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