You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
109 lines
3.8 KiB
109 lines
3.8 KiB
import pyray as rl
|
|
from enum import IntEnum
|
|
import cereal.messaging as messaging
|
|
from openpilot.system.ui.lib.application import gui_app
|
|
from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
|
|
from openpilot.selfdrive.ui.layouts.home import HomeLayout
|
|
from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
|
|
from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
|
|
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
|
from openpilot.system.ui.widgets import Widget
|
|
|
|
|
|
ONROAD_FPS = 20
|
|
OFFROAD_FPS = 60
|
|
|
|
|
|
class MainState(IntEnum):
|
|
HOME = 0
|
|
SETTINGS = 1
|
|
ONROAD = 2
|
|
|
|
|
|
class MainLayout(Widget):
|
|
def __init__(self):
|
|
super().__init__()
|
|
|
|
self._pm = messaging.PubMaster(['bookmarkButton'])
|
|
|
|
self._sidebar = Sidebar()
|
|
self._current_mode = MainState.HOME
|
|
self._prev_onroad = False
|
|
|
|
gui_app.set_target_fps(OFFROAD_FPS)
|
|
|
|
# Initialize layouts
|
|
self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
|
|
|
|
self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
|
|
self._content_rect = rl.Rectangle(0, 0, 0, 0)
|
|
|
|
# Set callbacks
|
|
self._setup_callbacks()
|
|
|
|
def _render(self, _):
|
|
self._handle_onroad_transition()
|
|
self._render_main_content()
|
|
|
|
def _setup_callbacks(self):
|
|
self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
|
|
on_flag=self._on_bookmark_clicked)
|
|
self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
|
|
self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
|
|
self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
|
|
device.add_interactive_timeout_callback(self._set_mode_for_state)
|
|
|
|
def _update_layout_rects(self):
|
|
self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
|
|
|
|
x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
|
|
self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
|
|
|
|
def _handle_onroad_transition(self):
|
|
if ui_state.started != self._prev_onroad:
|
|
self._prev_onroad = ui_state.started
|
|
|
|
self._set_mode_for_state()
|
|
|
|
def _set_mode_for_state(self):
|
|
if ui_state.started:
|
|
# Don't hide sidebar from interactive timeout
|
|
if self._current_mode != MainState.ONROAD:
|
|
self._sidebar.set_visible(False)
|
|
self._set_current_layout(MainState.ONROAD)
|
|
else:
|
|
self._set_current_layout(MainState.HOME)
|
|
self._sidebar.set_visible(True)
|
|
|
|
def _set_current_layout(self, layout: MainState):
|
|
if layout != self._current_mode:
|
|
self._layouts[self._current_mode].hide_event()
|
|
self._current_mode = layout
|
|
self._layouts[self._current_mode].show_event()
|
|
|
|
# No need to draw onroad faster than source (model at 20Hz) and prevents screen tearing
|
|
gui_app.set_target_fps(ONROAD_FPS if self._current_mode == MainState.ONROAD else OFFROAD_FPS)
|
|
|
|
def open_settings(self, panel_type: PanelType):
|
|
self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
|
|
self._set_current_layout(MainState.SETTINGS)
|
|
self._sidebar.set_visible(False)
|
|
|
|
def _on_settings_clicked(self):
|
|
self.open_settings(PanelType.DEVICE)
|
|
|
|
def _on_bookmark_clicked(self):
|
|
user_bookmark = messaging.new_message('bookmarkButton')
|
|
user_bookmark.valid = True
|
|
self._pm.send('bookmarkButton', user_bookmark)
|
|
|
|
def _on_onroad_clicked(self):
|
|
self._sidebar.set_visible(not self._sidebar.is_visible)
|
|
|
|
def _render_main_content(self):
|
|
# Render sidebar
|
|
if self._sidebar.is_visible:
|
|
self._sidebar.render(self._sidebar_rect)
|
|
|
|
content_rect = self._content_rect if self._sidebar.is_visible else self._rect
|
|
self._layouts[self._current_mode].render(content_rect)
|
|
|