openpilot-meb/selfdrive/ui/sunnypilot/ui_state.py

"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.

This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from enum import Enum

from cereal import messaging, log, custom
from openpilot.common.params import Params
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
from openpilot.system.ui.lib.application import gui_app

OpenpilotState = log.SelfdriveState.OpenpilotState
MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState

ONROAD_BRIGHTNESS_TIMER_PAUSED = -1


class OnroadTimerStatus(Enum):
  NONE = 0
  PAUSE = 1
  RESUME = 2


class UIStateSP:
  def __init__(self):
    self.CP_SP: custom.CarParamsSP | None = None
    self.params = Params()
    self.sm_services_ext = [
      "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
    ]

    self.sunnylink_state = SunnylinkState()
    self.update_params()

    self.onroad_brightness_timer: int = 0
    self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
    self.reset_onroad_sleep_timer()
    self.CP_SP: custom.CarParamsSP | None = None
    self.has_icbm: bool = False
    self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")

  def update(self) -> None:
    if self.sunnylink_enabled:
      self.sunnylink_state.start()
    else:
      self.sunnylink_state.stop()

  def onroad_brightness_handle_alerts(self, started: bool, alert):
    has_alert = started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None

    self.update_onroad_brightness(has_alert)
    if has_alert:
      self.reset_onroad_sleep_timer()

  def update_onroad_brightness(self, has_alert: bool) -> None:
    if has_alert:
      return

    if self.onroad_brightness_timer > 0:
      self.onroad_brightness_timer -= 1

  def reset_onroad_sleep_timer(self, timer_status: OnroadTimerStatus = OnroadTimerStatus.NONE) -> None:
    # Toggling from active state to inactive
    if timer_status == OnroadTimerStatus.PAUSE and self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED:
      self.onroad_brightness_timer = ONROAD_BRIGHTNESS_TIMER_PAUSED
    # Toggling from a previously inactive state or resetting an active timer
    elif (self.onroad_brightness_timer_param >= 0 and self.onroad_brightness != OnroadBrightness.AUTO and
          self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED) or timer_status == OnroadTimerStatus.RESUME:
      if self.onroad_brightness == OnroadBrightness.AUTO_DARK:
        self.onroad_brightness_timer = 15 * gui_app.target_fps
      else:
        self.onroad_brightness_timer = self.onroad_brightness_timer_param * gui_app.target_fps

  @property
  def onroad_brightness_timer_expired(self) -> bool:
    return self.onroad_brightness != OnroadBrightness.AUTO and self.onroad_brightness_timer == 0

  @property
  def auto_onroad_brightness(self) -> bool:
    return self.onroad_brightness in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK)

  @staticmethod
  def update_status(ss, ss_sp, onroad_evt) -> str:
    state = ss.state
    mads = ss_sp.mads
    mads_state = mads.state

    if state == OpenpilotState.preEnabled:
      return "override"

    if state == OpenpilotState.overriding:
      if not mads.available:
        return "override"

      if any(e.overrideLongitudinal for e in onroad_evt):
        return "override"

    if mads_state in (MADSState.paused, MADSState.overriding):
      return "override"

    # MADS specific statuses
    if not mads.available:
      return "engaged" if ss.enabled else "disengaged"

    if not mads.enabled and not ss.enabled:
      return "disengaged"

    if mads.enabled and ss.enabled:
      return "engaged"

    if mads.enabled:
      return "lat_only"

    if ss.enabled:
      return "long_only"

    return "disengaged"

  def update_params(self) -> None:
    CP_SP_bytes = self.params.get("CarParamsSPPersistent")
    if CP_SP_bytes is not None:
      self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
      self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
    self.active_bundle = self.params.get("ModelManager_ActiveBundle")
    self.blindspot = self.params.get_bool("BlindSpot")
    self.chevron_metrics = self.params.get("ChevronInfo")
    self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
    self.developer_ui = self.params.get("DevUIInfo")
    self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
    self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
    self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
    self.rainbow_path = self.params.get_bool("RainbowMode")
    self.road_name_toggle = self.params.get_bool("RoadNameToggle")
    self.rocket_fuel = self.params.get_bool("RocketFuel")
    self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
    self.standstill_timer = self.params.get_bool("StandstillTimer")
    self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
    self.torque_bar = self.params.get_bool("TorqueBar")
    self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
    self.turn_signals = self.params.get_bool("ShowTurnSignals")


class DeviceSP:
  def __init__(self):
    self._params = Params()

  def _set_awake(self, on: bool):
    if on and self._params.get("DeviceBootMode", return_default=True) == 1:
      self._params.put_bool("OffroadMode", True)

  @staticmethod
  def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
    if not awake or not _ui_state.started:
      return cur_brightness

    if _ui_state.onroad_brightness_timer != 0:
      if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
        return max(30.0, cur_brightness)
      # For AUTO (Default) and Manual modes (while timer running), use standard brightness
      return cur_brightness

    # 0: Auto (Default), 1: Auto (Dark)
    if _ui_state.onroad_brightness == OnroadBrightness.AUTO:
      return cur_brightness
    elif _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
      return cur_brightness

    # 2-21: 5% - 100%
    return float((_ui_state.onroad_brightness - 1) * 5)

  @staticmethod
  def set_min_onroad_brightness(_ui_state, min_brightness: int) -> int:
    if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
      min_brightness = 10

    return min_brightness

  @staticmethod
  def wake_from_dimmed_onroad_brightness(_ui_state, evs) -> None:
    if _ui_state.started and (_ui_state.onroad_brightness_timer_expired or _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK):
      if any(ev.left_down for ev in evs):
        if _ui_state.onroad_brightness_timer_expired:
          gui_app.mouse_events.clear()
        _ui_state.reset_onroad_sleep_timer()