openpilot v0.11.1 release

date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
2026-06-04 09:50:05 -07:00
commit 6adb63b915
3381 changed files with 1044370 additions and 0 deletions
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+#!/usr/bin/env python3
+import pyray as rl
+import select
+import sys
+
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.text import wrap_text
+from openpilot.system.ui.widgets import Widget
+
+# Constants
+if gui_app.big_ui():
+  PROGRESS_BAR_WIDTH = 1000
+  PROGRESS_BAR_HEIGHT = 20
+  TEXTURE_SIZE = 360
+  WRAPPED_SPACING = 50
+  CENTERED_SPACING = 150
+else:
+  PROGRESS_BAR_WIDTH = 268
+  PROGRESS_BAR_HEIGHT = 10
+  TEXTURE_SIZE = 140
+  WRAPPED_SPACING = 10
+  CENTERED_SPACING = 20
+DEGREES_PER_SECOND = 360.0  # one full rotation per second
+MARGIN_H = 100
+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)
+
+
+class Spinner(Widget):
+  def __init__(self):
+    super().__init__()
+    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] = []
+
+  def set_text(self, text: str) -> None:
+    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, rect: rl.Rectangle):
+    if self._wrapped_lines:
+      # Calculate total height required for spinner and text
+      spacing = WRAPPED_SPACING
+      total_height = TEXTURE_SIZE + spacing + len(self._wrapped_lines) * LINE_HEIGHT
+      center_y = (rect.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
+    else:
+      # Center spinner vertically
+      spacing = CENTERED_SPACING
+      center_y = rect.height / 2.0
+    y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
+
+    center = rl.Vector2(rect.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 self._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 *= self._progress / 100.0
+      rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
+    elif self._wrapped_lines:
+      for i, line in enumerate(self._wrapped_lines):
+        text_size = measure_text_cached(gui_app.font(), line, FONT_SIZE)
+        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)
+
+
+def _read_stdin():
+  """Non-blocking read of available lines from stdin."""
+  lines = []
+  while True:
+    rlist, _, _ = select.select([sys.stdin], [], [], 0.0)
+    if not rlist:
+      break
+    line = sys.stdin.readline().strip()
+    if line == "":
+      break
+    lines.append(line)
+  return lines
+
+
+def main():
+  gui_app.init_window("Spinner")
+  spinner = Spinner()
+  for _ in gui_app.render():
+    text_list = _read_stdin()
+    if text_list:
+      spinner.set_text(text_list[-1])
+
+    spinner.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+
+if __name__ == "__main__":
+  main()