better toggle

selfdrive/ui/mici/layouts/main.py

@@ -32,7 +32,8 @@ class MiciMainLayout(Scroller):
     self._home_layout = MiciHomeLayout()
     self._alerts_layout = MiciOffroadAlerts()
     self._settings_layout = SettingsLayout()
-    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked,
+                                                radar_tracks_settings_callback=self._settings_layout.open_toggles)
     self._body_onroad_layout = BodyLayout()
 
     # Initialize widget rects

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

@@ -19,9 +19,9 @@ class SettingsLayout(NavScroller):
     super().__init__()
     self._params = Params()
 
-    toggles_panel = TogglesLayoutMici()
+    self._toggles_panel = TogglesLayoutMici()
     toggles_btn = SettingsBigButton("toggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
-    toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))
+    toggles_btn.set_click_callback(lambda: gui_app.push_widget(self._toggles_panel))
 
     network_panel = NetworkLayoutMici()
     network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
@@ -50,3 +50,8 @@ class SettingsLayout(NavScroller):
     ])
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
+
+  def open_toggles(self) -> None:
+    if not gui_app.widget_in_stack(self):
+      gui_app.push_widget(self)
+    gui_app.push_widget(self._toggles_panel)

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -134,9 +134,13 @@ class BookmarkIcon(Widget):
 
 
 class AugmentedRoadView(CameraView):
-  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD,
+               radar_tracks_settings_callback=None):
     super().__init__("camerad", stream_type)
     self._bookmark_callback = bookmark_callback
+    self._radar_tracks_settings_callback = radar_tracks_settings_callback
+    self._radar_tracks_settings_prompt = False
+    self._radar_status_rect = rl.Rectangle()
     self._set_placeholder_color(rl.BLACK)
 
     self.device_camera: DeviceCameraConfig | None = None
@@ -181,10 +185,16 @@ class AugmentedRoadView(CameraView):
     super()._update_state()
 
     if ui_state.sm.updated["liveTracks"]:
-      status = format_radar_tracks_onroad_columns(ui_state.sm["liveTracks"]) if ui_state.sm.valid["liveTracks"] else ("", "none")
+      live_tracks = ui_state.sm["liveTracks"]
+      self._radar_tracks_settings_prompt = bool(live_tracks.radarTracksAvailable and ui_state.hyundai_radar_mode != 2)
+      if self._radar_tracks_settings_prompt:
+        status = ("", "radar tracks detected")
+      else:
+        status = format_radar_tracks_onroad_columns(live_tracks) if ui_state.sm.valid["liveTracks"] else ("", "none")
       self._radar_ranges_label.set_text(status[0])
       self._radar_counts_label.set_text(status[1])
     elif not ui_state.sm.alive["liveTracks"]:
+      self._radar_tracks_settings_prompt = False
       self._radar_ranges_label.set_text("")
       self._radar_counts_label.set_text("none")
 
@@ -197,6 +207,11 @@ class AugmentedRoadView(CameraView):
       self._offroad_label.set_text("start the car to\nuse sunnypilot")
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
+    if (self._radar_tracks_settings_prompt and self._radar_tracks_settings_callback is not None and
+        rl.check_collision_point_rec(mouse_pos, self._radar_status_rect)):
+      self._radar_tracks_settings_callback()
+      return
+
     # Don't trigger click callback if bookmark was triggered
     if not self._bookmark_icon.interacting():
       super()._handle_mouse_release(mouse_pos)
@@ -254,12 +269,13 @@ class AugmentedRoadView(CameraView):
       self._radar_ranges_label.get_content_height(max(radar_range_width, 1)) + 10,
       self._radar_counts_label.get_content_height(radar_count_width) + 10,
     )
-    radar_status_rect = rl.Rectangle(
+    self._radar_status_rect = rl.Rectangle(
       self._content_rect.x + self._content_rect.width - radar_status_width - 12,
       self._content_rect.y + 8,
       radar_status_width,
       radar_status_height,
     )
+    radar_status_rect = self._radar_status_rect
     rl.draw_rectangle_rounded(radar_status_rect, 0.5, 8, rl.Color(0, 0, 0, 170))
     self._radar_ranges_label.render(rl.Rectangle(
       radar_status_rect.x + radar_horizontal_padding,

selfdrive/ui/sunnypilot/ui_state.py

@@ -43,6 +43,7 @@ class UIStateSP:
     self.custom_interactive_timeout: int = 0
     self.developer_ui = None
     self.hide_v_ego_ui: bool = False
+    self.hyundai_radar_mode: int = self.params.get("HyundaiRadar", return_default=True)
     self.onroad_brightness: int = 0
     self.onroad_brightness_timer: int = 0
     self.onroad_brightness_timer_param: int = 0
@@ -151,6 +152,7 @@ class UIStateSP:
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.developer_ui = self.params.get("DevUIInfo")
     self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
+    self.hyundai_radar_mode = self.params.get("HyundaiRadar", return_default=True)
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
     self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
     self.rainbow_path = self.params.get_bool("RainbowMode")