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78 lines
3.1 KiB
78 lines
3.1 KiB
import time
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import pyray as rl
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from openpilot.common.params import Params
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.system.ui.widgets import Widget
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class ExpButton(Widget):
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def __init__(self, button_size: int, icon_size: int):
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super().__init__()
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self._params = Params()
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self._experimental_mode: bool = False
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self._engageable: bool = False
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# State hold mechanism
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self._hold_duration = 2.0 # seconds
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self._held_mode: bool | None = None
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self._hold_end_time: float | None = None
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self._white_color: rl.Color = rl.Color(255, 255, 255, 255)
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self._black_bg: rl.Color = rl.Color(0, 0, 0, 166)
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self._txt_wheel: rl.Texture = gui_app.texture('icons/chffr_wheel.png', icon_size, icon_size)
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self._txt_exp: rl.Texture = gui_app.texture('icons/experimental.png', icon_size, icon_size)
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self._rect = rl.Rectangle(0, 0, button_size, button_size)
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def set_rect(self, rect: rl.Rectangle) -> None:
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self._rect.x, self._rect.y = rect.x, rect.y
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def _update_state(self) -> None:
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selfdrive_state = ui_state.sm["selfdriveState"]
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self._experimental_mode = selfdrive_state.experimentalMode
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self._engageable = selfdrive_state.engageable or selfdrive_state.enabled
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def handle_mouse_event(self) -> bool:
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if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect):
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if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and
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self._is_toggle_allowed()):
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new_mode = not self._experimental_mode
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self._params.put_bool("ExperimentalMode", new_mode)
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# Hold new state temporarily
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self._held_mode = new_mode
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self._hold_end_time = time.monotonic() + self._hold_duration
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return True
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return False
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def _render(self, rect: rl.Rectangle) -> None:
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center_x = int(self._rect.x + self._rect.width // 2)
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center_y = int(self._rect.y + self._rect.height // 2)
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mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect)
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mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
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self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255
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texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
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rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
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rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
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def _held_or_actual_mode(self):
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now = time.monotonic()
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if self._hold_end_time and now < self._hold_end_time:
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return self._held_mode
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if self._hold_end_time and now >= self._hold_end_time:
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self._hold_end_time = self._held_mode = None
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return self._experimental_mode
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def _is_toggle_allowed(self):
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if not self._params.get_bool("ExperimentalModeConfirmed"):
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return False
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car_params = ui_state.sm["carParams"]
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if car_params.alphaLongitudinalAvailable:
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return self._params.get_bool("AlphaLongitudinalEnabled")
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else:
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return car_params.openpilotLongitudinalControl
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