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Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into hkg-angle-steering-2025

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This commit is contained in:
Jason Wen
2025-12-15 02:25:04 -05:00
parent 6247e3dc84 a1d0f6aa55
commit 4d044d7618
7 changed files with 83 additions and 47 deletions
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.github/workflows/sunnypilot-build-prebuilt.yaml
+6 -15
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@@ -200,37 +200,28 @@ jobs:
sudo rm -rf ${OUTPUT_DIR}
mkdir -p ${OUTPUT_DIR}
rsync -am${RUNNER_DEBUG:+v} \
--include='**/panda/board/' \
--include='**/panda/board/obj' \
--include='**/panda/board/obj/panda.bin.signed' \
--include='**/panda/board/obj/panda_h7.bin.signed' \
--include='**/panda/board/obj/bootstub.panda.bin' \
--include='**/panda/board/obj/bootstub.panda_h7.bin' \
--exclude='.sconsign.dblite' \
--exclude='*.a' \
--exclude='*.o' \
--exclude='*.os' \
--exclude='*.pyc' \
--exclude='moc_*' \
--exclude='*.cc' \
--exclude='__pycache__' \
--exclude='Jenkinsfile' \
--exclude='supercombo.onnx' \
--exclude='**/panda/board/*' \
--exclude='**/panda/board/obj/**' \
--exclude='**/panda/certs/' \
--exclude='**/panda/crypto/' \
--exclude='**/release/' \
--exclude='**/.github/' \
--exclude='**/selfdrive/ui/replay/' \
--exclude='**/__pycache__/' \
--exclude='**/selfdrive/ui/*.h' \
--exclude='**/selfdrive/ui/**/*.h' \
--exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
--exclude='${{env.SCONS_CACHE_DIR}}' \
--exclude='**/.git/' \
--exclude='**/SConstruct' \
--exclude='**/SConscript' \
--exclude='**/.venv/' \
--exclude='selfdrive/modeld/models/driving_vision.onnx' \
--exclude='selfdrive/modeld/models/driving_policy.onnx' \
--exclude='sunnypilot/modeld*/models/supercombo.onnx' \
--exclude='third_party/*x86*' \
--exclude='third_party/*Darwin*' \
--delete-excluded \
--chown=comma:comma \
${BUILD_DIR}/ ${OUTPUT_DIR}/
.github/workflows/tests.yaml
+4 -5
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@@ -115,14 +115,13 @@ jobs:
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
- name: Homebrew cache
uses: ./.github/workflows/auto-cache
if: false # disabling the cache for now because it is breaking macos builds...
with:
save: false # No need save here if we manually save it later conditionally
path: ~/Library/Caches/Homebrew
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
restore-keys: |
brew-macos-${{ env.CACHE_COMMIT_DATE }}
brew-macos
brew-macos-${{ hashFiles('tools/Brewfile') }}
brew-macos-
- name: Install dependencies
run: ./tools/mac_setup.sh
env:
@@ -133,7 +132,7 @@ jobs:
if: github.ref == 'refs/heads/master'
with:
path: ~/Library/Caches/Homebrew
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
- run: git lfs pull
- name: Getting scons cache
uses: ./.github/workflows/auto-cache
selfdrive/ui/sunnypilot/layouts/settings/models.py
+2 -2
View File
@@ -74,7 +74,7 @@ class ModelsLayout(Widget):
self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_WIDTH, None, True,
int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
f" {'km/h' if ui_state.is_metric else 'mph'}")
@@ -86,7 +86,7 @@ class ModelsLayout(Widget):
self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
1, None, True, "", style.BUTTON_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
system/ui/sunnypilot/lib/styles.py
+11 -1
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@@ -28,9 +28,13 @@ class Base:
TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
# Button Control
BUTTON_WIDTH = 300
BUTTON_ACTION_WIDTH = 300
BUTTON_HEIGHT = 120
# Simple Button Control
SIMPLE_BUTTON_WIDTH = 800
SIMPLE_BUTTON_HEIGHT = 150
@dataclass
class DefaultStyleSP(Base):
@@ -81,5 +85,11 @@ class DefaultStyleSP(Base):
BLUE = rl.Color(0, 134, 233, 255)
YELLOW = rl.Color(255, 213, 0, 255)
# Button Colors
BUTTON_ENABLED_OFF = rl.Color(0x39, 0x39, 0x39, 0xFF)
BUTTON_OFF_PRESSED = rl.Color(0x4A, 0x4A, 0x4A, 0xFF)
BUTTON_DISABLED = rl.Color(0x12, 0x12, 0x12, 0xFF)
BUTTON_TEXT_DISABLED = rl.Color(0x5C, 0x5C, 0x5C, 0xFF)
style = DefaultStyleSP
system/ui/sunnypilot/widgets/list_view.py
+44 -7
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@@ -11,6 +11,7 @@ from openpilot.common.params import Params
from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
from openpilot.system.ui.lib.text_measure import measure_text_cached
from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
from openpilot.system.ui.widgets.button import Button, ButtonStyle
from openpilot.system.ui.widgets.label import gui_label
from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
_resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING
@@ -25,8 +26,37 @@ class ToggleActionSP(ToggleAction):
self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)
class ButtonSP(Button):
def _update_state(self):
super()._update_state()
if self.enabled:
if self.is_pressed:
self._background_color = style.BUTTON_OFF_PRESSED
else:
self._background_color = style.BUTTON_ENABLED_OFF
else:
self._background_color = style.BUTTON_DISABLED
self._label.set_text_color(style.BUTTON_TEXT_DISABLED)
class SimpleButtonActionSP(ItemAction):
def __init__(self, button_text: str | Callable[[], str], callback: Callable = None,
enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH):
super().__init__(width=button_width, enabled=enabled)
self.button_action = ButtonSP(button_text, click_callback=callback, button_style=ButtonStyle.NORMAL,
border_radius=20)
def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
super().set_touch_valid_callback(touch_callback)
self.button_action.set_touch_valid_callback(touch_callback)
def _render(self, rect: rl.Rectangle) -> bool | int | None:
self.button_action.set_enabled(self.enabled)
return self.button_action.render(rect)
class ButtonActionSP(ButtonAction):
def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_WIDTH, enabled: bool | Callable[[], bool] = True):
def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH, enabled: bool | Callable[[], bool] = True):
super().__init__(text=text, width=width, enabled=enabled)
self._value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
@@ -165,7 +195,7 @@ class ListItemSP(ListItem):
content_width = item_rect.width - (style.ITEM_PADDING * 2)
title_width = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE).x
right_width = min(content_width - title_width, right_width)
if isinstance(self.action_item, ToggleAction):
if isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP):
action_x = item_rect.x
else:
action_x = item_rect.x + item_rect.width - right_width
@@ -182,14 +212,15 @@ class ListItemSP(ListItem):
content_x = self._rect.x + style.ITEM_PADDING
text_x = content_x
left_action_item = isinstance(self.action_item, ToggleAction)
left_action_item = isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP)
if left_action_item:
item_height = style.SIMPLE_BUTTON_HEIGHT if isinstance(self.action_item, SimpleButtonActionSP) else style.TOGGLE_HEIGHT
left_rect = rl.Rectangle(
content_x,
self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2,
style.TOGGLE_WIDTH,
style.TOGGLE_HEIGHT
self._rect.y + (style.ITEM_BASE_HEIGHT - item_height) // 2,
self.action_item.rect.width,
item_height
)
text_x = left_rect.x + left_rect.width + style.ITEM_PADDING * 1.5
@@ -245,6 +276,12 @@ class ListItemSP(ListItem):
self._html_renderer.render(description_rect)
def simple_button_item_sp(button_text: str | Callable[[], str], callback: Callable | None = None,
enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH) -> ListItemSP:
action = SimpleButtonActionSP(button_text=button_text, enabled=enabled, callback=callback, button_width=button_width)
return ListItemSP(title="", callback=callback, description="", action_item=action)
def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
@@ -252,7 +289,7 @@ def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[
def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]],
selected_index: int = 0, button_width: int = style.BUTTON_WIDTH, callback: Callable = None,
selected_index: int = 0, button_width: int = style.BUTTON_ACTION_WIDTH, callback: Callable = None,
icon: str = "", param: str | None = None, inline: bool = False) -> ListItemSP:
action = MultipleButtonActionSP(buttons, button_width, selected_index, callback=callback, param=param)
return ListItemSP(title=title, description=description, icon=icon, action_item=action, inline=inline)
tools/Brewfile
+15
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@@ -0,0 +1,15 @@
brew "git-lfs"
brew "capnp"
brew "coreutils"
brew "eigen"
brew "ffmpeg"
brew "glfw"
brew "libusb"
brew "libtool"
brew "llvm"
brew "openssl@3.0"
brew "qt@5"
brew "zeromq"
cask "gcc-arm-embedded"
brew "portaudio"
brew "gcc@13"
tools/mac_setup.sh
+1 -17
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@@ -32,23 +32,7 @@ else
brew up
fi
brew bundle --file=- <<-EOS
brew "git-lfs"
brew "capnp"
brew "coreutils"
brew "eigen"
brew "ffmpeg"
brew "glfw"
brew "libusb"
brew "libtool"
brew "llvm"
brew "openssl@3.0"
brew "qt@5"
brew "zeromq"
cask "gcc-arm-embedded"
brew "portaudio"
brew "gcc@13"
EOS
brew bundle --file=$DIR/Brewfile
echo "[ ] finished brew install t=$SECONDS"