BigUI StarPilot Layer + AOL + Personality Buttons

selfdrive/ui/layouts/main.py

@@ -6,7 +6,7 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
 from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
-from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
+from openpilot.selfdrive.ui.onroad.starpilot.starpilot_onroad_view import StarPilotOnroadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
@@ -29,7 +29,7 @@ class MainLayout(Widget):
     self._prev_onroad = False
 
     # Initialize layouts
-    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: StarPilotOnroadView()}
 
     self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
     self._content_rect = rl.Rectangle(0, 0, 0, 0)

selfdrive/ui/onroad/starpilot/personality_button.py

@@ -0,0 +1,63 @@
+import pyray as rl
+from cereal import log
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+BTN_SIZE = 192
+ICON_SIZE = 144
+PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
+
+
+class PersonalityButton(Widget):
+  def __init__(self):
+    super().__init__()
+    self._params_memory = Params(memory=True)
+
+    self._personality: int = 1  # default: standard
+    self._traffic_mode: bool = False
+
+    # 0=traffic, 1=aggressive, 2=standard, 3=relaxed
+    self._icons = [
+      gui_app.starpilot_texture("stock_theme/distance_icons/traffic.png", ICON_SIZE, ICON_SIZE),
+      gui_app.starpilot_texture("stock_theme/distance_icons/aggressive.png", ICON_SIZE, ICON_SIZE),
+      gui_app.starpilot_texture("stock_theme/distance_icons/standard.png", ICON_SIZE, ICON_SIZE),
+      gui_app.starpilot_texture("stock_theme/distance_icons/relaxed.png", ICON_SIZE, ICON_SIZE),
+    ]
+
+    self._rect = rl.Rectangle(0, 0, BTN_SIZE, BTN_SIZE)
+
+    self._black_bg = rl.Color(0, 0, 0, 0)
+    self._white = rl.Color(255, 255, 255, 255)
+
+    self.set_visible(lambda: ui_state.started and ui_state.has_longitudinal_control)
+
+  @property
+  def is_interacting(self) -> bool:
+    return self.is_pressed
+
+  def _update_state(self):
+    sm = ui_state.sm
+    if sm.valid.get("selfdriveState", False):
+      self._personality = PERSONALITY_TO_INT[sm["selfdriveState"].personality]
+    self._traffic_mode = ui_state.traffic_mode_enabled
+
+  def _handle_mouse_press(self, _):
+    self._params_memory.put_bool("OnroadDistanceButtonPressed", True)
+
+  def _handle_mouse_release(self, _):
+    self._params_memory.put_bool("OnroadDistanceButtonPressed", False)
+
+  def _render(self, rect: rl.Rectangle):
+    center_x = int(self._rect.x + self._rect.width / 2)
+    center_y = int(self._rect.y + self._rect.height / 2)
+
+    opacity = 180 if self.is_pressed else 255
+    self._white.a = opacity
+
+    icon_idx = 0 if self._traffic_mode else min(self._personality + 1, len(self._icons) - 1)
+    icon = self._icons[icon_idx]
+
+    rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
+    rl.draw_texture(icon, center_x - icon.width // 2, center_y - icon.height // 2, self._white)

selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py

@@ -0,0 +1,61 @@
+import pyray as rl
+from msgq.visionipc import VisionStreamType
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui import UI_BORDER_SIZE
+from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView, BORDER_COLORS
+from openpilot.selfdrive.ui.onroad.starpilot.personality_button import PersonalityButton, BTN_SIZE
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+
+AOL_COLOR = rl.Color(10, 186, 181, 255)
+
+
+class StarPilotOnroadView(AugmentedRoadView):
+  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+    super().__init__(stream_type)
+    self._params = Params()
+
+    self._personality_button = PersonalityButton()
+
+  def _render(self, rect: rl.Rectangle):
+    super()._render(rect)
+
+    if not ui_state.started:
+      return
+
+    self._render_overlays()
+
+  def _render_overlays(self):
+    self._position_personality_button()
+    self._personality_button.render()
+
+  def _position_personality_button(self):
+    dm = self.driver_state_renderer
+    toggle_on = self._params.get_bool("OnroadDistanceButton")
+
+    if not dm.is_visible or not toggle_on:
+      self._personality_button.set_visible(False)
+      return
+
+    self._personality_button.set_visible(
+      lambda: ui_state.started and ui_state.has_longitudinal_control
+    )
+
+    y = dm.position_y - BTN_SIZE / 2
+    if dm.is_rhd:
+      x = dm.position_x - BTN_SIZE * 2
+    else:
+      x = dm.position_x + BTN_SIZE
+
+    self._personality_button.set_position(x, y)
+
+  def _draw_border(self, rect: rl.Rectangle):
+    rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, rl.BLACK)
+    border_rect = rl.Rectangle(rect.x + UI_BORDER_SIZE, rect.y + UI_BORDER_SIZE,
+                                rect.width - 2 * UI_BORDER_SIZE, rect.height - 2 * UI_BORDER_SIZE)
+    border_color = AOL_COLOR if ui_state.always_on_lateral_active else BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED])
+    rl.draw_rectangle_rounded_lines_ex(border_rect, 0.12, 10, UI_BORDER_SIZE, border_color)
+
+  def _handle_mouse_press(self, _):
+    if self._personality_button.is_interacting:
+      return
+    super()._handle_mouse_press(_)