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mici setup: use nav stack (#37507)

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* pressable

* slow

* fast and looks great

* 0.075

* clean up

* fix missing

* clean up

* mici setup use nav stack!

* remove flat state!

* todo

* clean up

* clean up ordering

* clean up

* reset progress on show, dont mutate nav stack from thread

* reset text on show too

* rename

* clean up
This commit is contained in:
Shane Smiskol
2026-03-01 02:41:51 -08:00
committed by GitHub
parent 61658fbfe3
commit a7de971334
2 changed files with 123 additions and 130 deletions
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243
system/ui/mici_setup.py
View File

@@ -7,7 +7,6 @@ import time
import urllib.request
import urllib.error
from urllib.parse import urlparse
from enum import IntEnum
import shutil
from collections.abc import Callable
@@ -23,6 +22,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.lib.wifi_manager import WifiManager
from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.nav_widget import NavWidget
from openpilot.system.ui.widgets.button import (IconButton, SmallButton, WideRoundedButton, SmallerRoundedButton,
SmallCircleIconButton, WidishRoundedButton, FullRoundedButton)
from openpilot.system.ui.widgets.label import UnifiedLabel
@@ -92,16 +92,6 @@ class NetworkConnectivityMonitor:
break
class SetupState(IntEnum):
GETTING_STARTED = 0
NETWORK_SETUP = 1
NETWORK_SETUP_CUSTOM_SOFTWARE = 2
SOFTWARE_SELECTION = 3
DOWNLOADING = 4
DOWNLOAD_FAILED = 5
CUSTOM_SOFTWARE_WARNING = 6
class StartPage(Widget):
def __init__(self):
super().__init__()
@@ -127,15 +117,24 @@ class StartPage(Widget):
self._title.render(rl.Rectangle(rect.x, rect.y + (draw_y - base_draw_y), rect.width, rect.height))
class SoftwareSelectionPage(Widget):
class SoftwareSelectionPage(NavWidget):
def __init__(self, use_openpilot_callback: Callable,
use_custom_software_callback: Callable):
super().__init__()
self._openpilot_slider = LargerSlider("slide to use\nopenpilot", use_openpilot_callback)
self._openpilot_slider.set_enabled(lambda: self.enabled)
self._openpilot_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
self._custom_software_slider = LargerSlider("slide to use\ncustom software", use_custom_software_callback, green=False)
self._custom_software_slider.set_enabled(lambda: self.enabled)
self._custom_software_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
def show_event(self):
super().show_event()
self._nav_bar._alpha = 0.0
def _update_state(self):
super()._update_state()
if self.is_dismissing:
self.reset()
def reset(self):
self._openpilot_slider.reset()
@@ -367,11 +366,16 @@ class DownloadingPage(Widget):
font_weight=FontWeight.ROMAN, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
self._progress = 0
def show_event(self):
super().show_event()
self.set_progress(0)
def set_progress(self, progress: int):
self._progress = progress
self._progress_label.set_text(f"{progress}%")
def _render(self, rect: rl.Rectangle):
rl.draw_rectangle_rec(rect, rl.BLACK)
self._title_label.render(rl.Rectangle(
rect.x + 12,
rect.y + 2,
@@ -387,9 +391,10 @@ class DownloadingPage(Widget):
))
class FailedPage(Widget):
class FailedPage(NavWidget):
def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
super().__init__()
self.set_back_callback(retry_callback)
self._title_label = UnifiedLabel(title, 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
font_weight=FontWeight.DISPLAY)
@@ -406,6 +411,10 @@ class FailedPage(Widget):
def set_reason(self, reason: str):
self._reason_label.set_text(reason)
def show_event(self):
super().show_event()
self._reboot_slider.reset()
def _render(self, rect: rl.Rectangle):
self._title_label.render(rl.Rectangle(
rect.x + 8,
@@ -437,10 +446,18 @@ class FailedPage(Widget):
))
class NetworkSetupPage(Widget):
def __init__(self, wifi_manager, continue_callback: Callable, back_callback: Callable):
class NetworkSetupPage(NavWidget):
def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
back_callback: Callable[[], None] | None):
super().__init__()
self._wifi_ui = WifiUIMici(wifi_manager)
self.set_back_callback(back_callback)
self._wifi_manager = WifiManager()
self._wifi_manager.set_active(True)
self._network_monitor = network_monitor
self._custom_software = False
self._prev_has_internet = False
self._wifi_ui = WifiUIMici(self._wifi_manager)
self._no_wifi_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 58, 50)
self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 58, 50)
@@ -458,9 +475,27 @@ class NetworkSetupPage(Widget):
self._continue_button = WidishRoundedButton("continue")
self._continue_button.set_enabled(False)
self._continue_button.set_click_callback(continue_callback)
self._continue_button.set_click_callback(lambda: continue_callback(self._custom_software))
def set_has_internet(self, has_internet: bool):
gui_app.add_nav_stack_tick(self._nav_stack_tick)
def show_event(self):
super().show_event()
self._prev_has_internet = False
self._network_monitor.reset()
self._set_has_internet(False)
def _nav_stack_tick(self):
self._wifi_manager.process_callbacks()
has_internet = self._network_monitor.network_connected.is_set()
if has_internet != self._prev_has_internet:
self._set_has_internet(has_internet)
if has_internet:
gui_app.pop_widgets_to(self)
self._prev_has_internet = has_internet
def _set_has_internet(self, has_internet: bool):
if has_internet:
self._network_header.set_title("connected to internet")
self._network_header.set_icon(self._wifi_full_txt)
@@ -470,6 +505,9 @@ class NetworkSetupPage(Widget):
self._network_header.set_icon(self._no_wifi_txt)
self._continue_button.set_enabled(False)
def set_custom_software(self, custom_software: bool):
self._custom_software = custom_software
def _render(self, _):
self._network_header.render(rl.Rectangle(
self._rect.x + 16,
@@ -503,122 +541,55 @@ class NetworkSetupPage(Widget):
class Setup(Widget):
def __init__(self):
super().__init__()
self.state = SetupState.GETTING_STARTED
self.failed_url = ""
self.failed_reason = ""
self.download_url = ""
self.download_progress = 0
self.download_thread = None
self._wifi_manager = WifiManager()
self._wifi_manager.set_active(True)
self._download_failed_reason: str | None = None
self._network_monitor = NetworkConnectivityMonitor()
self._network_monitor.start()
self._prev_has_internet = False
gui_app.add_nav_stack_tick(self._nav_stack_tick)
def getting_started_button_callback():
self._software_selection_page.reset()
gui_app.push_widget(self._software_selection_page)
self._start_page = StartPage()
self._start_page.set_click_callback(self._getting_started_button_callback)
self._start_page.set_click_callback(getting_started_button_callback)
self._start_page.set_enabled(lambda: self.enabled) # for nav stack
self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_button_callback,
self._network_setup_back_button_callback)
# TODO: change these to touch_valid
self._network_setup_page.set_enabled(lambda: self.enabled) # for nav stack
self._network_setup_page = NetworkSetupPage(self._network_monitor, self._network_setup_continue_button_callback,
self._pop_to_software_selection)
self._software_selection_page = SoftwareSelectionPage(self._use_openpilot, lambda: gui_app.push_widget(self._custom_software_warning_page))
self._software_selection_page = SoftwareSelectionPage(self._software_selection_continue_button_callback,
self._software_selection_custom_software_button_callback)
self._software_selection_page.set_enabled(lambda: self.enabled) # for nav stack
self._download_failed_page = FailedPage(HARDWARE.reboot, self._pop_to_software_selection)
self._download_failed_page = FailedPage(HARDWARE.reboot, self._download_failed_startover_button_callback)
self._download_failed_page.set_enabled(lambda: self.enabled) # for nav stack
self._custom_software_warning_page = CustomSoftwareWarningPage(self._software_selection_custom_software_continue,
self._custom_software_warning_back_button_callback)
self._custom_software_warning_page.set_enabled(lambda: self.enabled) # for nav stack
self._custom_software_warning_page = CustomSoftwareWarningPage(self._software_selection_custom_software_continue, self._pop_to_software_selection)
self._downloading_page = DownloadingPage()
gui_app.add_nav_stack_tick(self._nav_stack_tick)
def _nav_stack_tick(self):
has_internet = self._network_monitor.network_connected.is_set()
if has_internet and not self._prev_has_internet:
gui_app.pop_widgets_to(self)
self._prev_has_internet = has_internet
self._downloading_page.set_progress(self.download_progress)
def _update_state(self):
self._wifi_manager.process_callbacks()
def _set_state(self, state: SetupState):
self.state = state
if self.state == SetupState.SOFTWARE_SELECTION:
self._software_selection_page.reset()
elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
self._custom_software_warning_page.reset()
if self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE):
self._network_setup_page.show_event()
self._network_monitor.reset()
else:
self._network_setup_page.hide_event()
if self._download_failed_reason is not None:
reason = self._download_failed_reason
self._download_failed_reason = None
self._download_failed_page.set_reason(reason)
gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders
gui_app.push_widget(self._download_failed_page)
def _render(self, rect: rl.Rectangle):
if self.state == SetupState.GETTING_STARTED:
self._start_page.render(rect)
elif self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE):
self.render_network_setup(rect)
elif self.state == SetupState.SOFTWARE_SELECTION:
self._software_selection_page.render(rect)
elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
self._custom_software_warning_page.render(rect)
elif self.state == SetupState.DOWNLOADING:
self.render_downloading(rect)
elif self.state == SetupState.DOWNLOAD_FAILED:
self._download_failed_page.render(rect)
def _custom_software_warning_back_button_callback(self):
self._set_state(SetupState.SOFTWARE_SELECTION)
def _getting_started_button_callback(self):
self._set_state(SetupState.SOFTWARE_SELECTION)
def _software_selection_continue_button_callback(self):
self.use_openpilot()
def _software_selection_custom_software_button_callback(self):
self._set_state(SetupState.CUSTOM_SOFTWARE_WARNING)
def _software_selection_custom_software_continue(self):
self._set_state(SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE)
def _download_failed_startover_button_callback(self):
self._set_state(SetupState.GETTING_STARTED)
def _network_setup_back_button_callback(self):
self._set_state(SetupState.SOFTWARE_SELECTION)
def _network_setup_continue_button_callback(self):
if self.state == SetupState.NETWORK_SETUP:
self.download(OPENPILOT_URL)
elif self.state == SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE:
def handle_keyboard_result(text):
url = text.strip()
if url:
self.download(url)
keyboard = BigInputDialog("custom software URL", confirm_callback=handle_keyboard_result)
gui_app.push_widget(keyboard)
self._start_page.render(rect)
def close(self):
self._network_monitor.stop()
def render_network_setup(self, rect: rl.Rectangle):
has_internet = self._network_monitor.network_connected.is_set()
self._network_setup_page.set_has_internet(has_internet)
self._network_setup_page.render(rect)
def _pop_to_software_selection(self):
# reset sliders after dismiss completes
gui_app.pop_widgets_to(self._software_selection_page, self._software_selection_page.reset)
def render_downloading(self, rect: rl.Rectangle):
self._downloading_page.set_progress(self.download_progress)
self._downloading_page.render(rect)
def use_openpilot(self):
def _use_openpilot(self):
if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
os.remove(VALID_CACHE_PATH)
with open(TMP_CONTINUE_PATH, "w") as f:
@@ -631,17 +602,40 @@ class Setup(Widget):
time.sleep(0.1)
gui_app.request_close()
else:
self._set_state(SetupState.NETWORK_SETUP)
self._push_network_setup(custom_software=False)
def download(self, url: str):
def _push_network_setup(self, custom_software: bool):
self._network_setup_page.set_custom_software(custom_software)
gui_app.push_widget(self._network_setup_page)
def _software_selection_custom_software_continue(self):
gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders
self._push_network_setup(custom_software=True)
def _network_setup_continue_button_callback(self, custom_software):
if not custom_software:
gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders
self._download(OPENPILOT_URL)
else:
def handle_keyboard_result(text):
url = text.strip()
if url:
gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders
self._download(url)
keyboard = BigInputDialog("custom software URL", "openpilot.comma.ai", confirm_callback=handle_keyboard_result)
gui_app.push_widget(keyboard)
def _download(self, url: str):
# autocomplete incomplete URLs
if re.match("^([^/.]+)/([^/]+)$", url):
url = f"https://installer.comma.ai/{url}"
parsed = urlparse(url, scheme='https')
self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
self.download_progress = 0
self._set_state(SetupState.DOWNLOADING)
gui_app.push_widget(self._downloading_page)
self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
self.download_thread.start()
@@ -672,7 +666,6 @@ class Setup(Widget):
if total_size:
self.download_progress = int(downloaded * 100 / total_size)
self._downloading_page.set_progress(self.download_progress)
is_elf = False
with open(tmpfile, 'rb') as f:
@@ -680,7 +673,7 @@ class Setup(Widget):
is_elf = header == b'\x7fELF'
if not is_elf:
self.download_failed(self.download_url, "No custom software found at this URL.")
self._download_failed_reason = "No custom software found at this URL."
return
# AGNOS might try to execute the installer before this process exits.
@@ -697,17 +690,9 @@ class Setup(Widget):
except urllib.error.HTTPError as e:
if e.code == 409:
error_msg = "Incompatible openpilot version"
self.download_failed(self.download_url, error_msg)
self._download_failed_reason = "Incompatible openpilot version"
except Exception:
error_msg = "Invalid URL"
self.download_failed(self.download_url, error_msg)
def download_failed(self, url: str, reason: str):
self.failed_url = url
self.failed_reason = reason
self._download_failed_page.set_reason(reason)
self._set_state(SetupState.DOWNLOAD_FAILED)
self._download_failed_reason = "Invalid URL"
def main():

10
system/ui/widgets/nav_widget.py
View File

@@ -63,7 +63,8 @@ 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._dismiss_callback: Callable[[], None] | None = None
self._back_callback: Callable[[], None] | None = None # persistent callback for any back navigation
self._dismiss_callback: Callable[[], None] | None = None # transient callback for programmatic dismiss
# TODO: move this state into NavBar
self._nav_bar = NavBar()
@@ -75,6 +76,9 @@ class NavWidget(Widget, abc.ABC):
# the top of a vertical scroll panel to prevent erroneous swipes
return True
def set_back_callback(self, callback: Callable[[], None]) -> None:
self._back_callback = callback
def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
super()._handle_mouse_event(mouse_event)
@@ -145,6 +149,10 @@ class NavWidget(Widget, abc.ABC):
if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10:
gui_app.pop_widget()
if self._back_callback is not None:
self._back_callback()
if self._dismiss_callback is not None:
self._dismiss_callback()
self._dismiss_callback = None