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91 lines
3.1 KiB
91 lines
3.1 KiB
2 days ago
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import pyray as rl
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from enum import IntEnum
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import cereal.messaging as messaging
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from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
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from openpilot.selfdrive.ui.layouts.home import HomeLayout
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from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
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from openpilot.system.ui.lib.widget import Widget
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class MainState(IntEnum):
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HOME = 0
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SETTINGS = 1
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ONROAD = 2
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class MainLayout(Widget):
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def __init__(self):
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super().__init__()
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self._pm = messaging.PubMaster(['userFlag'])
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self._sidebar = Sidebar()
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self._current_mode = MainState.HOME
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self._prev_onroad = False
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# Initialize layouts
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self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
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self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
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self._content_rect = rl.Rectangle(0, 0, 0, 0)
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# Set callbacks
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self._setup_callbacks()
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def _render(self, _):
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self._handle_onroad_transition()
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self._render_main_content()
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def _setup_callbacks(self):
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self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
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on_flag=self._on_flag_clicked)
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self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
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self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
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self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked)
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def _update_layout_rects(self):
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self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
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x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
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self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
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def _handle_onroad_transition(self):
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if ui_state.started != self._prev_onroad:
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self._prev_onroad = ui_state.started
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self._set_mode_for_state()
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def _set_mode_for_state(self):
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if ui_state.started:
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self._current_mode = MainState.ONROAD
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self._sidebar.set_visible(False)
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else:
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self._current_mode = MainState.HOME
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self._sidebar.set_visible(True)
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def open_settings(self, panel_type: PanelType):
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self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
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self._current_mode = MainState.SETTINGS
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self._sidebar.set_visible(False)
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def _on_settings_clicked(self):
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self.open_settings(PanelType.DEVICE)
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def _on_flag_clicked(self):
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user_flag = messaging.new_message('userFlag')
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user_flag.valid = True
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self._pm.send('userFlag', user_flag)
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def _on_onroad_clicked(self):
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self._sidebar.set_visible(not self._sidebar.is_visible)
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def _render_main_content(self):
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# Render sidebar
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if self._sidebar.is_visible:
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self._sidebar.render(self._sidebar_rect)
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content_rect = self._content_rect if self._sidebar.is_visible else self._rect
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self._layouts[self._current_mode].render(content_rect)
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