From ae8076e729b5e293b11b07055c80acdcc4282f64 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 05:51:56 +0800 Subject: [PATCH] selfdrive/ui: add experimental mode toggle button with visual indicator (#35439) add experimental mode toggle button with visual indicator --- selfdrive/ui/onroad/hud_renderer.py | 55 ++++++++++++++++++++++++----- 1 file changed, 47 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index ed0b7cc974..c2482771de 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -4,6 +4,7 @@ from cereal.messaging import SubMaster 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 +from openpilot.common.params import Params # Constants SET_SPEED_NA = 255 @@ -61,8 +62,17 @@ class HudRenderer: self.set_speed: float = SET_SPEED_NA self.speed: float = 0.0 self.v_ego_cluster_seen: bool = False + self._experimental_mode: bool = False + self._engageable: bool = False + self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {} + + self._white_color: rl.Color = rl.Color(255, 255, 255, 255) self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) + self._experimental_texture: rl.Texture = gui_app.texture('icons/experimental.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) + self._wheel_rect: rl.Rectangle = rl.Rectangle(0, 0, UI_CONFIG.button_size, UI_CONFIG.button_size) + self._params = Params() + self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD) self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD) self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM) @@ -94,9 +104,15 @@ class HudRenderer: speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH self.speed = max(0.0, v_ego * speed_conversion) + selfdrive_state = sm["selfdriveState"] + self._experimental_mode = selfdrive_state.experimentalMode + self._engageable = selfdrive_state.engageable or selfdrive_state.enabled + def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None: """Render HUD elements to the screen.""" self._update_state(sm) + + # Draw the header background rl.draw_rectangle_gradient_v( int(rect.x), int(rect.y), @@ -110,7 +126,17 @@ class HudRenderer: self._draw_set_speed(rect) self._draw_current_speed(rect) - self._draw_wheel_icon(rect) + + self._wheel_rect.x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size + self._wheel_rect.y = rect.y + UI_CONFIG.border_size + self._handle_click() + self._draw_wheel_icon() + + def _handle_click(self) -> None: + if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and + rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)): + if self._experimental_toggle_allowed(): + self._params.putBool("ExperimentalMode", not self._experimental_mode) def _draw_set_speed(self, rect: rl.Rectangle) -> None: """Draw the MAX speed indicator box.""" @@ -167,15 +193,18 @@ class HudRenderer: unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2) rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent) - def _draw_wheel_icon(self, rect: rl.Rectangle) -> None: + def _draw_wheel_icon(self) -> None: """Draw the steering wheel icon with status-based opacity.""" - center_x = int(rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size / 2) - center_y = int(rect.y + UI_CONFIG.border_size + UI_CONFIG.button_size / 2) - rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent) + center_x = int(self._wheel_rect.x + self._wheel_rect.width // 2) + center_y = int(self._wheel_rect.y + self._wheel_rect.height // 2) + + mouse_down = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and + rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)) + self._white_color.a = 180 if (mouse_down or not self._engageable) else 255 + texture = self._experimental_texture if self._experimental_mode else self._wheel_texture - opacity = 0.7 if ui_state.status == UIStatus.DISENGAGED else 1.0 - img_pos = rl.Vector2(center_x - self._wheel_texture.width / 2, center_y - self._wheel_texture.height / 2) - rl.draw_texture_v(self._wheel_texture, img_pos, rl.Color(255, 255, 255, int(255 * opacity))) + rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent) + rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color) def _measure_text(self, text: str, font: rl.Font, font_size: int, font_type: str) -> rl.Vector2: """Measure text dimensions with caching.""" @@ -183,3 +212,13 @@ class HudRenderer: if key not in self.font_metrics_cache: self.font_metrics_cache[key] = rl.measure_text_ex(font, text, font_size, 0) return self.font_metrics_cache[key] + + def _experimental_toggle_allowed(self): + if not self._params.get_bool("ExperimentalModeConfirmed"): + return False + + car_params = ui_state.sm["carParams"] + if car_params.alphaLongitudinalAvailable: + return self._params.get_bool("AlphaLongitudinalEnabled") + else: + return car_params.openpilotLongitudinalControl