raylib: fix lost onroad tap events (#36211)

* debug

* see it's good to have abstraction

* clean up

* fine

* wtf do you mean mypy? how can you not coerce this?

selfdrive/ui/layouts/main.py

@@ -50,7 +50,7 @@ class MainLayout(Widget):
                                 on_flag=self._on_bookmark_clicked)
     self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
     self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
-    self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked)
+    self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
     device.add_interactive_timeout_callback(self._set_mode_for_state)
 
   def _update_layout_rects(self):

selfdrive/ui/onroad/augmented_road_view.py

@@ -1,6 +1,5 @@
 import numpy as np
 import pyray as rl
-from collections.abc import Callable
 from cereal import log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, UI_BORDER_SIZE
@@ -49,12 +48,6 @@ class AugmentedRoadView(CameraView):
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
 
-    # Callbacks
-    self._click_callback: Callable | None = None
-
-  def set_callbacks(self, on_click: Callable | None = None):
-    self._click_callback = on_click
-
   def _render(self, rect):
     # Only render when system is started to avoid invalid data access
     if not ui_state.started:
@@ -100,13 +93,12 @@ class AugmentedRoadView(CameraView):
     # End clipping region
     rl.end_scissor_mode()
 
-    # Handle click events if no HUD interaction occurred
+  def _handle_mouse_press(self, _):
-    if not self._hud_renderer.handle_mouse_event():
+    if not self._hud_renderer.user_interacting() and self._click_callback is not None:
-      if self._click_callback is not None and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      self._click_callback()
-        if rl.check_collision_point_rec(rl.get_mouse_position(), self._content_rect):
-          self._click_callback()
 
   def _handle_mouse_release(self, _):
+    # We only call click callback on press if not interacting with HUD
     pass
 
   def _draw_border(self, rect: rl.Rectangle):

selfdrive/ui/onroad/exp_button.py

@@ -32,26 +32,21 @@ class ExpButton(Widget):
     self._experimental_mode = selfdrive_state.experimentalMode
     self._engageable = selfdrive_state.engageable or selfdrive_state.enabled
 
-  def handle_mouse_event(self) -> bool:
+  def _handle_mouse_release(self, _):
-    if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect):
+    super()._handle_mouse_release(_)
-      if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+    if self._is_toggle_allowed():
-          self._is_toggle_allowed()):
+      new_mode = not self._experimental_mode
-        new_mode = not self._experimental_mode
+      self._params.put_bool("ExperimentalMode", new_mode)
-        self._params.put_bool("ExperimentalMode", new_mode)
+
-
+      # Hold new state temporarily
-        # Hold new state temporarily
+      self._held_mode = new_mode
-        self._held_mode = new_mode
+      self._hold_end_time = time.monotonic() + self._hold_duration
-        self._hold_end_time = time.monotonic() + self._hold_duration
-      return True
-    return False
 
   def _render(self, rect: rl.Rectangle) -> None:
     center_x = int(self._rect.x + self._rect.width // 2)
     center_y = int(self._rect.y + self._rect.height // 2)
 
-    mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect)
+    self._white_color.a = 180 if self.is_pressed or not self._engageable else 255
-    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
-    self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
     rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)

selfdrive/ui/onroad/hud_renderer.py

@@ -69,7 +69,7 @@ class HudRenderer(Widget):
     self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
     self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
 
-    self._exp_button = ExpButton(UI_CONFIG.button_size, UI_CONFIG.wheel_icon_size)
+    self._exp_button: ExpButton = ExpButton(UI_CONFIG.button_size, UI_CONFIG.wheel_icon_size)
 
   def _update_state(self) -> None:
     """Update HUD state based on car state and controls state."""
@@ -120,8 +120,8 @@ class HudRenderer(Widget):
     button_y = rect.y + UI_CONFIG.border_size
     self._exp_button.render(rl.Rectangle(button_x, button_y, UI_CONFIG.button_size, UI_CONFIG.button_size))
 
-  def handle_mouse_event(self) -> bool:
+  def user_interacting(self) -> bool:
-    return bool(self._exp_button.handle_mouse_event())
+    return self._exp_button.is_pressed
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""

system/ui/widgets/__init__.py

@@ -96,6 +96,7 @@ class Widget(abc.ABC):
         # Allows touch to leave the rect and come back in focus if mouse did not release
         if mouse_event.left_pressed and self._touch_valid():
           if rl.check_collision_point_rec(mouse_event.pos, self._rect):
+            self._handle_mouse_press(mouse_event.pos)
             self.__is_pressed[mouse_event.slot] = True
             self.__tracking_is_pressed[mouse_event.slot] = True
 
@@ -131,6 +132,10 @@ class Widget(abc.ABC):
   def _update_layout_rects(self) -> None:
     """Optionally update any layout rects on Widget rect change."""
 
+  def _handle_mouse_press(self, mouse_pos: MousePos) -> bool:
+    """Optionally handle mouse press events."""
+    return False
+
   def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
     """Optionally handle mouse release events."""
     if self._click_callback: