raylib: training guide (#36224)

* fix regulatory

* debug slow loading

* easy gather step coords

* gotcha

* and fix

* dm option

* fix final

* fixes

* progress bar!

* "vibe coding is great"

* wtf gpt5

* jfc

* hand crafted >> vibe

* it's slow so only load images if we're doing any kind of training

* tf

* format

* clean up

* clean up

* no float

* cmt

* more clean up

* clean up

* eww

* rm

* no debug

* match y

* clean that up

* here too

* windows

selfdrive/ui/layouts/main.py

@@ -8,6 +8,7 @@ from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, Pan
 from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
 
 
 ONROAD_FPS = 20
@@ -41,6 +42,11 @@ class MainLayout(Widget):
     # Set callbacks
     self._setup_callbacks()
 
+    # Start onboarding if terms or training not completed
+    self._onboarding_window = OnboardingWindow()
+    if not self._onboarding_window.completed:
+      gui_app.set_modal_overlay(self._onboarding_window)
+
   def _render(self, _):
     self._handle_onroad_transition()
     self._render_main_content()

selfdrive/ui/layouts/onboarding.py

@@ -0,0 +1,197 @@
+import os
+import re
+from enum import IntEnum
+
+import pyray as rl
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import Label, TextAlignment
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+DEBUG = False
+
+STEP_RECTS = [rl.Rectangle(104, 800, 633, 175), rl.Rectangle(1835, 0, 2159, 1080), rl.Rectangle(1835, 0, 2156, 1080),
+              rl.Rectangle(1526, 473, 427, 472), rl.Rectangle(1643, 441, 217, 223), rl.Rectangle(1835, 0, 2155, 1080),
+              rl.Rectangle(1786, 591, 267, 236), rl.Rectangle(1353, 0, 804, 1080), rl.Rectangle(1458, 485, 633, 211),
+              rl.Rectangle(95, 794, 1158, 187), rl.Rectangle(1560, 170, 392, 397), rl.Rectangle(1835, 0, 2159, 1080),
+              rl.Rectangle(1351, 0, 807, 1080), rl.Rectangle(1835, 0, 2158, 1080), rl.Rectangle(1531, 82, 441, 920),
+              rl.Rectangle(1336, 438, 490, 393), rl.Rectangle(1835, 0, 2159, 1080), rl.Rectangle(1835, 0, 2159, 1080),
+              rl.Rectangle(87, 795, 1187, 186)]
+
+DM_RECORD_STEP = 9
+DM_RECORD_YES_RECT = rl.Rectangle(695, 794, 558, 187)
+
+RESTART_TRAINING_RECT = rl.Rectangle(87, 795, 472, 186)
+
+
+class OnboardingState(IntEnum):
+  TERMS = 0
+  ONBOARDING = 1
+  DECLINE = 2
+
+
+class TrainingGuide(Widget):
+  def __init__(self, completed_callback=None):
+    super().__init__()
+    self._completed_callback = completed_callback
+
+    self._step = 0
+    self._load_images()
+
+  def _load_images(self):
+    self._images = []
+    paths = [fn for fn in os.listdir(os.path.join(BASEDIR, "selfdrive/assets/training")) if re.match(r'^step\d*\.png$', fn)]
+    paths = sorted(paths, key=lambda x: int(re.search(r'\d+', x).group()))
+    for fn in paths:
+      path = os.path.join(BASEDIR, "selfdrive/assets/training", fn)
+      self._images.append(gui_app.texture(path, gui_app.width, gui_app.height))
+
+  def _handle_mouse_release(self, mouse_pos):
+    if rl.check_collision_point_rec(mouse_pos, STEP_RECTS[self._step]):
+      # Record DM camera?
+      if self._step == DM_RECORD_STEP:
+        yes = rl.check_collision_point_rec(mouse_pos, DM_RECORD_YES_RECT)
+        print(f"putting RecordFront to {yes}")
+        ui_state.params.put_bool("RecordFront", yes)
+
+      # Restart training?
+      elif self._step == len(self._images) - 1:
+        if rl.check_collision_point_rec(mouse_pos, RESTART_TRAINING_RECT):
+          self._step = -1
+
+      self._step += 1
+
+      # Finished?
+      if self._step >= len(self._images):
+        self._step = 0
+        if self._completed_callback:
+          self._completed_callback()
+
+  def _render(self, _):
+    rl.draw_texture(self._images[self._step], 0, 0, rl.WHITE)
+
+    # progress bar
+    if 0 < self._step < len(STEP_RECTS) - 1:
+      h = 20
+      w = int((self._step / (len(STEP_RECTS) - 1)) * self._rect.width)
+      rl.draw_rectangle(int(self._rect.x), int(self._rect.y + self._rect.height - h),
+                        w, h, rl.Color(70, 91, 234, 255))
+
+    if DEBUG:
+      rl.draw_rectangle_lines_ex(STEP_RECTS[self._step], 3, rl.RED)
+
+    return -1
+
+
+class TermsPage(Widget):
+  def __init__(self, on_accept=None, on_decline=None):
+    super().__init__()
+    self._on_accept = on_accept
+    self._on_decline = on_decline
+
+    self._title = Label("Welcome to openpilot", font_size=90, font_weight=FontWeight.BOLD, text_alignment=TextAlignment.LEFT)
+    self._desc = Label("You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing.",
+                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
+
+    self._decline_btn = Button("Decline", click_callback=on_decline)
+    self._accept_btn = Button("Agree", button_style=ButtonStyle.PRIMARY, click_callback=on_accept)
+
+  def _render(self, _):
+    welcome_x = self._rect.x + 165
+    welcome_y = self._rect.y + 165
+    welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90)
+    self._title.render(welcome_rect)
+
+    desc_x = welcome_x
+    # TODO: Label doesn't top align when wrapping
+    desc_y = welcome_y - 100
+    desc_rect = rl.Rectangle(desc_x, desc_y, self._rect.width - desc_x, self._rect.height - desc_y - 250)
+    self._desc.render(desc_rect)
+
+    btn_y = self._rect.y + self._rect.height - 160 - 45
+    btn_width = (self._rect.width - 45 * 3) / 2
+    self._decline_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+    self._accept_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+    if DEBUG:
+      rl.draw_rectangle_lines_ex(welcome_rect, 3, rl.RED)
+      rl.draw_rectangle_lines_ex(desc_rect, 3, rl.RED)
+
+    return -1
+
+
+class DeclinePage(Widget):
+  def __init__(self, back_callback=None):
+    super().__init__()
+    self._text = Label("You must accept the Terms and Conditions in order to use openpilot.",
+                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
+    self._back_btn = Button("Back", click_callback=back_callback)
+    self._uninstall_btn = Button("Decline, uninstall openpilot", button_style=ButtonStyle.DANGER,
+                                 click_callback=self._on_uninstall_clicked)
+
+  def _on_uninstall_clicked(self):
+    ui_state.params.put_bool("DoUninstall", True)
+    gui_app.request_close()
+
+  def _render(self, _):
+    btn_y = self._rect.y + self._rect.height - 160 - 45
+    btn_width = (self._rect.width - 45 * 3) / 2
+    self._back_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+    self._uninstall_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+    # text rect in middle of top and button
+    text_height = btn_y - (200 + 45)
+    text_rect = rl.Rectangle(self._rect.x + 165, self._rect.y + (btn_y - text_height) / 2 + 10, self._rect.width - (165 * 2), text_height)
+    if DEBUG:
+      rl.draw_rectangle_lines_ex(text_rect, 3, rl.RED)
+    self._text.render(text_rect)
+
+
+class OnboardingWindow(Widget):
+  def __init__(self):
+    super().__init__()
+    self._current_terms_version = ui_state.params.get("TermsVersion")
+    self._current_training_version = ui_state.params.get("TrainingVersion")
+    self._accepted_terms: bool = ui_state.params.get("HasAcceptedTerms") == self._current_terms_version
+    self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == self._current_training_version
+
+    self._state = OnboardingState.TERMS if not self._accepted_terms else OnboardingState.ONBOARDING
+
+    # Windows
+    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_terms_declined)
+    self._training_guide: TrainingGuide | None = None
+    self._decline_page = DeclinePage(back_callback=self._on_decline_back)
+
+  @property
+  def completed(self) -> bool:
+    return self._accepted_terms and self._training_done
+
+  def _on_terms_declined(self):
+    self._state = OnboardingState.DECLINE
+
+  def _on_decline_back(self):
+    self._state = OnboardingState.TERMS
+
+  def _on_terms_accepted(self):
+    ui_state.params.put("HasAcceptedTerms", self._current_terms_version)
+    self._state = OnboardingState.ONBOARDING
+    if self._training_done:
+      gui_app.set_modal_overlay(None)
+
+  def _on_completed_training(self):
+    ui_state.params.put("CompletedTrainingVersion", self._current_training_version)
+    gui_app.set_modal_overlay(None)
+
+  def _render(self, _):
+    if self._training_guide is None:
+      self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
+
+    if self._state == OnboardingState.TERMS:
+      self._terms.render(self._rect)
+    if self._state == OnboardingState.ONBOARDING:
+      self._training_guide.render(self._rect)
+    elif self._state == OnboardingState.DECLINE:
+      self._decline_page.render(self._rect)
+    return -1

selfdrive/ui/layouts/settings/device.py

@@ -5,6 +5,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.onboarding import TrainingGuide
 from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
 from openpilot.system.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app
@@ -36,6 +37,7 @@ class DeviceLayout(Widget):
     self._driver_camera: DriverCameraDialog | None = None
     self._pair_device_dialog: PairingDialog | None = None
     self._fcc_dialog: HtmlRenderer | None = None
+    self._training_guide: TrainingGuide | None = None
 
     items = self._initialize_items()
     self._scroller = Scroller(items, line_separator=True, spacing=0)
@@ -145,9 +147,11 @@ class DeviceLayout(Widget):
   def _on_regulatory(self):
     if not self._fcc_dialog:
       self._fcc_dialog = HtmlRenderer(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
-
+    gui_app.set_modal_overlay(self._fcc_dialog, callback=lambda result: setattr(self, '_fcc_dialog', None))
-    gui_app.set_modal_overlay(self._fcc_dialog,
+
-      callback=lambda result: setattr(self, '_fcc_dialog', None),
+  def _on_review_training_guide(self):
-    )
+    if not self._training_guide:
-
+      def completed_callback():
-  def _on_review_training_guide(self): pass
+        gui_app.set_modal_overlay(None)
+      self._training_guide = TrainingGuide(completed_callback=completed_callback)
+    gui_app.set_modal_overlay(self._training_guide)