[MICI] ui: always offroad (#1695)

* always offroad ui

* remove

* lint

* better

* fix sync issues

* fix sync issues

* update for upstream sync

* move it all to top settings panel

* not red

* no home screen, just buttons

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

selfdrive/ui/mici/layouts/main.py

@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
 
-
 ONROAD_DELAY = 2.5  # seconds
 
 

selfdrive/ui/sunnypilot/mici/layouts/settings.py

@@ -5,18 +5,32 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
 
 ICON_SIZE = 70
+BIG_ICON_SIZE = 110
 
 
 class SettingsLayoutSP(OP.SettingsLayout):
   def __init__(self):
     OP.SettingsLayout.__init__(self)
 
+    device_panel = DeviceLayoutMici()
+    self._scroller._items[2].set_click_callback(lambda: gui_app.push_widget(device_panel))
+
+    self.icon_offroad_enable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/always_offroad.png", BIG_ICON_SIZE,
+                                               BIG_ICON_SIZE)
+    self.icon_offroad_disable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png", BIG_ICON_SIZE,
+                                                BIG_ICON_SIZE)
+    self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
+
     sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
     sunnylink_btn = BigButton("sunnylink", "", gui_app.texture("icons_mici/settings/developer/ssh.png", ICON_SIZE, ICON_SIZE))
     sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
@@ -25,10 +39,53 @@ class SettingsLayoutSP(OP.SettingsLayout):
     models_btn = BigButton("models", "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
+    # onroad: enable button sits at the front (left of toggles)
+    self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
+    self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
+    self._enable_offroad_btn_onroad.set_visible(lambda: ui_state.started and not ui_state.always_offroad)
+
+    # offroad: enable button sits at the end (right of developer)
+    self._enable_offroad_btn_offroad = BigCircleButton(self.icon_offroad_enable, red=True)
+    self._enable_offroad_btn_offroad.set_click_callback(lambda: self._handle_always_offroad(True))
+    self._enable_offroad_btn_offroad.set_visible(lambda: not ui_state.started and not ui_state.always_offroad)
+
+    self._disable_offroad_btn = BigCircleButton(self.icon_offroad_disable, red=False)
+    self._disable_offroad_btn.set_click_callback(lambda: self._handle_always_offroad(False))
+    self._disable_offroad_btn.set_visible(lambda: ui_state.always_offroad)
+
     items = self._scroller._items.copy()
 
     items.insert(1, sunnylink_btn)
     items.insert(2, models_btn)
+
+    # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
+    items.insert(0, self._enable_offroad_btn_onroad)
+    items.insert(0, self._disable_offroad_btn)
+    # end slot: enable-offroad (right of developer)
+    items.append(self._enable_offroad_btn_offroad)
+
     self._scroller._items.clear()
     for item in items:
       self._scroller.add_widget(item)
+
+  def _update_state(self):
+    super()._update_state()
+
+  def _handle_always_offroad(self, enable: bool):
+
+    def _set_offroad_status(status: bool):
+      if not ui_state.engaged:
+        ui_state.params.put_bool("OffroadMode", status)
+        ui_state.always_offroad = status
+
+    if not enable:
+      dlg = BigConfirmationDialog(tr("slide to exit always offroad"), self.icon_offroad_slider, red=False,
+                                  confirm_callback=lambda: _set_offroad_status(False))
+    else:
+      if ui_state.engaged:
+        gui_app.push_widget(BigDialog(tr("disengage to enable always offroad"), "", ))
+        return
+
+      dlg = BigConfirmationDialog(tr("slide to force offroad"), self.icon_offroad_slider, red=True,
+                                  confirm_callback=lambda: _set_offroad_status(True))
+    gui_app.push_widget(dlg)

selfdrive/ui/sunnypilot/ui_state.py

@@ -146,6 +146,7 @@ class UIStateSP:
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
+    self.always_offroad = self.params.get_bool("OffroadMode")
 
 
 class DeviceSP:

sunnypilot/selfdrive/assets/icons_mici/always_offroad.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e459241d896824f5e8207d568847acab3dedd41caae7af59d4c17e043663b0c9
+size 4035

sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a0fca872d4586f578d246890b83674cdb7ecb03f58b2b0379b4b64a5816053
+size 3908