diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 71af57f904..add437b127 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -4,240 +4,24 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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.
"""
-import os
-import re
-import time
-import pyray as rl
-
-from cereal import custom
-from openpilot.common.constants import CV
-from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import DialogResult, Widget
-from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
-from openpilot.system.ui.widgets.list_view import button_item, ButtonAction, ListItem
+from openpilot.common.params import Params
from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets.toggle import ON_COLOR
-
-from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
-from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
-
-
-class NoElide(ButtonAction):
- def get_width_hint(self):
- return super().get_width_hint() + 20
+from openpilot.system.ui.widgets import Widget
class ModelsLayout(Widget):
def __init__(self):
super().__init__()
- self.model_manager = None
- self.download_status = None
- self.prev_download_status = None
- self.model_dialog = None
- self.last_cache_calc_time = 0
- self._initialize_items()
-
- self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
- for ctrl, key, default in [(self.lane_turn_value_control, "LaneTurnValue", "19.0"), (self.delay_control, "LagdToggleDelay", "0.2")]:
- ctrl.action_item.set_value(int(float(ui_state.params.get(key, default)) * 100))
-
- self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+ self._params = Params()
+ items = self._initialize_items()
+ self._scroller = Scroller(items, line_separator=True, spacing=0)
def _initialize_items(self):
- self.current_model_item = ListItem(tr("Current Model"), "", action_item=NoElide(tr("Select"), enabled=True), callback=self._handle_current_model_clicked)
+ items = [
- self.supercombo_label = progress_item(tr("Driving Model"))
- self.vision_label = progress_item(tr("Vision Model"))
- self.policy_label = progress_item(tr("Policy Model"))
-
- self.refresh_item = button_item(tr("Refresh Model List"), tr("Refresh"), "",
- lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
- gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models")))))
-
- self.clear_cache_item = ListItem(tr("Clear Model Cache"), "", action_item=NoElide(tr("Clear"), enabled=True), callback=self._clear_cache)
-
- self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
-
- 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,
- 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'}")
-
- self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
- tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on," +
- " the car will plan a turn in that direction at the nearest drivable path. " +
- "This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
- param="LaneTurnDesire")
-
- 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")
-
- self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
-
- self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
- self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
- self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
-
- def _update_lagd_description(self, lagd_toggle: bool):
- desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
- "Keeping this on provides the stock openpilot experience.")
- if lagd_toggle:
- desc += f"
{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
- elif ui_state.CP:
- sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
- cp = ui_state.CP.steerActuatorDelay
- desc += f"
{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
- self.lagd_toggle.set_description(desc)
-
- def _is_downloading(self):
- return (self.model_manager and self.model_manager.selectedBundle and
- self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
-
- @staticmethod
- def _calculate_cache_size():
- cache_size = 0.0
- if os.path.exists(CUSTOM_MODEL_PATH):
- cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
- return cache_size
-
- def _clear_cache(self):
- def _callback(response):
- if response == DialogResult.CONFIRM:
- ui_state.params.put_bool("ModelManager_ClearCache", True)
- self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-
- gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
- tr("Clear Cache")), callback=_callback)
-
- def _handle_bundle_download_progress(self):
- labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
- custom.ModelManagerSP.Model.Type.vision: self.vision_label,
- custom.ModelManagerSP.Model.Type.policy: self.policy_label}
- for label in labels.values():
- label.set_visible(False)
- self.cancel_download_item.set_visible(False)
-
- if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
- return
-
- bundle = self.model_manager.selectedBundle if self._is_downloading() or (
- self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed
- ) else self.model_manager.activeBundle
- if not bundle:
- return
-
- self.download_status = bundle.status
- status_changed = self.prev_download_status != self.download_status
- self.prev_download_status = self.download_status
-
- self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
-
- if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
- self.last_cache_calc_time = current_time
- self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-
- if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
- device.reset_interactive_timeout()
-
- for model in bundle.models:
- if label := labels.get(getattr(model.type, 'raw', model.type)):
- label.set_visible(True)
- p = model.artifact.downloadProgress
- text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
- if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
- text, show = f"{int(p.progress)}% - {bundle.displayName}", True
- elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
- status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
- text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
- elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
- text, color = f"download failed - {bundle.displayName}", rl.RED
- label.action_item.update(p.progress, text, show, color)
-
- @staticmethod
- def _show_reset_params_dialog():
- def _callback(response):
- if response == DialogResult.CONFIRM:
- ui_state.params.remove("CalibrationParams")
- ui_state.params.remove("LiveTorqueParameters")
- msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
- gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback)
-
- def _on_model_selected(self, result):
- if result != DialogResult.CONFIRM:
- return
- selected_ref = self.model_dialog.selection_ref
- if selected_ref == "Default":
- ui_state.params.remove("ModelManager_ActiveBundle")
- self._show_reset_params_dialog()
- elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
- ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
- if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation:
- self._show_reset_params_dialog()
- self.model_dialog = None
-
- @staticmethod
- def _bundle_to_node(bundle):
- return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName})
-
- def _get_folders(self, favorites):
- bundles = self.model_manager.availableBundles
- folders = {}
- for bundle in bundles:
- folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
-
- folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
- for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
- folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
- name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
- folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles]))
-
- if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]):
- folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
- return folders_list
-
- def _handle_current_model_clicked(self):
- favs = ui_state.params.get("ModelManager_Favs")
- favorites = set(favs.split(';')) if favs else set()
- folders_list = self._get_folders(favorites)
-
- active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
- self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
- get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
- gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected)
-
- def _update_state(self):
- advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
- turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
- live_delay: bool = ui_state.params.get_bool("LagdToggle")
-
- self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
- self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
- self.lagd_toggle.action_item.set_state(live_delay)
- self.delay_control.set_visible(not live_delay and advanced_controls)
- new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
- if self.lane_turn_value_control.action_item.value_change_step != new_step:
- self.lane_turn_value_control.action_item.value_change_step = new_step
-
- self._update_lagd_description(live_delay)
- self.model_manager = ui_state.sm["modelManagerSP"]
- self._handle_bundle_download_progress()
- active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else "Default Model"
- self.current_model_item.action_item.set_value(active_name)
-
- if not ui_state.is_offroad():
- self.current_model_item.action_item.set_enabled(False)
- self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
- else:
- self.current_model_item.action_item.set_enabled(True)
- self.current_model_item.set_description("")
+ ]
+ return items
def _render(self, rect):
self._scroller.render(rect)