cleanup

SConstruct

@@ -352,7 +352,6 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/ui/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',

common/spinner.py

@@ -6,9 +6,9 @@
 class Spinner:
   def __init__(self):
     try:
-      self.spinner_proc = subprocess.Popen( ["python", "../system/ui/raylib/spinner.py"],
+      self.spinner_proc = subprocess.Popen(["./spinner"],
                                            stdin=subprocess.PIPE,
-                                          #  cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
                                            close_fds=True)
     except OSError:
       self.spinner_proc = None

scripts/lint/lint.sh

@@ -53,7 +53,6 @@ function run_tests() {
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
-  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES

system/ui/raylib/gui/application.py

@@ -23,13 +23,14 @@ def __init__(self, width: int, height: int):
     self._height = height
 
   def init_window(self, title: str, fps: int):
+    rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
     rl.init_window(self._width, self._height, title)
     rl.set_target_fps(fps)
 
     # Set styles
+    rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BORDER_WIDTH, 0)
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_APP_TEXT_SIZE)
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK))
-    rl.gui_set_style(rl.DEFAULT, rl.BORDER_WIDTH, 0)
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(rl.Color(200, 200, 200, 255)))
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.Color(30, 30, 30, 255)))
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255)))

system/ui/raylib/gui/button.py

@@ -2,8 +2,9 @@
 import pyray as rl
 from openpilot.system.ui.raylib.gui.utils import GuiStyleContext
 
-#TODO: implement rounded buton
-def gui_button(rect, text, bg_color=rl.Color(51, 51, 51, 255)):
+BUTTON_DEFAULT_BG_COLOR = rl.Color(51, 51, 51, 255)
+
+def gui_button(rect, text, bg_color=BUTTON_DEFAULT_BG_COLOR):
   styles = [
     (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE),
     (rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(bg_color))

system/ui/raylib/gui/scroll_panel.py

@@ -13,17 +13,17 @@ def __init__(self, bounds: rl.Rectangle, content: rl.Rectangle, show_vertical_sc
 
   def handle_scroll(self)-> rl.Vector2:
     mouse_point = rl.get_mouse_position()
-    if rl.check_collision_point_rec(mouse_point, self._bounds) and rl.is_mouse_button_pressed(rl.MOUSE_BUTTON_LEFT):
+    if rl.check_collision_point_rec(mouse_point, self._bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
       if not self._dragging:
         self._dragging = True
         self._last_mouse_y = rl.get_mouse_y()
 
-    if self._dragging and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT):
+    if self._dragging and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
       mouse_y = rl.get_mouse_y()
       self._scroll.y += (mouse_y - self._last_mouse_y)
       self._last_mouse_y = mouse_y
 
-    if rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT):
+    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
       self._dragging = False
 
     if self._show_vertical_scroll_bar:

system/ui/raylib/gui/utils.py

@@ -4,7 +4,7 @@ class GuiStyleContext:
   def __init__(self, styles: list[tuple[int, int, int]]):
     """styles is a list of tuples (control, prop, new_value)"""
     self.styles = styles
-    self.prev_styles = []
+    self.prev_styles: list[tuple[int, int, int]] = []
 
   def __enter__(self):
     for control, prop, new_value in self.styles:

system/ui/raylib/spinner.py

@@ -1,5 +1,4 @@
 import pyray as rl
-import math
 import os
 import select
 import sys
@@ -26,10 +25,9 @@ def load_texture_resized(file_name, size):
   return texture
 
 def check_input_non_blocking():
-    """Check if there's input available on stdin without blocking."""
-    if sys.stdin in select.select([sys.stdin], [], [], 0)[0]:
-        return sys.stdin.readline()  # Read and strip newlines
-    return ""
+  if sys.stdin in select.select([sys.stdin], [], [], 0)[0]:
+    return sys.stdin.readline().strip()
+  return ""
 
 def main():
   gui_app.init_window("Spinner", fps=30)
@@ -41,16 +39,16 @@ def main():
   # Initial values
   rotation = 0.0
   user_input = ""
+  center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
+  spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
+  comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
 
   while not rl.window_should_close():
     rl.begin_drawing()
     rl.clear_background(rl.BLACK)
 
     # Update rotation
     rotation = (rotation + ROTATION_RATE) % 360.0
-    center = rl.Vector2(rl.get_screen_width() / 2.0, rl.get_screen_height() / 2.0)
-    spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
-    comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
 
     # Draw rotating spinner and static comma logo
     rl.draw_texture_pro(spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
@@ -73,7 +71,7 @@ def main():
         bar.width *= progress / 100.0
         rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE)
       else:
-        text_size = rl.measure_text_ex(rl.get_font_default(), user_input, FONT_SIZE, 1.0)
+        text_size = rl.measure_text_ex(gui_app.font(), user_input, FONT_SIZE, 1.0)
         rl.draw_text_ex(gui_app.font(), user_input,
                         rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
 

system/ui/raylib/text.py

@@ -1,6 +1,7 @@
 import sys
 import pyray as rl
 
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.raylib.gui.button import gui_button
 from openpilot.system.ui.raylib.gui.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.raylib.gui.application import gui_app
@@ -11,9 +12,8 @@
 LINE_HEIGHT = 64
 BUTTON_SIZE = rl.Vector2(310, 160)
 
-DEMO_TEXT = "This is a sample text that will be wrapped and scrolled if necessary. " \
-            "The text is long enough to demonstrate scrolling and word wrapping. " \
-            "Feel free to add more content here to test how scrolling works within this text area. " * 6
+DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
+            The text is long enough to demonstrate scrolling and word wrapping.""" * 20
 
 def wrap_text(text, font_size, max_width):
   lines = []
@@ -36,12 +36,11 @@ def wrap_text(text, font_size, max_width):
 def main():
   gui_app.init_window("Text", fps=20)
 
-  text_content = len(sys.argv) > 1 and sys.argv[1] or DEMO_TEXT
+  text_content = sys.argv[1] if len(sys.argv) > 1 else DEMO_TEXT
 
   textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2 - BUTTON_SIZE.y - SPACING)
   wrapped_lines = wrap_text(text_content, FONT_SIZE, textarea_rect.width - 20)
   content_rect = rl.Rectangle(0, 0, textarea_rect.width - 20, len(wrapped_lines) * LINE_HEIGHT)
-
   scroll_panel = GuiScrollPanel(textarea_rect, content_rect, show_vertical_scroll_bar=True)
 
   while not rl.window_should_close():
@@ -58,7 +57,7 @@ def main():
 
     button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
     if gui_button(button_bounds, "Reboot"):
-      pass
+      HARDWARE.reboot()
 
     rl.end_drawing()