move onroad/driving stuff from system/ui to selfdrive/ui (#35425)

* mv system/ui/onroad->selfdrive/ui/onroad

* mv ui_state

* fix import path

* fix imports

* mv cameraview

* remove from application

selfdrive/ui/onroad/alert_renderer.py

@@ -5,7 +5,7 @@ from cereal import messaging, log
 from openpilot.system.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.label import gui_text_box
-from openpilot.system.ui.lib.ui_state import ui_state
+from openpilot.selfdrive.ui.ui_state import ui_state
 
 
 ALERT_MARGIN = 40

selfdrive/ui/onroad/augmented_road_view.py

@@ -3,12 +3,12 @@ import pyray as rl
 
 from cereal import log
 from msgq.visionipc import VisionStreamType
-from openpilot.system.ui.lib.ui_state import ui_state, UIStatus, UI_BORDER_SIZE
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, UI_BORDER_SIZE
-from openpilot.system.ui.onroad.alert_renderer import AlertRenderer
+from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer
-from openpilot.system.ui.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
-from openpilot.system.ui.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
-from openpilot.system.ui.onroad.model_renderer import ModelRenderer
+from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
-from openpilot.system.ui.widgets.cameraview import CameraView
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
@@ -175,6 +175,7 @@ if __name__ == "__main__":
   print("***press space to switch camera view***")
   try:
     for _ in gui_app.render():
+      ui_state.update()
       if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
         is_wide = road_camera_view.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD
         road_camera_view.switch_stream(VisionStreamType.VISION_STREAM_ROAD if is_wide else VisionStreamType.VISION_STREAM_WIDE_ROAD)

selfdrive/ui/onroad/driver_camera_view.py

@@ -1,11 +1,11 @@
 import numpy as np
 import pyray as rl
 from cereal import messaging
-from openpilot.system.ui.widgets.cameraview import CameraView
 from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.label import gui_label
-from openpilot.system.ui.onroad.driver_state import DriverStateRenderer
 
 
 class DriverCameraView(CameraView):

selfdrive/ui/onroad/driver_state.py

@@ -1,8 +1,8 @@
 import numpy as np
 import pyray as rl
 from dataclasses import dataclass
+from openpilot.selfdrive.ui.ui_state import ui_state, UI_BORDER_SIZE
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.ui_state import ui_state, UI_BORDER_SIZE
 
 
 # Default 3D coordinates for face keypoints as a NumPy array

selfdrive/ui/onroad/hud_renderer.py

@@ -1,7 +1,7 @@
 import pyray as rl
 from dataclasses import dataclass
 from cereal.messaging import SubMaster
-from openpilot.system.ui.lib.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.common.conversions import Conversions as CV
 

selfdrive/ui/onroad/model_renderer.py

@@ -4,8 +4,8 @@ import pyray as rl
 from cereal import messaging, car
 from dataclasses import dataclass, field
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import DEFAULT_FPS
-from openpilot.system.ui.lib.ui_state import ui_state
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
 
 

system/ui/lib/application.py

@@ -36,16 +36,6 @@ class FontWeight(IntEnum):
   BLACK = 8
 
 
-def _get_ui_state():
-  """Safely import and return ui_state, or None if unavailable."""
-  try:
-    from openpilot.system.ui.lib.ui_state import ui_state
-
-    return ui_state
-  except ImportError:
-    return None
-
-
 class GuiApplication:
   def __init__(self, width: int, height: int):
     self._fonts: dict[FontWeight, rl.Font] = {}
@@ -149,7 +139,6 @@ class GuiApplication:
     rl.close_window()
 
   def render(self):
-    ui_state = _get_ui_state()
     try:
       while not (self._window_close_requested or rl.window_should_close()):
         if self._render_texture:
@@ -159,9 +148,6 @@ class GuiApplication:
           rl.begin_drawing()
           rl.clear_background(rl.BLACK)
 
-        if ui_state is not None:
-          ui_state.update()
-
         yield
 
         if self._render_texture:
@@ -206,7 +192,7 @@ class GuiApplication:
 
     # Create a character set from our keyboard layouts
     from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS
-    from openpilot.system.ui.onroad.hud_renderer import CRUISE_DISABLED_CHAR
+    from openpilot.selfdrive.ui.onroad.hud_renderer import CRUISE_DISABLED_CHAR
     all_chars = set()
     for layout in KEYBOARD_LAYOUTS.values():
       all_chars.update(key for row in layout for key in row)