import os import threading import pyray as rl from enum import IntEnum from collections.abc import Callable from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.time_helpers import system_time_valid from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.multilang import tr from openpilot.system.ui.widgets import Widget from openpilot.selfdrive.ui.ui_state import device, ui_state from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID class ReviewTermsPage(TermsPage, NavScroller): """TermsPage with NavWidget swipe-to-dismiss for reviewing in device settings.""" def __init__(self): super().__init__(on_accept=self.dismiss, on_decline=self.dismiss) self._terms_header.set_visible(False) self._must_accept_card.set_visible(False) self._accept_button.set_visible(False) self._decline_button.set_visible(False) class ReviewTrainingGuide(TrainingGuide): def show_event(self): super().show_event() device.set_override_interactive_timeout(300) def hide_event(self): super().hide_event() device.set_override_interactive_timeout(None) ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False) class MiciFccModal(NavRawScrollPanel): def __init__(self, file_path: str | None = None, text: str | None = None): super().__init__() self._content = HtmlRenderer(file_path=file_path, text=text) self._fcc_logo = gui_app.texture("icons_mici/settings/device/fcc_logo.png", 76, 64) def _render(self, rect: rl.Rectangle): content_height = self._content.get_total_height(int(rect.width)) content_height += self._fcc_logo.height + 20 scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height) scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height)) fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset) scroll_content_rect.y += scroll_offset + self._fcc_logo.height + 20 self._content.render(scroll_content_rect) rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE) def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False): if not ui_state.engaged: def confirm_callback(): # Check engaged again in case it changed while the dialog was open # TODO: if true, we stay on the dialog if not exit_on_confirm until normal onroad timeout if not ui_state.engaged: callback() gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red)) else: gui_app.push_widget(BigDialog("", f"Disengage to {action_text}")) class EngagedConfirmationCircleButton(BigCircleButton): def __init__(self, title: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True, red: bool = False, icon_offset: tuple[int, int] = (0, 0)): super().__init__(icon, red, icon_offset) self.set_click_callback(lambda: _engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red)) class EngagedConfirmationButton(BigButton): def __init__(self, text: str, action_text: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True, red: bool = False): super().__init__(text, "", icon) self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red)) class DeviceInfoLayoutMici(Widget): def __init__(self): super().__init__() self.set_rect(rl.Rectangle(0, 0, 360, 180)) params = Params() subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)) max_width = int(self._rect.width - 20) self._dongle_id_label = UnifiedLabel("device ID", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False) self._dongle_id_text_label = UnifiedLabel(params.get("DongleId") or 'N/A', 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, wrap_text=False) self._serial_number_label = UnifiedLabel("serial", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False) self._serial_number_text_label = UnifiedLabel(params.get("HardwareSerial") or 'N/A', 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, wrap_text=False) def _render(self, _): self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10) self._dongle_id_label.render() self._dongle_id_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25) self._dongle_id_text_label.render() self._serial_number_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30) self._serial_number_label.render() self._serial_number_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25) self._serial_number_text_label.render() class UpdaterState(IntEnum): IDLE = 0 WAITING_FOR_UPDATER = 1 UPDATER_RESPONDING = 2 class PairBigButton(BigButton): def __init__(self): super().__init__("pair", "connect.comma.ai", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60)) def _get_label_font_size(self): return 64 def _update_state(self): super()._update_state() if ui_state.prime_state.is_paired(): self.set_text("paired") if ui_state.prime_state.is_prime(): self.set_value("subscribed") else: self.set_value("upgrade to prime") else: self.set_text("pair") self.set_value("connect.comma.ai") def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) # TODO: show ad dialog when clicked if not prime if ui_state.prime_state.is_paired(): return dlg: BigDialog | PairingDialog if not system_time_valid(): dlg = BigDialog("", tr("Please connect to Wi-Fi to complete initial pairing.")) elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID): dlg = BigDialog("", tr("Device must be registered with the comma.ai backend to pair.")) else: dlg = PairingDialog() gui_app.push_widget(dlg) UPDATER_TIMEOUT = 10.0 # seconds to wait for updater to respond class UpdateOpenpilotBigButton(BigButton): def __init__(self): self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75) self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70) self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64) super().__init__("update sunnypilot", "", self._txt_update_icon) self._waiting_for_updater_t: float | None = None self._hide_value_t: float | None = None self._state: UpdaterState = UpdaterState.IDLE ui_state.add_offroad_transition_callback(self.offroad_transition) def offroad_transition(self): if ui_state.is_offroad(): self.set_enabled(True) def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) if not system_time_valid(): dlg = BigDialog("", tr("Please connect to Wi-Fi to update.")) gui_app.push_widget(dlg) return self.set_enabled(False) self._state = UpdaterState.WAITING_FOR_UPDATER self.set_icon(self._txt_update_icon) def run(): if self.get_value() == "download update": os.system("pkill -SIGHUP -f system.updated.updated") elif self.get_value() == "update now": ui_state.params.put_bool("DoReboot", True) else: os.system("pkill -SIGUSR1 -f system.updated.updated") threading.Thread(target=run, daemon=True).start() def set_value(self, value: str): super().set_value(value) if value: self.set_text("") else: self.set_text("update sunnypilot") def _update_state(self): super()._update_state() if ui_state.started: self.set_enabled(False) return updater_state = ui_state.params.get("UpdaterState") or "" failed_count = ui_state.params.get("UpdateFailedCount") failed = False if failed_count is None else int(failed_count) > 0 if ui_state.params.get_bool("UpdateAvailable"): self.set_rotate_icon(False) self.set_enabled(True) if self.get_value() != "update now": self.set_value("update now") self.set_icon(self._txt_reboot_icon) elif self._state == UpdaterState.WAITING_FOR_UPDATER: self.set_rotate_icon(True) if updater_state != "idle": self._state = UpdaterState.UPDATER_RESPONDING # Recover from updater not responding (time invalid shortly after boot) if self._waiting_for_updater_t is None: self._waiting_for_updater_t = rl.get_time() if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT: self.set_rotate_icon(False) self.set_value("updater failed\nto respond") self._state = UpdaterState.IDLE self._hide_value_t = rl.get_time() elif self._state == UpdaterState.UPDATER_RESPONDING: if updater_state == "idle": self.set_rotate_icon(False) self._state = UpdaterState.IDLE self._hide_value_t = rl.get_time() else: if self.get_value() != updater_state: self.set_value(updater_state) elif self._state == UpdaterState.IDLE: self.set_rotate_icon(False) if failed: if self.get_value() != "failed to update": self.set_value("failed to update") elif ui_state.params.get_bool("UpdaterFetchAvailable"): self.set_enabled(True) if self.get_value() != "download update": self.set_value("download update") elif self._hide_value_t is not None: self.set_enabled(True) if self.get_value() == "checking...": self.set_value("up to date") self.set_icon(self._txt_up_to_date_icon) # Hide previous text after short amount of time (up to date or failed) if rl.get_time() - self._hide_value_t > 3.0: self._hide_value_t = None self.set_value("") self.set_icon(self._txt_update_icon) else: if self.get_value() != "": self.set_value("") if self._state != UpdaterState.WAITING_FOR_UPDATER: self._waiting_for_updater_t = None class DeviceLayoutMici(NavScroller): def __init__(self): super().__init__() self._fcc_dialog: HtmlModal | None = None def power_off_callback(): ui_state.params.put_bool("DoShutdown", True) def reboot_callback(): ui_state.params.put_bool("DoReboot", True) def reset_calibration_callback(): params = ui_state.params params.remove("CalibrationParams") params.remove("LiveTorqueParameters") params.remove("LiveParameters") params.remove("LiveParametersV2") params.remove("LiveDelay") params.put_bool("OnroadCycleRequested", True) def uninstall_openpilot_callback(): ui_state.params.put_bool("DoUninstall", True) reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64), reset_calibration_callback) uninstall_openpilot_btn = EngagedConfirmationButton("uninstall sunnypilot", "uninstall", gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64), uninstall_openpilot_callback, exit_on_confirm=False) reboot_btn = EngagedConfirmationCircleButton("reboot", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70), reboot_callback, exit_on_confirm=False) self._power_off_btn = EngagedConfirmationCircleButton("power off", gui_app.texture("icons_mici/settings/device/power.png", 64, 66), power_off_callback, exit_on_confirm=False, red=True) self._power_off_btn.set_visible(lambda: not ui_state.ignition) regulatory_btn = BigButton("regulatory info", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64)) regulatory_btn.set_click_callback(self._on_regulatory) driver_cam_btn = BigButton("driver\ncamera preview", "", gui_app.texture("icons_mici/settings/device/cameras.png", 64, 64)) driver_cam_btn.set_click_callback(lambda: gui_app.push_widget(DriverCameraDialog())) driver_cam_btn.set_enabled(lambda: ui_state.is_offroad()) review_training_guide_btn = BigButton("review\ntraining guide", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64)) review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self)))) review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad()) terms_btn = BigButton("terms &\nconditions", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64)) terms_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTermsPage())) self._scroller.add_widgets([ DeviceInfoLayoutMici(), UpdateOpenpilotBigButton(), PairBigButton(), review_training_guide_btn, driver_cam_btn, terms_btn, regulatory_btn, reset_calibration_btn, uninstall_openpilot_btn, reboot_btn, self._power_off_btn, ]) def _on_regulatory(self): if not self._fcc_dialog: self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html")) gui_app.push_widget(self._fcc_dialog)