._layout = keyboard_layouts["numbers"]
+    elif key == SYMBOL_KEY:
+      self._layout = keyboard_layouts["specials"]
+    elif key == BACKSPACE_KEY and len(self._input_text) > 0:
+      self._input_text = self._input_text[:-1]
+    elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size:
+      self._input_text += key