ui: add ExperimentalModeButton to the home layout for toggling between driving modes (#35504)

add ExpermentalModeButton

selfdrive/ui/layouts/home.py

@@ -4,6 +4,7 @@ from collections.abc import Callable
 from enum import IntEnum
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.widgets.offroad_alerts import UpdateAlert, OffroadAlert
+from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButton
 from openpilot.selfdrive.ui.widgets.prime import PrimeWidget
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.label import gui_label
@@ -50,6 +51,7 @@ class HomeLayout(Widget):
 
     self._prime_ad_widget = PrimeWidget()
 
+    self._exp_mode_button = ExperimentalModeButton()
     self._setup_callbacks()
 
   def _setup_callbacks(self):
@@ -176,19 +178,17 @@ class HomeLayout(Widget):
     self._prime_ad_widget.render(self.left_column_rect)
 
   def _render_right_column(self):
-    widget_height = (self.right_column_rect.height - SPACING) // 2
+    exp_height = 125
-
     exp_rect = rl.Rectangle(
-      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, widget_height
+      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, exp_height
     )
-    rl.draw_rectangle_rounded(exp_rect, 0.02, 10, PRIME_BG_COLOR)
+    self._exp_mode_button.render(exp_rect)
-    gui_label(exp_rect, "Experimental Mode", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
 
     setup_rect = rl.Rectangle(
       self.right_column_rect.x,
-      self.right_column_rect.y + widget_height + SPACING,
+      self.right_column_rect.y + exp_height + SPACING,
       self.right_column_rect.width,
-      widget_height,
+      self.right_column_rect.height - exp_height - SPACING,
     )
     rl.draw_rectangle_rounded(setup_rect, 0.02, 10, PRIME_BG_COLOR)
     gui_label(setup_rect, "Setup", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)

selfdrive/ui/widgets/exp_mode_button.py

@@ -0,0 +1,74 @@
+import pyray as rl
+from openpilot.system.ui.lib.application import Widget
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+
+
+class ExperimentalModeButton(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.img_width = 80
+    self.horizontal_padding = 50
+    self.button_height = 125
+
+    self.params = Params()
+    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.is_pressed = False
+
+    self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width)
+    self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
+
+  def _get_gradient_colors(self):
+    alpha = 0xCC if self.is_pressed else 0xFF
+
+    if self.experimental_mode:
+      return rl.Color(255, 155, 63, alpha), rl.Color(219, 56, 34, alpha)
+    else:
+      return rl.Color(20, 255, 171, alpha), rl.Color(35, 149, 255, alpha)
+
+  def _draw_gradient_background(self, rect):
+    start_color, end_color = self._get_gradient_colors()
+    rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height),
+                                start_color, end_color)
+
+  def _handle_interaction(self, rect):
+    mouse_pos = rl.get_mouse_position()
+    mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect)
+
+    self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT)
+    return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT)
+
+  def _render(self, rect):
+    if self._handle_interaction(rect):
+      self.experimental_mode = not self.experimental_mode
+      # TODO: Opening settings for ExperimentalMode
+      self.params.put_bool("ExperimentalMode", self.experimental_mode)
+
+    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))
+
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._draw_gradient_background(rect)
+    rl.end_scissor_mode()
+
+    # Draw vertical separator line
+    line_x = rect.x + rect.width - self.img_width - (2 * self.horizontal_padding)
+    separator_color = rl.Color(0, 0, 0, 77)  # 0x4d = 77
+    rl.draw_line_ex(rl.Vector2(line_x, rect.y), rl.Vector2(line_x, rect.y + rect.height), 3, separator_color)
+
+    # Draw text label (left aligned)
+    text = "EXPERIMENTAL MODE ON" if self.experimental_mode else "CHILL MODE ON"
+    text_x = rect.x + self.horizontal_padding
+    text_y = rect.y + rect.height / 2 - 45//2  # Center vertically
+
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))
+
+    # Draw icon (right aligned)
+    icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
+    icon_y = rect.y + (rect.height - self.img_width) / 2
+    icon_rect = rl.Rectangle(icon_x, icon_y, self.img_width, self.img_width)
+
+    # Draw current mode icon
+    current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
+    source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))