From f04ee804529b71c5976fe24fcc0902191befa223 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 10 Oct 2025 03:57:12 -0700 Subject: [PATCH] raylib: implement calibration description (#36300) * this is all cursor * also cursor * inline reset calib * calib desc * way better * huh * clean up * rcvr * stash changes to change params * Revert "stash changes to change params" This reverts commit ee998f04c4235ed20493b83e35c9f28e182d89b0. --- selfdrive/ui/layouts/settings/developer.py | 2 - selfdrive/ui/layouts/settings/device.py | 84 +++++++++++++++++----- system/ui/widgets/confirm_dialog.py | 8 +-- system/ui/widgets/list_view.py | 8 +++ 4 files changed, 80 insertions(+), 22 deletions(-) diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py index 32d278ee9b..d3a829df81 100644 --- a/selfdrive/ui/layouts/settings/developer.py +++ b/selfdrive/ui/layouts/settings/developer.py @@ -70,8 +70,6 @@ class DeveloperLayout(Widget): callback=self._on_alpha_long_enabled, ) - self._alpha_long_toggle.set_description(self._alpha_long_toggle.description + " Changing this setting will restart openpilot if the car is powered on.") - items = [ self._adb_toggle, self._ssh_toggle, diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py index 62abd2b998..758200c0ad 100644 --- a/selfdrive/ui/layouts/settings/device.py +++ b/selfdrive/ui/layouts/settings/device.py @@ -1,8 +1,11 @@ import os import json +import math +from cereal import messaging, log from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog 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 @@ -20,10 +23,7 @@ from openpilot.system.ui.widgets.scroller import Scroller DESCRIPTIONS = { 'pair_device': "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.", 'driver_camera': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)", - 'reset_calibration': ( - "openpilot requires the device to be mounted within 4° left or right and within 5° " + - "up or 9° down. openpilot is continuously calibrating, resetting is rarely required." - ), + 'reset_calibration': "openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.", 'review_guide': "Review the rules, features, and limitations of openpilot", } @@ -49,12 +49,15 @@ class DeviceLayout(Widget): self._pair_device_btn = button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], callback=self._pair_device) self._pair_device_btn.set_visible(lambda: not ui_state.prime_state.is_paired()) + self._reset_calib_btn = button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], callback=self._reset_calibration_prompt) + self._reset_calib_btn.set_description_opened_callback(self._update_calib_description) + items = [ text_item("Dongle ID", dongle_id), text_item("Serial", serial), self._pair_device_btn, button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], callback=self._show_driver_camera, enabled=ui_state.is_offroad), - button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], callback=self._reset_calibration_prompt), + self._reset_calib_btn, button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide), regulatory_btn := button_item("Regulatory", "VIEW", callback=self._on_regulatory), button_item("Change Language", "CHANGE", callback=self._show_language_selection, enabled=ui_state.is_offroad), @@ -95,19 +98,68 @@ class DeviceLayout(Widget): gui_app.set_modal_overlay(alert_dialog("Disengage to Reset Calibration")) return - dialog = ConfirmDialog("Are you sure you want to reset calibration?", "Reset") - gui_app.set_modal_overlay(dialog, callback=self._reset_calibration) + def reset_calibration(result: int): + # Check engaged again in case it changed while the dialog was open + if ui_state.engaged or result != DialogResult.CONFIRM: + return - def _reset_calibration(self, result: int): - if ui_state.engaged or result != DialogResult.CONFIRM: - return + self._params.remove("CalibrationParams") + self._params.remove("LiveTorqueParameters") + self._params.remove("LiveParameters") + self._params.remove("LiveParametersV2") + self._params.remove("LiveDelay") + self._params.put_bool("OnroadCycleRequested", True) + self._update_calib_description() - self._params.remove("CalibrationParams") - self._params.remove("LiveTorqueParameters") - self._params.remove("LiveParameters") - self._params.remove("LiveParametersV2") - self._params.remove("LiveDelay") - self._params.put_bool("OnroadCycleRequested", True) + dialog = ConfirmDialog("Are you sure you want to reset calibration?", "Reset") + gui_app.set_modal_overlay(dialog, callback=reset_calibration) + + def _update_calib_description(self): + desc = DESCRIPTIONS['reset_calibration'] + + calib_bytes = self._params.get("CalibrationParams") + if calib_bytes: + try: + calib = messaging.log_from_bytes(calib_bytes, log.Event).liveCalibration + + if calib.calStatus != log.LiveCalibrationData.Status.uncalibrated: + pitch = math.degrees(calib.rpyCalib[1]) + yaw = math.degrees(calib.rpyCalib[2]) + desc += f" Your device is pointed {abs(pitch):.1f}° {'down' if pitch > 0 else 'up'} and {abs(yaw):.1f}° {'left' if yaw > 0 else 'right'}." + except Exception: + cloudlog.exception("invalid CalibrationParams") + + lag_perc = 0 + lag_bytes = self._params.get("LiveDelay") + if lag_bytes: + try: + lag_perc = messaging.log_from_bytes(lag_bytes, log.Event).liveDelay.calPerc + except Exception: + cloudlog.exception("invalid LiveDelay") + if lag_perc < 100: + desc += f"

Steering lag calibration is {lag_perc}% complete." + else: + desc += "

Steering lag calibration is complete." + + torque_bytes = self._params.get("LiveTorqueParameters") + if torque_bytes: + try: + torque = messaging.log_from_bytes(torque_bytes, log.Event).liveTorqueParameters + # don't add for non-torque cars + if torque.useParams: + torque_perc = torque.calPerc + if torque_perc < 100: + desc += f" Steering torque response calibration is {torque_perc}% complete." + else: + desc += " Steering torque response calibration is complete." + except Exception: + cloudlog.exception("invalid LiveTorqueParameters") + + desc += "

" + desc += ("openpilot is continuously calibrating, resetting is rarely required. " + + "Resetting calibration will restart openpilot if the car is powered on.") + + self._reset_calib_btn.set_description(desc) def _reboot_prompt(self): if ui_state.engaged: diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py index 789ae53f3d..6d3e143b53 100644 --- a/system/ui/widgets/confirm_dialog.py +++ b/system/ui/widgets/confirm_dialog.py @@ -78,12 +78,12 @@ class ConfirmDialog(Widget): self._confirm_button.render(confirm_button) self._cancel_button.render(cancel_button) else: - centered_button_x = dialog_rect.x + (dialog_rect.width - button_width) / 2 - centered_confirm_button = rl.Rectangle(centered_button_x, button_y, button_width, BUTTON_HEIGHT) - self._confirm_button.render(centered_confirm_button) + full_button_width = dialog_rect.width - 2 * MARGIN + full_confirm_button = rl.Rectangle(dialog_rect.x + MARGIN, button_y, full_button_width, BUTTON_HEIGHT) + self._confirm_button.render(full_confirm_button) return self._dialog_result -def alert_dialog(message: str, button_text: str = "OK"): +def alert_dialog(message: str, button_text: str = "Ok"): return ConfirmDialog(message, button_text, cancel_text="") diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py index bbf66c6555..d203ec8139 100644 --- a/system/ui/widgets/list_view.py +++ b/system/ui/widgets/list_view.py @@ -268,6 +268,7 @@ class ListItem(Widget): self._description = description self.description_visible = description_visible self.callback = callback + self.description_opened_callback: Callable | None = None self.action_item = action_item self.set_rect(rl.Rectangle(0, 0, ITEM_BASE_WIDTH, ITEM_BASE_HEIGHT)) @@ -280,6 +281,9 @@ class ListItem(Widget): # Cached properties for performance self._prev_description: str | None = self.description + def set_description_opened_callback(self, callback: Callable) -> None: + self.description_opened_callback = callback + def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: super().set_touch_valid_callback(touch_callback) if self.action_item: @@ -302,6 +306,10 @@ class ListItem(Widget): if self.description: self.description_visible = not self.description_visible + # do callback first in case receiver changes description + if self.description_visible and self.description_opened_callback is not None: + self.description_opened_callback() + content_width = int(self._rect.width - ITEM_PADDING * 2) self._rect.height = self.get_item_height(self._font, content_width)