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410 lines
13 KiB
410 lines
13 KiB
import atexit
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import cffi
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import os
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import time
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import pyray as rl
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import threading
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from collections.abc import Callable
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from collections import deque
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from dataclasses import dataclass
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from enum import IntEnum
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from typing import NamedTuple
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from importlib.resources import as_file, files
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from openpilot.common.swaglog import cloudlog
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from openpilot.system.hardware import HARDWARE, PC
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from openpilot.common.realtime import Ratekeeper
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DEFAULT_FPS = int(os.getenv("FPS", "60"))
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FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops
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FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning
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FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions
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MOUSE_THREAD_RATE = 140 # touch controller runs at 140Hz
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ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1"
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SHOW_FPS = os.getenv("SHOW_FPS") == "1"
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SHOW_TOUCHES = os.getenv("SHOW_TOUCHES") == "1"
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STRICT_MODE = os.getenv("STRICT_MODE") == "1"
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SCALE = float(os.getenv("SCALE", "1.0"))
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DEFAULT_TEXT_SIZE = 60
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DEFAULT_TEXT_COLOR = rl.WHITE
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ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets")
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FONT_DIR = ASSETS_DIR.joinpath("fonts")
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class FontWeight(IntEnum):
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THIN = 0
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EXTRA_LIGHT = 1
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LIGHT = 2
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NORMAL = 3
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MEDIUM = 4
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SEMI_BOLD = 5
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BOLD = 6
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EXTRA_BOLD = 7
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BLACK = 8
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@dataclass
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class ModalOverlay:
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overlay: object = None
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callback: Callable | None = None
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class MousePos(NamedTuple):
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x: float
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y: float
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class MouseEvent(NamedTuple):
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pos: MousePos
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left_pressed: bool
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left_released: bool
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left_down: bool
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t: float
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class MouseState:
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def __init__(self):
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self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list
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self._prev_mouse_event: MouseEvent | None = None
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self._rk = Ratekeeper(MOUSE_THREAD_RATE)
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self._lock = threading.Lock()
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self._exit_event = threading.Event()
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self._thread = None
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def get_events(self) -> list[MouseEvent]:
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with self._lock:
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events = list(self._events)
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self._events.clear()
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return events
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def start(self):
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self._exit_event.clear()
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if self._thread is None or not self._thread.is_alive():
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self._thread = threading.Thread(target=self._run_thread, daemon=True)
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self._thread.start()
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def stop(self):
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self._exit_event.set()
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if self._thread is not None and self._thread.is_alive():
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self._thread.join()
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def _run_thread(self):
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while not self._exit_event.is_set():
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rl.poll_input_events()
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self._handle_mouse_event()
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self._rk.keep_time()
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def _handle_mouse_event(self):
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mouse_pos = rl.get_mouse_position()
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ev = MouseEvent(
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MousePos(mouse_pos.x, mouse_pos.y),
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rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT),
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rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT),
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rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT),
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time.monotonic(),
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)
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# Only add changes
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if self._prev_mouse_event is None or ev[:-1] != self._prev_mouse_event[:-1]:
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with self._lock:
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self._events.append(ev)
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self._prev_mouse_event = ev
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class GuiApplication:
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def __init__(self, width: int, height: int):
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self._fonts: dict[FontWeight, rl.Font] = {}
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self._width = width
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self._height = height
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self._scale = SCALE
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self._scaled_width = int(self._width * self._scale)
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self._scaled_height = int(self._height * self._scale)
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self._render_texture: rl.RenderTexture | None = None
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self._textures: dict[str, rl.Texture] = {}
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self._target_fps: int = DEFAULT_FPS
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self._last_fps_log_time: float = time.monotonic()
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self._window_close_requested = False
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self._trace_log_callback = None
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self._modal_overlay = ModalOverlay()
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self._mouse = MouseState()
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self._mouse_events: list[MouseEvent] = []
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# Debug variables
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self._mouse_history: deque[MousePos] = deque(maxlen=MOUSE_THREAD_RATE)
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def request_close(self):
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self._window_close_requested = True
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def init_window(self, title: str, fps: int = DEFAULT_FPS):
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atexit.register(self.close) # Automatically call close() on exit
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HARDWARE.set_display_power(True)
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HARDWARE.set_screen_brightness(65)
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self._set_log_callback()
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rl.set_trace_log_level(rl.TraceLogLevel.LOG_ALL)
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flags = rl.ConfigFlags.FLAG_MSAA_4X_HINT
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if ENABLE_VSYNC:
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flags |= rl.ConfigFlags.FLAG_VSYNC_HINT
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rl.set_config_flags(flags)
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rl.init_window(self._scaled_width, self._scaled_height, title)
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if self._scale != 1.0:
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rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
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self._render_texture = rl.load_render_texture(self._width, self._height)
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rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
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rl.set_target_fps(fps)
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self._target_fps = fps
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self._set_styles()
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self._load_fonts()
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if not PC:
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self._mouse.start()
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def set_modal_overlay(self, overlay, callback: Callable | None = None):
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self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback)
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def texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
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cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
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if cache_key in self._textures:
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return self._textures[cache_key]
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with as_file(ASSETS_DIR.joinpath(asset_path)) as fspath:
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texture_obj = self._load_texture_from_image(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
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self._textures[cache_key] = texture_obj
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return texture_obj
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def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
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"""Load and resize a texture, storing it for later automatic unloading."""
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image = rl.load_image(image_path)
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if alpha_premultiply:
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rl.image_alpha_premultiply(image)
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# Resize with aspect ratio preservation if requested
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if keep_aspect_ratio:
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orig_width = image.width
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orig_height = image.height
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scale_width = width / orig_width
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scale_height = height / orig_height
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# Calculate new dimensions
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scale = min(scale_width, scale_height)
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new_width = int(orig_width * scale)
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new_height = int(orig_height * scale)
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rl.image_resize(image, new_width, new_height)
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else:
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rl.image_resize(image, width, height)
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texture = rl.load_texture_from_image(image)
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# Set texture filtering to smooth the result
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rl.set_texture_filter(texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
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rl.unload_image(image)
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return texture
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def close(self):
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if not rl.is_window_ready():
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return
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for texture in self._textures.values():
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rl.unload_texture(texture)
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self._textures = {}
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for font in self._fonts.values():
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rl.unload_font(font)
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self._fonts = {}
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if self._render_texture is not None:
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rl.unload_render_texture(self._render_texture)
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self._render_texture = None
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if not PC:
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self._mouse.stop()
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rl.close_window()
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@property
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def mouse_events(self) -> list[MouseEvent]:
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return self._mouse_events
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def render(self):
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try:
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while not (self._window_close_requested or rl.window_should_close()):
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if PC:
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# Thread is not used on PC, need to manually add mouse events
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self._mouse._handle_mouse_event()
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# Store all mouse events for the current frame
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self._mouse_events = self._mouse.get_events()
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if self._render_texture:
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rl.begin_texture_mode(self._render_texture)
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rl.clear_background(rl.BLACK)
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else:
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rl.begin_drawing()
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rl.clear_background(rl.BLACK)
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# Handle modal overlay rendering and input processing
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if self._modal_overlay.overlay:
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if hasattr(self._modal_overlay.overlay, 'render'):
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result = self._modal_overlay.overlay.render(rl.Rectangle(0, 0, self.width, self.height))
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elif callable(self._modal_overlay.overlay):
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result = self._modal_overlay.overlay()
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else:
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raise Exception
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if result >= 0:
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# Execute callback with the result and clear the overlay
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if self._modal_overlay.callback is not None:
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self._modal_overlay.callback(result)
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self._modal_overlay = ModalOverlay()
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else:
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yield
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if self._render_texture:
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rl.end_texture_mode()
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rl.begin_drawing()
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rl.clear_background(rl.BLACK)
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src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height))
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dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height))
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rl.draw_texture_pro(self._render_texture.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
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if SHOW_FPS:
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rl.draw_fps(10, 10)
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if SHOW_TOUCHES:
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for mouse_event in self._mouse_events:
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if mouse_event.left_pressed:
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self._mouse_history.clear()
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self._mouse_history.append(mouse_event.pos)
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if self._mouse_history:
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mouse_pos = self._mouse_history[-1]
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rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 15, rl.RED)
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for idx, mouse_pos in enumerate(self._mouse_history):
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perc = idx / len(self._mouse_history)
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color = rl.Color(min(int(255 * (1.5 - perc)), 255), int(min(255 * (perc + 0.5), 255)), 50, 255)
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rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 5, color)
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rl.end_drawing()
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self._monitor_fps()
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except KeyboardInterrupt:
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pass
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def font(self, font_weight: FontWeight = FontWeight.NORMAL):
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return self._fonts[font_weight]
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@property
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def width(self):
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return self._width
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@property
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def height(self):
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return self._height
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def _load_fonts(self):
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font_files = (
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"Inter-Thin.ttf",
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"Inter-ExtraLight.ttf",
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"Inter-Light.ttf",
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"Inter-Regular.ttf",
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"Inter-Medium.ttf",
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"Inter-SemiBold.ttf",
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"Inter-Bold.ttf",
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"Inter-ExtraBold.ttf",
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"Inter-Black.ttf",
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)
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# Create a character set from our keyboard layouts
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from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS
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all_chars = set()
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for layout in KEYBOARD_LAYOUTS.values():
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all_chars.update(key for row in layout for key in row)
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all_chars = "".join(all_chars)
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all_chars += "–✓°"
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codepoint_count = rl.ffi.new("int *", 1)
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codepoints = rl.load_codepoints(all_chars, codepoint_count)
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for index, font_file in enumerate(font_files):
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with as_file(FONT_DIR.joinpath(font_file)) as fspath:
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font = rl.load_font_ex(fspath.as_posix(), 200, codepoints, codepoint_count[0])
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rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
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self._fonts[index] = font
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rl.unload_codepoints(codepoints)
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rl.gui_set_font(self._fonts[FontWeight.NORMAL])
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def _set_styles(self):
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BORDER_WIDTH, 0)
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_TEXT_SIZE)
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK))
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR))
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255)))
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def _set_log_callback(self):
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ffi_libc = cffi.FFI()
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ffi_libc.cdef("""
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int vasprintf(char **strp, const char *fmt, void *ap);
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void free(void *ptr);
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""")
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libc = ffi_libc.dlopen(None)
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@rl.ffi.callback("void(int, char *, void *)")
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def trace_log_callback(log_level, text, args):
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try:
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text_addr = int(rl.ffi.cast("uintptr_t", text))
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args_addr = int(rl.ffi.cast("uintptr_t", args))
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text_libc = ffi_libc.cast("char *", text_addr)
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args_libc = ffi_libc.cast("void *", args_addr)
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out = ffi_libc.new("char **")
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if libc.vasprintf(out, text_libc, args_libc) >= 0 and out[0] != ffi_libc.NULL:
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text_str = ffi_libc.string(out[0]).decode("utf-8", "replace")
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libc.free(out[0])
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else:
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text_str = rl.ffi.string(text).decode("utf-8", "replace")
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except Exception as e:
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text_str = f"[Log decode error: {e}]"
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if log_level == rl.TraceLogLevel.LOG_ERROR:
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cloudlog.error(f"raylib: {text_str}")
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elif log_level == rl.TraceLogLevel.LOG_WARNING:
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cloudlog.warning(f"raylib: {text_str}")
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elif log_level == rl.TraceLogLevel.LOG_INFO:
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cloudlog.info(f"raylib: {text_str}")
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elif log_level == rl.TraceLogLevel.LOG_DEBUG:
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cloudlog.debug(f"raylib: {text_str}")
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else:
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cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}")
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# Store callback reference
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self._trace_log_callback = trace_log_callback
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rl.set_trace_log_callback(self._trace_log_callback)
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def _monitor_fps(self):
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fps = rl.get_fps()
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# Log FPS drop below threshold at regular intervals
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if fps < self._target_fps * FPS_DROP_THRESHOLD:
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current_time = time.monotonic()
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if current_time - self._last_fps_log_time >= FPS_LOG_INTERVAL:
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cloudlog.warning(f"FPS dropped below {self._target_fps}: {fps}")
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self._last_fps_log_time = current_time
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# Strict mode: terminate UI if FPS drops too much
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if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD:
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cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.")
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os._exit(1)
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gui_app = GuiApplication(2160, 1080)
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