NavWidget: remove back enabled (#37482)

* free navwidget!

* clean up

* clean up

selfdrive/ui/mici/layouts/onboarding.py

@@ -8,14 +8,13 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton
 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.driver_state import DriverStateRenderer
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.version import terms_version, training_version
@@ -27,9 +26,9 @@ class OnboardingState(IntEnum):
   DECLINE = 2
 
 
-class DriverCameraSetupDialog(DriverCameraDialog):
+class DriverCameraSetupDialog(BaseDriverCameraDialog):
   def __init__(self):
-    super().__init__(no_escape=True)
+    super().__init__()
     self.driver_state_renderer = DriverStateRenderer(inset=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 120, 120))
     self.driver_state_renderer.load_icons()
@@ -438,11 +437,9 @@ class TermsPage(SetupTermsPage):
     ))
 
 
-class OnboardingWindow(NavWidget):
+class OnboardingWindow(Widget):
   def __init__(self):
     super().__init__()
-    self.set_back_enabled(False)
-
     self._accepted_terms: bool = ui_state.params.get("HasAcceptedTerms") == terms_version
     self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version
 
@@ -486,6 +483,7 @@ class OnboardingWindow(NavWidget):
     self.close()
 
   def _render(self, _):
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
     if self._state == OnboardingState.TERMS:
       self._terms.render(self._rect)
     elif self._state == OnboardingState.ONBOARDING:

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -7,6 +7,7 @@ from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.label import gui_label
 
@@ -24,18 +25,15 @@ class DriverCameraView(CameraView):
     return base
 
 
-class DriverCameraDialog(NavWidget):
-  def __init__(self, no_escape=False):
+class BaseDriverCameraDialog(Widget):
+  # Not a NavWidget so training guide can use this without back navigation
+  def __init__(self):
     super().__init__()
     self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer(lines=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
     self.driver_state_renderer.load_icons()
     self._pm: messaging.PubMaster | None = None
-    if not no_escape:
-      # TODO: this can grow unbounded, should be given some thought
-      device.add_interactive_timeout_callback(gui_app.pop_widget)
-    self.set_back_enabled(not no_escape)
 
     # Load eye icons
     self._eye_fill_texture = None
@@ -230,6 +228,13 @@ class DriverCameraDialog(NavWidget):
     rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
 
 
+class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
+  def __init__(self):
+    super().__init__()
+    # TODO: this can grow unbounded, should be given some thought
+    device.add_interactive_timeout_callback(gui_app.pop_widget)
+
+
 if __name__ == "__main__":
   gui_app.init_window("Driver Camera View (mici)")
 

system/ui/widgets/nav_widget.py

@@ -2,7 +2,6 @@ from __future__ import annotations
 
 import abc
 import pyray as rl
-from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
@@ -60,28 +59,14 @@ class NavWidget(Widget, abc.ABC):
     self._playing_dismiss_animation = False  # released and animating away
     self._y_pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
 
-    self._back_enabled: bool | Callable[[], bool] = True
-
     self._nav_bar = NavBar()
     self._nav_bar_show_time = 0.0
     self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
-  @property
-  def back_enabled(self) -> bool:
-    return self._back_enabled() if callable(self._back_enabled) else self._back_enabled
-
-  def set_back_enabled(self, enabled: bool | Callable[[], bool]) -> None:
-    self._back_enabled = enabled
-
   def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
     # FIXME: disabling this widget on new push_widget still causes this widget to track mouse events without mouse down
     super()._handle_mouse_event(mouse_event)
 
-    if not self.back_enabled:
-      self._drag_start_pos = None
-      self._dragging_down = False
-      return
-
     if mouse_event.left_pressed:
       # user is able to swipe away if starting near top of screen, or anywhere if scroller is at top
       self._y_pos_filter.update_alpha(0.04)
@@ -172,21 +157,20 @@ class NavWidget(Widget, abc.ABC):
   def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
     ret = super().render(rect)
 
-    if self.back_enabled:
-      bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2
-      nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4
-      # User dragging or dismissing, nav bar follows NavWidget
-      if self._drag_start_pos is not None or self._playing_dismiss_animation:
-        self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._y_pos_filter.x
-      # Waiting to show
-      elif nav_bar_delayed:
-        self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
-      # Animate back to top
-      else:
-        self._nav_bar_y_filter.update(NAV_BAR_MARGIN)
+    bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2
+    nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4
+    # User dragging or dismissing, nav bar follows NavWidget
+    if self._drag_start_pos is not None or self._playing_dismiss_animation:
+      self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._y_pos_filter.x
+    # Waiting to show
+    elif nav_bar_delayed:
+      self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+    # Animate back to top
+    else:
+      self._nav_bar_y_filter.update(NAV_BAR_MARGIN)
 
-      self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
-      self._nav_bar.render()
+    self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
+    self._nav_bar.render()
 
     return ret