sunnylink: gate steering arc toggle on MICI (#2085)

sunnylink-hide-steering-arc-mici

openpilot/selfdrive/ui/layouts/main.py

@@ -10,7 +10,6 @@ from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
 from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.trip_summary import TripSummary
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
@@ -32,7 +31,6 @@ class MainLayout(Widget):
     self._sidebar = Sidebar()
     self._current_mode = MainState.HOME
     self._prev_onroad = False
-    self._trip_summary = TripSummary()
 
     # Initialize layouts
     self._home_layout = HomeLayout()

openpilot/selfdrive/ui/mici/layouts/main.py

@@ -10,7 +10,6 @@ from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.selfdrive.ui.sunnypilot.layouts.trip_summary import TripSummary
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
@@ -58,7 +57,6 @@ class MiciMainLayout(Scroller):
     self._setup_callbacks()
 
     gui_app.add_nav_stack_tick(self._handle_transitions)
-    self._trip_summary = TripSummary()
     gui_app.push_widget(self)
 
     # Start onboarding if terms or training not completed, make sure to push after self

openpilot/selfdrive/ui/sunnypilot/layouts/trip_summary.py

@@ -1,188 +0,0 @@
-"""
-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 time
-import pyray as rl
-
-from openpilot.common.constants import CV
-from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
-from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets import Widget
-
-MIN_DISTANCE = 160.
-AUTO_DISMISS = 20.
-FADE_IN, FADE_OUT = 0.35, 0.3
-LAT = (UIStatus.ENGAGED, UIStatus.LAT_ONLY)
-LONG = (UIStatus.ENGAGED, UIStatus.LONG_ONLY)
-
-
-class TripTracker:
-  def __init__(self):
-    self.reset()
-
-  def reset(self):
-    self.segments: list[list] = []
-    self.seconds = 0.
-    self.takeovers = 0
-    self._t = None
-    self._status = None
-
-  def update(self):
-    now = time.monotonic()
-    if not ui_state.started:
-      self._t = None
-      return
-    dt = 0. if self._t is None else min(now - self._t, 0.5)
-    self._t = now
-    self.seconds += dt
-    if self._status not in (None, UIStatus.DISENGAGED) and ui_state.status == UIStatus.DISENGAGED:
-      self.takeovers += 1
-    self._status = ui_state.status
-    d = max(ui_state.sm["carState"].vEgo, 0.) * dt
-    if d <= 0.:
-      return
-    if self.segments and self.segments[-1][0] == ui_state.status:
-      self.segments[-1][1] += d
-    else:
-      self.segments.append([ui_state.status, d])
-
-  def total(self, statuses=None) -> float:
-    return sum(m for s, m in self.segments if statuses is None or s in statuses)
-
-
-class TripSummary:
-  def __init__(self):
-    self._trip = TripTracker()
-    self._dialog: TripSummaryDialog | None = None
-    self._started = False
-    gui_app.add_nav_stack_tick(self._tick)
-
-  def _tick(self):
-    self._trip.update()
-    if ui_state.started == self._started:
-      return
-    self._started = ui_state.started
-
-    self._pop()
-    if not ui_state.started and not ui_state.is_body and self._trip.total() >= MIN_DISTANCE:
-      self._dialog = TripSummaryDialog(self._trip, gui_app.get_active_widget(), self._pop)
-      gui_app.push_widget(self._dialog)
-    self._trip.reset()
-
-  def _pop(self):
-    if self._dialog is not None and gui_app.get_active_widget() is self._dialog:
-      gui_app.pop_widget()
-    self._dialog = None
-
-
-def _ease(t: float) -> float:
-  t = min(max(t, 0.), 1.)
-  return 1 - (1 - t) ** 3
-
-
-def _fade(c, a: float) -> rl.Color:
-  r, g, b, al = c if isinstance(c, tuple) else (c.r, c.g, c.b, c.a)
-  return rl.Color(r, g, b, int(al * a))
-
-
-class TripSummaryDialog(Widget):
-  def __init__(self, trip: TripTracker, below: Widget | None, on_closed):
-    super().__init__()
-    self._below = below
-    self._on_closed = on_closed
-    self._segments = segments = trip.segments
-    total = sum(m for _, m in segments)
-
-    def pct(statuses):
-      return 100 * sum(m for s, m in segments if s in statuses) / total
-
-    dist = total * (CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH) / 3600
-    dist_fmt = "{:.1f}" if dist < 9.95 else "{:.0f}"
-    self._stats = [
-      (dist, dist_fmt, "km" if ui_state.is_metric else "mi", "driven"),
-      (pct(LAT + LONG), "{:.0f}", "%", "engaged"),
-      (pct(LAT), "{:.0f}", "%", "lateral"),
-      (pct(LONG), "{:.0f}", "%", "longitudinal"),
-    ]
-    mins = round(trip.seconds / 60)
-    self._details = [
-      (f"{mins // 60}h {mins % 60}" if mins >= 60 else f"{mins}", "min"),
-      (f"{trip.takeovers}", "takeover" if trip.takeovers == 1 else "takeovers"),
-    ]
-    self._bold = gui_app.font(FontWeight.BOLD)
-    self._semi = gui_app.font(FontWeight.SEMI_BOLD)
-    self._normal = gui_app.font(FontWeight.NORMAL)
-    self._big = gui_app.big_ui()
-    self._shown_t = rl.get_time()
-    self._closing_t: float | None = None
-    self.set_click_callback(self.close)
-
-  def close(self):
-    if self._closing_t is None:
-      self._closing_t = rl.get_time()
-
-  def _render(self, rect: rl.Rectangle):
-    t = rl.get_time() - self._shown_t
-    if self._closing_t is None and t > AUTO_DISMISS:
-      self.close()
-    out = 0. if self._closing_t is None else (rl.get_time() - self._closing_t) / FADE_OUT
-    if out >= 1.:
-      self._on_closed()
-      return
-    bg = 1 - _ease(out)
-    a = _ease(t / FADE_IN) * bg
-
-    if self._big and self._below is not None and bg < 1.:
-      self._below.render(rect)
-    rl.draw_rectangle_rec(rect, _fade(rl.BLACK, bg))
-
-    k = rect.height / 1080 * (1.0 if self._big else 1.22)
-    pad = 120 * k
-    x, w = rect.x + pad, rect.width - 2 * pad
-    y = rect.y + (rect.height - 850 * k) / 2
-
-    rl.draw_text_ex(self._bold, "trip summary", rl.Vector2(x, y), int(150 * k), 0, _fade(rl.WHITE, a))
-    y += 260 * k
-
-    col_w = w / len(self._stats)
-    for i, (target, fmt, unit, label) in enumerate(self._stats):
-      cx = x + col_w * (i + 0.5)
-      v = measure_text_cached(self._bold, fmt.format(target), int(170 * k))
-      u = measure_text_cached(self._semi, unit, int(80 * k))
-      vx = cx - (v.x + 10 * k + u.x) / 2
-      rl.draw_text_ex(self._bold, fmt.format(target), rl.Vector2(vx, y), int(170 * k), 0, _fade(rl.WHITE, a))
-      rl.draw_text_ex(self._semi, unit, rl.Vector2(vx + v.x + 10 * k, y + 75 * k), int(80 * k), 0, _fade(rl.WHITE, a))
-      lb = measure_text_cached(self._normal, label, int(70 * k))
-      rl.draw_text_ex(self._normal, label, rl.Vector2(cx - lb.x / 2, y + 180 * k), int(70 * k), 0, _fade(rl.Color(200, 200, 200, 255), a))
-    y += 330 * k
-
-    bar = rl.Rectangle(x, y, w, 90 * k)
-    total = sum(m for _, m in self._segments)
-    sx = bar.x
-    for status, m in self._segments:
-      sw = bar.width * m / total
-      rl.draw_rectangle_rec(rl.Rectangle(sx, bar.y, min(sw + 1, bar.x + bar.width - sx), bar.height), _fade(BORDER_COLORS[status], a))
-      sx += sw
-    rl.draw_rectangle_rounded_lines_ex(bar, 1.0, 20, 30 * k, _fade(rl.BLACK, a))
-
-    y += (90 + 70) * k
-
-    size = int(70 * k)
-    parts = []
-    for i, (value, unit) in enumerate(self._details):
-      if i:
-        parts.append(("     ", self._normal, None))
-      parts += [(value, self._bold, rl.WHITE), (" " + unit, self._normal, rl.Color(170, 170, 170, 255))]
-    widths = [measure_text_cached(f, t, size).x for t, f, _ in parts]
-    lx = x + (w - sum(widths)) / 2
-    for (text, font, color), tw in zip(parts, widths, strict=True):
-      if color is None:
-        rl.draw_circle(int(lx + tw / 2), int(y + 40 * k), 7 * k, _fade(rl.Color(110, 110, 110, 255), a))
-      else:
-        rl.draw_text_ex(font, text, rl.Vector2(lx, y), size, 0, _fade(color, a))
-      lx += tw

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -1349,7 +1349,17 @@
               "key": "TorqueBar",
               "widget": "toggle",
               "title": "Steering Arc",
-              "description": "Display steering arc on the driving screen when lateral control is enabled."
+              "description": "Display steering arc on the driving screen when lateral control is enabled.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ]
             },
             {
               "key": "ShowTurnSignals",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml

@@ -20,6 +20,8 @@ sections:
     widget: toggle
     title: Steering Arc
     description: Display steering arc on the driving screen when lateral control is enabled.
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
   - key: ShowTurnSignals
     widget: toggle
     title: Display Turn Signals