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simplify mici onboarding (#36666)

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* simplify mici onboarding

* shorter

* dead

* cleanup
This commit is contained in:
Adeeb Shihadeh
2025-11-20 18:54:54 -08:00
committed by GitHub
parent 5151bb8bf2
commit 8bc6becce1
1 changed files with 9 additions and 284 deletions
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293
selfdrive/ui/mici/layouts/onboarding.py
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@@ -9,8 +9,6 @@ from openpilot.system.ui.widgets.label import UnifiedLabel
from openpilot.system.ui.widgets.slider import SmallSlider
from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
from openpilot.selfdrive.ui.ui_state import ui_state, device
from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
from openpilot.system.ui.widgets.label import gui_label
@@ -55,43 +53,13 @@ class DriverCameraSetupDialog(DriverCameraDialog):
return -1
class TrainingGuideIntro(SetupTermsPage):
def __init__(self, continue_callback):
super().__init__(continue_callback, continue_text="continue")
self._title_header = TermsHeader("welcome to openpilot", gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", 60, 60))
self._dm_label = UnifiedLabel("Before we get on the road, let's review the " +
"functionality and limitations of openpilot.", 42,
FontWeight.ROMAN)
@property
def _content_height(self):
return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
def _render_content(self, scroll_offset):
self._title_header.render(rl.Rectangle(
self._rect.x + 16,
self._rect.y + 16 + scroll_offset,
self._title_header.rect.width,
self._title_header.rect.height,
))
self._dm_label.render(rl.Rectangle(
self._rect.x + 16,
self._title_header.rect.y + self._title_header.rect.height + 16,
self._rect.width - 32,
self._dm_label.get_content_height(int(self._rect.width - 32)),
))
class TrainingGuidePreDMTutorial(SetupTermsPage):
def __init__(self, continue_callback):
super().__init__(continue_callback, continue_text="continue")
self._title_header = TermsHeader("driver monitoring setup", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
self._dm_label = UnifiedLabel("Next, we'll ensure comma four is mounted properly.\n\nIf it does not have a clear view of the driver, " +
"simply unplug and remount before continuing.\n\n" +
"NOTE: the driver camera will have a purple tint due to the IR illumination used for seeing at night.", 42,
"unplug and remount before continuing.", 42,
FontWeight.ROMAN)
def show_event(self):
@@ -182,8 +150,7 @@ class TrainingGuideRecordFront(SetupTermsPage):
super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
self._dm_label = UnifiedLabel("Help improve driver monitoring by including your driving data in the training data set. " +
"Your preference can be changed at any time in Settings.\n\nWould you like to share your data?", 42,
self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42,
FontWeight.ROMAN)
def show_event(self):
@@ -211,11 +178,14 @@ class TrainingGuideRecordFront(SetupTermsPage):
))
class TrainingGuideAttentionNotice1(SetupTermsPage):
class TrainingGuideAttentionNotice(SetupTermsPage):
def __init__(self, continue_callback):
super().__init__(continue_callback, continue_text="continue")
self._title_header = TermsHeader("not a self driving car", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
self._warning_label = UnifiedLabel("THIS IS A DRIVER ASSISTANCE SYSTEM. A DRIVER ASSISTANCE SYSTEM IS NOT A SELF-DRIVING CAR.", 42,
self._title_header = TermsHeader("driver assistance", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
self._warning_label = UnifiedLabel("1. openpilot is a driver assistance system.\n\n" +
"2. You must pay attention at all times.\n\n" +
"3. You must be ready to take over at any time.\n\n" +
"4. You are fully responsible for driving the car.", 42,
FontWeight.ROMAN)
@property
@@ -238,244 +208,6 @@ class TrainingGuideAttentionNotice1(SetupTermsPage):
))
class TrainingGuideAttentionNotice2(SetupTermsPage):
def __init__(self, continue_callback):
super().__init__(continue_callback, continue_text="continue")
self._title_header = TermsHeader("attention is required", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
self._warning_label = UnifiedLabel("1. You must pay attention at all times.\n\n2. You must be ready to take over at any time." +
"\n\n3. You are fully responsible for driving the car.", 42,
FontWeight.ROMAN)
@property
def _content_height(self):
return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset()
def _render_content(self, scroll_offset):
self._title_header.render(rl.Rectangle(
self._rect.x + 16,
self._rect.y + 16 + scroll_offset,
self._title_header.rect.width,
self._title_header.rect.height,
))
self._warning_label.render(rl.Rectangle(
self._rect.x + 16,
self._title_header.rect.y + self._title_header.rect.height + 16,
self._rect.width - 32,
self._warning_label.get_content_height(int(self._rect.width - 32)),
))
class TrainingGuideEngaging(SetupTermsPage):
def __init__(self, continue_callback):
super().__init__(continue_callback, continue_text="continue")
self._title_header = TermsHeader("engaging openpilot", gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", 60, 60))
self._warning_label = UnifiedLabel("You can engage openpilot using your car's cruise control inputs.\n\n" +
"These are usually located on either the steering wheel or on a lever near the wheel.", 42,
FontWeight.ROMAN)
@property
def _content_height(self):
return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset()
def _render_content(self, scroll_offset):
self._title_header.render(rl.Rectangle(
self._rect.x + 16,
self._rect.y + 16 + scroll_offset,
self._title_header.rect.width,
self._title_header.rect.height,
))
self._warning_label.render(rl.Rectangle(
self._rect.x + 16,
self._title_header.rect.y + self._title_header.rect.height + 16,
self._rect.width - 32,
self._warning_label.get_content_height(int(self._rect.width - 32)),
))
class TrainingGuideEnd(SetupTermsPage):
def __init__(self, continue_callback):
super().__init__(continue_callback, continue_text="finish")
self._title_header = TermsHeader("training complete!", gui_app.texture("icons_mici/setup/green_info.png", 60, 60))
self._warning_label = UnifiedLabel("You have completed the openpilot training.\n\n" +
"This guide can be revisited at any time in Settings.", 42,
FontWeight.ROMAN)
@property
def _content_height(self):
return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset()
def _render_content(self, scroll_offset):
self._title_header.render(rl.Rectangle(
self._rect.x + 16,
self._rect.y + 16 + scroll_offset,
self._title_header.rect.width,
self._title_header.rect.height,
))
self._warning_label.render(rl.Rectangle(
self._rect.x + 16,
self._title_header.rect.y + self._title_header.rect.height + 16,
self._rect.width - 32,
self._warning_label.get_content_height(int(self._rect.width - 32)),
))
class TrainingGuideDisengaging(SetupTermsPage):
def __init__(self, continue_callback):
super().__init__(continue_callback, continue_text="continue")
self._title_header = TermsHeader("disengaging openpilot", gui_app.texture("icons_mici/setup/green_pedal.png", 60, 60))
self._warning_label = UnifiedLabel("You can disengage openpilot by either pressing the brake pedal or " +
"the cruise control cancel button.", 42,
FontWeight.ROMAN)
@property
def _content_height(self):
return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset()
def _render_content(self, scroll_offset):
self._title_header.render(rl.Rectangle(
self._rect.x + 16,
self._rect.y + 16 + scroll_offset,
self._title_header.rect.width,
self._title_header.rect.height,
))
self._warning_label.render(rl.Rectangle(
self._rect.x + 16,
self._title_header.rect.y + self._title_header.rect.height + 16,
self._rect.width - 32,
self._warning_label.get_content_height(int(self._rect.width - 32)),
))
class TrainingGuideConfidenceBall(SetupTermsPage):
ANIMATION_PAUSE = 3.5
def __init__(self, continue_callback):
super().__init__(continue_callback, continue_text="continue")
self._confidence_ball = ConfidenceBall(demo=True)
self._start_time = 0.0
self._title_header = TermsHeader("confidence ball", gui_app.texture("icons_mici/setup/green_car.png", 60, 60))
self._warning_label = UnifiedLabel("The ball on the right communicates how confident openpilot " +
"is about the road scene at any given time.", 42,
FontWeight.ROMAN)
def show_event(self):
super().show_event()
self._start_time = rl.get_time()
@property
def _content_height(self):
return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset()
def _render_content(self, scroll_offset):
self._title_header.render(rl.Rectangle(
self._rect.x + 16,
self._rect.y + 16 + scroll_offset,
self._title_header.rect.width,
self._title_header.rect.height,
))
# room for confidence ball
label_width = self._rect.width - 32 - 60
self._warning_label.render(rl.Rectangle(
self._rect.x + 16,
self._title_header.rect.y + self._title_header.rect.height + 16,
label_width,
self._warning_label.get_content_height(int(label_width)),
))
duration = rl.get_time() - self._start_time
if duration > 5 + self.ANIMATION_PAUSE * 2:
# reset animation
self._start_time = rl.get_time()
if duration > 5 + self.ANIMATION_PAUSE:
self._confidence_ball.update_filter(0.1)
elif duration > 5:
self._confidence_ball.update_filter(0.4)
elif duration > 0.5:
self._confidence_ball.update_filter(0.9)
self._confidence_ball.render(self._rect)
self._rect.width -= 60
class TrainingGuideSteeringArc(SetupTermsPage):
ANIMATION_PAUSE = 2
TORQUE_BAR_HEIGHT = 100
def __init__(self, continue_callback):
super().__init__(continue_callback, continue_text="continue")
self._torque_bar = TorqueBar(demo=True)
self._start_time = 0.0
self._title_header = TermsHeader("steering arc", gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", 60, 60))
self._warning_label = UnifiedLabel("All cars limit the amount of steering that openpilot is able to apply. While driving, the " +
"steering arc shows the current amount of force being applied in relation to the maximum available to openpilot. " +
"You may need to assist if you see the arc nearing its orange state.", 42,
FontWeight.ROMAN)
def show_event(self):
super().show_event()
self._start_time = rl.get_time()
@property
def _content_height(self):
return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset() + self.TORQUE_BAR_HEIGHT
def _render_content(self, scroll_offset):
self._title_header.render(rl.Rectangle(
self._rect.x + 16,
self._rect.y + 16 + scroll_offset,
self._title_header.rect.width,
self._title_header.rect.height,
))
self._warning_label.render(rl.Rectangle(
self._rect.x + 16,
self._title_header.rect.y + self._title_header.rect.height + 16,
self._rect.width - 32,
self._warning_label.get_content_height(int(self._rect.width - 32)),
))
duration = rl.get_time() - self._start_time
if duration > self.ANIMATION_PAUSE * 5:
# reset animation
self._start_time = rl.get_time()
elif duration > self.ANIMATION_PAUSE * 4:
self._torque_bar.update_filter(-1.0)
elif duration > self.ANIMATION_PAUSE * 3:
self._torque_bar.update_filter(-0.2)
elif duration > self.ANIMATION_PAUSE * 2:
self._torque_bar.update_filter(1.0)
elif duration > self.ANIMATION_PAUSE:
self._torque_bar.update_filter(0.7)
else:
self._torque_bar.update_filter(0.0)
# background gradient for torque bar legibility
rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height * 0.6),
int(self._rect.width), int(self._rect.height * 0.2),
rl.BLANK, rl.Color(0, 0, 0, int(255 * 0.9)))
rl.draw_rectangle(int(self._rect.x), int(self._rect.y + self._rect.height * 0.8),
int(self._rect.width), int(self._rect.height * 0.2),
rl.Color(0, 0, 0, int(255 * 0.9)))
# scroll torque bar once we get to the bottom of content
torque_y_offset = min(0.0, self._warning_label.rect.y + self._warning_label.rect.height -
self._rect.height + self.TORQUE_BAR_HEIGHT)
torque_rect = rl.Rectangle(
self._rect.x,
self._rect.y + torque_y_offset,
self._rect.width,
self._rect.height,
)
self._torque_bar.render(torque_rect)
class TrainingGuide(Widget):
def __init__(self, completed_callback=None):
super().__init__()
@@ -483,17 +215,10 @@ class TrainingGuide(Widget):
self._step = 0
self._steps = [
TrainingGuideIntro(continue_callback=self._advance_step),
TrainingGuideAttentionNotice1(continue_callback=self._advance_step),
TrainingGuideAttentionNotice2(continue_callback=self._advance_step),
TrainingGuideAttentionNotice(continue_callback=self._advance_step),
TrainingGuidePreDMTutorial(continue_callback=self._advance_step),
TrainingGuideDMTutorial(continue_callback=self._advance_step),
TrainingGuideRecordFront(continue_callback=self._advance_step),
TrainingGuideEngaging(continue_callback=self._advance_step),
TrainingGuideDisengaging(continue_callback=self._advance_step),
TrainingGuideConfidenceBall(continue_callback=self._advance_step),
TrainingGuideSteeringArc(continue_callback=self._advance_step),
TrainingGuideEnd(continue_callback=self._advance_step),
]
def _advance_step(self):