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https://github.com/sunnypilot/sunnypilot.git
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d5b25e14fd
# Conflicts: # .github/workflows/auto_pr_review.yaml # .gitignore # opendbc_repo # panda # selfdrive/ui/mici/layouts/home.py # selfdrive/ui/mici/layouts/onboarding.py # selfdrive/ui/mici/layouts/settings/device.py # selfdrive/ui/tests/diff/replay.py # selfdrive/ui/translations/app_fr.po # system/ui/mici_setup.py Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` Sync: `commaai/panda:master` → `sunnypilot/panda:master`
198 lines
8.9 KiB
Python
198 lines
8.9 KiB
Python
import os
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import math
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from cereal import messaging, log
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.selfdrive.ui.layouts.onboarding import TrainingGuide
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from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
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from openpilot.system.ui.lib.application import FontWeight, gui_app
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from openpilot.system.ui.lib.multilang import multilang, tr, tr_noop
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from openpilot.system.ui.widgets import Widget, DialogResult
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from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog, alert_dialog
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from openpilot.system.ui.widgets.html_render import HtmlModal
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from openpilot.system.ui.widgets.list_view import text_item, button_item, dual_button_item
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from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
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from openpilot.system.ui.widgets.scroller_tici import Scroller
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if gui_app.sunnypilot_ui():
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from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
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# Description constants
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DESCRIPTIONS = {
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'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."),
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'driver_camera': tr_noop("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"),
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'reset_calibration': tr_noop("sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."),
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'review_guide': tr_noop("Review the rules, features, and limitations of sunnypilot"),
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}
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class DeviceLayout(Widget):
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def __init__(self):
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super().__init__()
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self._params = Params()
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self._select_language_dialog: MultiOptionDialog | None = None
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self._fcc_dialog: HtmlModal | None = None
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self._training_guide: TrainingGuide | None = None
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items = self._initialize_items()
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self._scroller = Scroller(items, line_separator=True, spacing=0)
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ui_state.add_offroad_transition_callback(self._offroad_transition)
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def _initialize_items(self):
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self._pair_device_btn = button_item(lambda: tr("Pair Device"), lambda: tr("PAIR"), lambda: tr(DESCRIPTIONS['pair_device']),
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callback=lambda: gui_app.push_widget(PairingDialog()))
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self._pair_device_btn.set_visible(lambda: not ui_state.prime_state.is_paired())
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self._reset_calib_btn = button_item(lambda: tr("Reset Calibration"), lambda: tr("RESET"), lambda: tr(DESCRIPTIONS['reset_calibration']),
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callback=self._reset_calibration_prompt)
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self._reset_calib_btn.set_description_opened_callback(self._update_calib_description)
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self._power_off_btn = dual_button_item(lambda: tr("Reboot"), lambda: tr("Power Off"),
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left_callback=self._reboot_prompt, right_callback=self._power_off_prompt)
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items = [
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text_item(lambda: tr("Dongle ID"), self._params.get("DongleId") or (lambda: tr("N/A"))),
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text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
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self._pair_device_btn,
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button_item(lambda: tr("Driver Camera"), lambda: tr("PREVIEW"), lambda: tr(DESCRIPTIONS['driver_camera']),
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callback=lambda: gui_app.push_widget(DriverCameraDialog()), enabled=ui_state.is_offroad),
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self._reset_calib_btn,
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button_item(lambda: tr("Review Training Guide"), lambda: tr("REVIEW"), lambda: tr(DESCRIPTIONS['review_guide']),
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self._on_review_training_guide, enabled=ui_state.is_offroad),
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button_item(lambda: tr("Regulatory"), lambda: tr("VIEW"), callback=self._on_regulatory, enabled=ui_state.is_offroad),
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button_item(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog),
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self._power_off_btn,
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]
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return items
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def _offroad_transition(self):
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self._power_off_btn.action_item.right_button.set_visible(ui_state.is_offroad())
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def show_event(self):
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super().show_event()
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self._scroller.show_event()
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def _render(self, rect):
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self._scroller.render(rect)
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def _show_language_dialog(self):
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def handle_language_selection(result: DialogResult):
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if result == DialogResult.CONFIRM and self._select_language_dialog:
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selected_language = multilang.languages[self._select_language_dialog.selection]
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multilang.change_language(selected_language)
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self._update_calib_description()
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self._select_language_dialog = None
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self._select_language_dialog = MultiOptionDialog(tr("Select a language"), multilang.languages, multilang.codes[multilang.language],
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option_font_weight=FontWeight.UNIFONT, callback=handle_language_selection)
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gui_app.push_widget(self._select_language_dialog)
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def _reset_calibration_prompt(self):
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if ui_state.engaged:
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gui_app.push_widget(alert_dialog(tr("Disengage to Reset Calibration")))
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return
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def reset_calibration(result: DialogResult):
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# Check engaged again in case it changed while the dialog was open
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if ui_state.engaged or result != DialogResult.CONFIRM:
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return
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self._params.remove("CalibrationParams")
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self._params.remove("LiveTorqueParameters")
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self._params.remove("LiveParameters")
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self._params.remove("LiveParametersV2")
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self._params.remove("LiveDelay")
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self._params.put_bool("OnroadCycleRequested", True)
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self._update_calib_description()
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dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration)
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gui_app.push_widget(dialog)
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def _update_calib_description(self):
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desc = tr(DESCRIPTIONS['reset_calibration'])
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calib_bytes = self._params.get("CalibrationParams")
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if calib_bytes:
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try:
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calib = messaging.log_from_bytes(calib_bytes, log.Event).liveCalibration
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if calib.calStatus != log.LiveCalibrationData.Status.uncalibrated:
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pitch = math.degrees(calib.rpyCalib[1])
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yaw = math.degrees(calib.rpyCalib[2])
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desc += tr(" Your device is pointed {:.1f}° {} and {:.1f}° {}.").format(abs(pitch), tr("down") if pitch > 0 else tr("up"),
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abs(yaw), tr("left") if yaw > 0 else tr("right"))
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except Exception:
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cloudlog.exception("invalid CalibrationParams")
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lag_perc = 0
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lag_bytes = self._params.get("LiveDelay")
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if lag_bytes:
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try:
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lag_perc = messaging.log_from_bytes(lag_bytes, log.Event).liveDelay.calPerc
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except Exception:
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cloudlog.exception("invalid LiveDelay")
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if lag_perc < 100:
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desc += tr("<br><br>Steering lag calibration is {}% complete.").format(lag_perc)
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else:
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desc += tr("<br><br>Steering lag calibration is complete.")
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torque_bytes = self._params.get("LiveTorqueParameters")
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if torque_bytes:
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try:
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torque = messaging.log_from_bytes(torque_bytes, log.Event).liveTorqueParameters
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# don't add for non-torque cars
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if torque.useParams:
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torque_perc = torque.calPerc
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if torque_perc < 100:
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desc += tr(" Steering torque response calibration is {}% complete.").format(torque_perc)
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else:
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desc += tr(" Steering torque response calibration is complete.")
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except Exception:
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cloudlog.exception("invalid LiveTorqueParameters")
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desc += "<br><br>"
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desc += tr("sunnypilot is continuously calibrating, resetting is rarely required. " +
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"Resetting calibration will restart sunnypilot if the car is powered on.")
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self._reset_calib_btn.set_description(desc)
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def _reboot_prompt(self):
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if ui_state.engaged:
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gui_app.push_widget(alert_dialog(tr("Disengage to Reboot")))
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return
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def perform_reboot(result: DialogResult):
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if not ui_state.engaged and result == DialogResult.CONFIRM:
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self._params.put_bool_nonblocking("DoReboot", True)
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dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=perform_reboot)
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gui_app.push_widget(dialog)
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def _power_off_prompt(self):
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if ui_state.engaged:
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gui_app.push_widget(alert_dialog(tr("Disengage to Power Off")))
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return
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def perform_power_off(result: DialogResult):
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if not ui_state.engaged and result == DialogResult.CONFIRM:
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self._params.put_bool_nonblocking("DoShutdown", True)
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dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=perform_power_off)
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gui_app.push_widget(dialog)
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def _on_regulatory(self):
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if not self._fcc_dialog:
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self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
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gui_app.push_widget(self._fcc_dialog)
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def _on_review_training_guide(self):
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if not self._training_guide:
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self._training_guide = TrainingGuide()
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gui_app.push_widget(self._training_guide)
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