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who put the glad in gladiator

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This commit is contained in:
firestar5683
2026-05-07 21:30:52 -05:00
parent 1fb31b2e12
commit 245a5eaaeb
14 changed files with 97 additions and 69 deletions
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cereal/log.capnp
+5 -7
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@@ -2166,14 +2166,12 @@ struct DriverStateV2 {
facePosition @2 :List(Float32);
facePositionStd @3 :List(Float32);
faceProb @4 :Float32;
eyesVisibleProb @14 :Float32;
eyesClosedProb @15 :Float32;
leftEyeProb @5 :Float32;
rightEyeProb @6 :Float32;
leftBlinkProb @7 :Float32;
rightBlinkProb @8 :Float32;
sunglassesProb @9 :Float32;
phoneProb @13 :Float32;
leftEyeProbDEPRECATED @5 :Float32;
rightEyeProbDEPRECATED @6 :Float32;
leftBlinkProbDEPRECATED @7 :Float32;
rightBlinkProbDEPRECATED @8 :Float32;
sunglassesProbDEPRECATED @9 :Float32;
notReadyProbDEPRECATED @12 :List(Float32);
occludedProbDEPRECATED @10 :Float32;
readyProbDEPRECATED @11 :List(Float32);
opendbc_repo/opendbc/car/hyundai/interface.py
+4 -3
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@@ -201,9 +201,10 @@ class CarInterface(CarInterfaceBase):
ret.vEgoStopping = 0.8
if candidate == CAR.HYUNDAI_PALISADE_2023:
ret.stopAccel = -1.5
ret.stoppingDecelRate = 0.55
ret.vEgoStopping = 0.7
ret.startAccel = 1.1
ret.stopAccel = -1.2
ret.stoppingDecelRate = 0.45
ret.vEgoStopping = 0.5
if candidate == CAR.KIA_NIRO_PHEV_2022:
ret.stopAccel = -1.5
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+4 -3
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@@ -175,9 +175,10 @@ class TestHyundaiFingerprint:
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, toggles)
assert CP.stopAccel == pytest.approx(-1.5)
assert CP.vEgoStopping == pytest.approx(0.7)
assert CP.stoppingDecelRate == pytest.approx(0.55)
assert CP.startAccel == pytest.approx(1.1)
assert CP.stopAccel == pytest.approx(-1.2)
assert CP.vEgoStopping == pytest.approx(0.5)
assert CP.stoppingDecelRate == pytest.approx(0.45)
def test_kia_niro_phev_2022_longitudinal_params_soften_final_stop_hold(self):
toggles = get_test_toggles()
selfdrive/assets/icons_mici/onroad/glasses.png
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selfdrive/controls/lib/latcontrol_torque.py
+38 -38
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@@ -49,7 +49,7 @@ MIN_LATERAL_CONTROL_SPEED = 0.3
CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30
CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.20
CIVIC_BOSCH_MODIFIED_A_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.00
CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.16
CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.26
CIVIC_BOSCH_MODIFIED_B_TRANSITION_SPEED = 12.0
CIVIC_BOSCH_MODIFIED_B_PHASE_SCALE = 0.10
CIVIC_BOSCH_MODIFIED_B_FF_ONSET = 0.18
@@ -76,16 +76,16 @@ CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.00
CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.03
CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.07
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.19
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.28
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.12
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.12
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 0.92
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 1.18
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.06
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.72
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 1.04
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.24
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.34
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.06
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.06
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 1.18
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 1.48
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.03
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.03
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.88
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 1.20
BOLT_2022_2023_CARS = (
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
@@ -163,29 +163,29 @@ BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.17
BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.27
BOLT_2022_2023_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
BOLT_2022_2023_FF_GAIN_LEFT = 0.13
BOLT_2022_2023_FF_GAIN_RIGHT = 0.07
BOLT_2022_2023_FF_GAIN_LEFT = 0.11
BOLT_2022_2023_FF_GAIN_RIGHT = 0.06
BOLT_2022_2023_FF_ONSET = 0.12
BOLT_2022_2023_FF_ONSET_WIDTH = 0.07
BOLT_2022_2023_FF_CUTOFF = 1.35
BOLT_2022_2023_FF_CUTOFF_WIDTH = 0.28
BOLT_2022_2023_TRANSITION_SPEED = 9.0
BOLT_2022_2023_PHASE_SCALE = 0.12
BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.12
BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.06
BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.28
BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.24
BOLT_2022_2023_FRICTION_MULT = 1.15
BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.15
BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.09
BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.38
BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.34
BOLT_2022_2023_FRICTION_MULT = 1.13
BOLT_2022_2023_FRICTION_LAT_RISE = 0.22
BOLT_2022_2023_FRICTION_JERK_RISE = 0.26
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.08
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.20
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.16
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.26
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.22
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.08
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.21
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.17
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.27
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.23
VOLT_STANDARD_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
VOLT_STANDARD_FF_GAIN_LEFT = 0.09
@@ -218,29 +218,29 @@ VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
GENESIS_G90_FF_GAIN_LEFT = 0.17
GENESIS_G90_FF_GAIN_RIGHT = 0.16
GENESIS_G90_FF_GAIN_LEFT = 0.20
GENESIS_G90_FF_GAIN_RIGHT = 0.10
GENESIS_G90_FF_ONSET = 0.10
GENESIS_G90_FF_ONSET_WIDTH = 0.05
GENESIS_G90_FF_CUTOFF = 1.75
GENESIS_G90_FF_CUTOFF_WIDTH = 0.36
GENESIS_G90_FF_CUTOFF = 2.10
GENESIS_G90_FF_CUTOFF_WIDTH = 0.42
GENESIS_G90_TRANSITION_SPEED = 8.5
GENESIS_G90_PHASE_SCALE = 0.12
GENESIS_G90_TURN_IN_BOOST_LEFT = 0.34
GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.42
GENESIS_G90_UNWIND_TAPER_LEFT = 0.24
GENESIS_G90_UNWIND_TAPER_RIGHT = 0.34
GENESIS_G90_TURN_IN_BOOST_LEFT = 0.42
GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.34
GENESIS_G90_UNWIND_TAPER_LEFT = 0.18
GENESIS_G90_UNWIND_TAPER_RIGHT = 0.48
GENESIS_G90_FRICTION_MULT = 1.02
GENESIS_G90_FRICTION_LAT_RISE = 0.22
GENESIS_G90_FRICTION_JERK_RISE = 0.24
GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.18
GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.16
GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.26
GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.09
GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.18
GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.15
GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.10
GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.32
GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.11
GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.10
GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30
IONIQ_6_FF_GAIN_LEFT = 0.045
IONIQ_6_FF_GAIN_RIGHT = 0.015
selfdrive/controls/tests/test_latcontrol.py
+4 -3
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@@ -227,7 +227,8 @@ class TestLatControl:
left_unwind = get_genesis_g90_friction_threshold(6.0, 0.7, -0.8)
right_unwind = get_genesis_g90_friction_threshold(6.0, -0.7, 0.8)
assert left_turn_in < base
assert right_turn_in < left_turn_in
assert right_turn_in < base
assert left_turn_in < right_turn_in
assert left_unwind > base
assert right_unwind > left_unwind
@@ -237,7 +238,7 @@ class TestLatControl:
right_turn_in = get_genesis_g90_friction_scale(6.0, -0.7, -0.8)
left_unwind = get_genesis_g90_friction_scale(6.0, 0.7, -0.8)
right_unwind = get_genesis_g90_friction_scale(6.0, -0.7, 0.8)
assert right_turn_in > left_turn_in > base
assert left_turn_in > right_turn_in > base
assert base > left_unwind > right_unwind
def test_ioniq_6_ff_scale_curve(self):
@@ -440,7 +441,7 @@ class TestLatControl:
monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
variant_controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
assert variant_controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.20 * 1.16)
assert variant_controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.20 * 1.26)
def test_modified_civic_b_torque_ff_scale_curve(self):
steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)
selfdrive/modeld/dmonitoringmodeld.py
+6 -3
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@@ -78,7 +78,7 @@ def parse_model_output(model_output):
face_descs = model_output[f'face_descs_{ds_suffix}']
parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
for key in ['face_prob', 'left_eye_prob', 'right_eye_prob', 'left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
return parsed
@@ -89,8 +89,11 @@ def fill_driver_data(msg, model_output, ds_suffix):
msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
selfdrive/modeld/models/dmonitoring_model.onnx
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selfdrive/modeld/models/dmonitoring_model_metadata.pkl
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selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl
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selfdrive/monitoring/helpers.py
+16 -5
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@@ -32,8 +32,9 @@ class DRIVER_MONITOR_SETTINGS:
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
self._FACE_THRESHOLD = 0.7
self._EYE_THRESHOLD = 0.5
self._BLINK_THRESHOLD = 0.5
self._EYE_THRESHOLD = 0.65
self._SG_THRESHOLD = 0.9
self._BLINK_THRESHOLD = 0.865
self._PHONE_THRESH = 0.5
self._POSE_PITCH_THRESHOLD = 0.3133
@@ -108,6 +109,13 @@ class DriverProb:
self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
self.prob_calibrated = False
class DriverBlink:
def __init__(self):
self.left = 0.
self.right = 0.
# model output refers to center of undistorted+leveled image
EFL = 598.0 # focal length in K
cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
@@ -141,7 +149,7 @@ class DriverMonitoring:
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
self.pose = DriverPose(settings=self.settings)
self.blink_prob = 0.
self.blink = DriverBlink()
self.phone_prob = 0.
self.always_on = always_on
@@ -244,7 +252,7 @@ class DriverMonitoring:
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
distracted_types.append(DistractedType.DISTRACTED_POSE)
if self.blink_prob > self.settings._BLINK_THRESHOLD:
if (self.blink.left + self.blink.right) * 0.5 > self.settings._BLINK_THRESHOLD:
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.phone_prob > self.settings._PHONE_THRESH:
@@ -284,7 +292,10 @@ class DriverMonitoring:
self.pose.yaw_std = driver_data.faceOrientationStd[1]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.phone_prob = driver_data.phoneProb
self.distracted_types = self._get_distracted_types()
selfdrive/monitoring/test_monitoring.py
+4 -2
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@@ -19,8 +19,10 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
ds.leftDriverData.faceOrientation = [0., 0., 0.]
ds.leftDriverData.facePosition = [0., 0.]
ds.leftDriverData.faceProb = 1. * face_detected
ds.leftDriverData.eyesVisibleProb = 1.
ds.leftDriverData.eyesClosedProb = 1. * distracted
ds.leftDriverData.leftEyeProb = 1.
ds.leftDriverData.rightEyeProb = 1.
ds.leftDriverData.leftBlinkProb = 1. * distracted
ds.leftDriverData.rightBlinkProb = 1. * distracted
ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
# TODO: test both separately when e2e is used
selfdrive/test/process_replay/model_replay.py
+1 -1
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@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
(lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
(lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
], "driverStateV2")
selfdrive/ui/mici/onroad/driver_camera_dialog.py
+15 -4
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@@ -39,6 +39,8 @@ class BaseDriverCameraDialog(Widget):
self._eye_fill_texture = None
self._eye_orange_texture = None
self._eye_size = 74
self._glasses_texture = None
self._glasses_size = 171
self._load_eye_textures()
@@ -152,6 +154,8 @@ class BaseDriverCameraDialog(Widget):
self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
if self._eye_orange_texture is None:
self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
if self._glasses_texture is None:
self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
def _draw_face_detection(self, rect: rl.Rectangle):
dm_state = ui_state.sm["driverMonitoringState"]
@@ -198,21 +202,28 @@ class BaseDriverCameraDialog(Widget):
eye_offset_x = 10
eye_offset_y = 10
eye_spacing = self._eye_size + 15
eyes_prob = driver_data.eyesVisibleProb
left_eye_x = rect.x + eye_offset_x
left_eye_y = rect.y + eye_offset_y
left_eye_prob = driver_data.leftEyeProb
right_eye_x = rect.x + eye_offset_x + eye_spacing
right_eye_y = rect.y + eye_offset_y
right_eye_prob = driver_data.rightEyeProb
# Draw eyes with opacity based on probability
fill_opacity = eyes_prob
orange_opacity = 1.0 - eyes_prob
for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
fill_opacity = eye_prob
orange_opacity = 1.0 - eye_prob
rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
glasses_x = rect.x + eye_offset_x - 4
glasses_y = rect.y
glasses_pos = rl.Vector2(glasses_x, glasses_y)
glasses_prob = driver_data.sunglassesProb
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):