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BigUI WIP: Consolidated Border Effects

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This commit is contained in:
firestarsdog
2026-05-26 00:32:31 -04:00
parent 693b1f08a3
commit fb17126f68
2 changed files with 88 additions and 75 deletions
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selfdrive/ui/onroad/starpilot/starpilot_border.py
+86
View File
@@ -7,6 +7,10 @@ import pyray as rl
from openpilot.selfdrive.ui import UI_BORDER_SIZE
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.lib.starpilot_status import (
CEM_OVERRIDE_COLOR, ENGAGED_COLOR, EXPERIMENTAL_COLOR, TRAFFIC_COLOR
)
class BorderLayer(Enum):
@@ -161,6 +165,88 @@ def _render_csc_glow(border_rect: rl.Rectangle, border_width: float = UI_BORDER_
rl.draw_rectangle_gradient_h(gx + gw - span, gy, span, gh, fade_rgba, glow_rgba)
_smoothed_steer = 0.0
def render_background_effects(rect: rl.Rectangle, border_width: float):
global _smoothed_steer
sm = ui_state.sm
# 1. Turn Signal and Blind Spot indicators
car_state = sm["carState"] if sm.valid.get("carState", False) else None
if car_state:
show_signal = ui_state.params.get_bool("SignalMetrics")
show_blindspot = ui_state.params.get_bool("BlindSpotMetrics")
if show_signal or show_blindspot:
left_blindspot = car_state.leftBlindspot
right_blindspot = car_state.rightBlindspot
left_blinker = car_state.leftBlinker
right_blinker = car_state.rightBlinker
if (show_signal and (left_blinker or right_blinker)) or (show_blindspot and (left_blindspot or right_blindspot)):
interval = 250 if show_blindspot and (left_blindspot or right_blindspot) else 500
flicker_active = (int(rl.get_time() * 1000) % (interval * 2)) < interval
def get_half_border_color(blindspot, turn_signal):
if turn_signal and show_signal:
if blindspot:
return TRAFFIC_COLOR if flicker_active else CEM_OVERRIDE_COLOR
else:
return CEM_OVERRIDE_COLOR if flicker_active else rl.Color(0, 0, 0, 0)
elif blindspot and show_blindspot:
return TRAFFIC_COLOR
else:
return rl.Color(0, 0, 0, 0)
left_color = get_half_border_color(left_blindspot, left_blinker)
right_color = get_half_border_color(right_blindspot, right_blinker)
# Draw left side borders
if left_color.a > 0:
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width // 2), int(rect.height))
rl.draw_rectangle_rounded(rect, 0.12, 10, left_color)
rl.end_scissor_mode()
# Draw right side borders
if right_color.a > 0:
rl.begin_scissor_mode(int(rect.x + rect.width // 2), int(rect.y), int(rect.width // 2), int(rect.height))
rl.draw_rectangle_rounded(rect, 0.12, 10, right_color)
rl.end_scissor_mode()
# 2. Steering Torque Border
car_control = sm["carControl"] if sm.valid.get("carControl", False) else None
if car_control:
show_steering = ui_state.params.get_bool("ShowSteering")
if show_steering:
torque = -car_control.actuators.torque
abs_torque = abs(torque)
_smoothed_steer = 0.25 * abs_torque + 0.75 * _smoothed_steer
if abs(_smoothed_steer - abs_torque) < 0.01:
_smoothed_steer = abs_torque
visible_height = int(rect.height * _smoothed_steer)
if visible_height > 0:
if _smoothed_steer < 0.25:
t = _smoothed_steer / 0.25
col = rl.color_alpha_blend(ENGAGED_COLOR, CEM_OVERRIDE_COLOR, rl.Color(255, 255, 255, int(t * 255)))
elif _smoothed_steer < 0.5:
t = (_smoothed_steer - 0.25) / 0.25
col = rl.color_alpha_blend(CEM_OVERRIDE_COLOR, EXPERIMENTAL_COLOR, rl.Color(255, 255, 255, int(t * 255)))
else:
t = min(1.0, (_smoothed_steer - 0.5) / 0.5)
col = rl.color_alpha_blend(EXPERIMENTAL_COLOR, TRAFFIC_COLOR, rl.Color(255, 255, 255, int(t * 255)))
y_pos = int(rect.y + rect.height - visible_height)
if torque < 0:
rl.begin_scissor_mode(int(rect.x), y_pos, int(border_width), int(visible_height))
else:
rl.begin_scissor_mode(int(rect.x + rect.width - border_width), y_pos, int(border_width), int(visible_height))
rl.draw_rectangle_rounded(rect, 0.12, 10, col)
rl.end_scissor_mode()
_effects: list[BorderEffect] = [
BorderEffect(_render_csc_glow, BorderLayer.BEHIND, "csc_glow"),
]
selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py
+2 -75
View File
@@ -3,7 +3,7 @@ import time
from msgq.visionipc import VisionStreamType
from openpilot.common.params import Params
from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
from openpilot.selfdrive.ui.onroad.starpilot.starpilot_border import render_behind, render_overlay
from openpilot.selfdrive.ui.onroad.starpilot.starpilot_border import render_behind, render_overlay, render_background_effects
from openpilot.selfdrive.ui.onroad.starpilot.path import render_adjacent_paths, render_blind_spot_path, render_path_edges
from openpilot.selfdrive.ui.onroad.starpilot.personality_button import PersonalityButton, BTN_SIZE
from openpilot.selfdrive.ui.onroad.starpilot.slc_speed_limit import (
@@ -29,7 +29,6 @@ class StarPilotOnroadView(AugmentedRoadView):
self._font_bold = gui_app.font(FontWeight.BOLD)
self._font_medium = gui_app.font(FontWeight.MEDIUM)
self._standstill_started_at = 0.0
self._smoothed_steer = 0.0
self._aethergauge = AetherGauge()
def _render(self, rect: rl.Rectangle):
@@ -37,6 +36,7 @@ class StarPilotOnroadView(AugmentedRoadView):
border_width = self._get_border_width()
border_color = get_screen_edge_color(ui_state)
rl.draw_rectangle_rounded(rect, 0.12, 10, border_color)
render_background_effects(rect, border_width)
super()._render(rect)
if not ui_state.started:
@@ -222,8 +222,6 @@ class StarPilotOnroadView(AugmentedRoadView):
render_overlay(border_rect, border_width)
self._render_border_effects(rect)
def _handle_mouse_press(self, mouse_pos: MousePos):
border_width = self._get_border_width()
content_rect = rl.Rectangle(
@@ -309,77 +307,6 @@ class StarPilotOnroadView(AugmentedRoadView):
by = self._content_rect.y + self._content_rect.height - sz.y - 10
draw_text_with_outline(fps_str, bx, by, rl.WHITE)
def _render_border_effects(self, rect: rl.Rectangle):
car_state = ui_state.sm["carState"] if ui_state.sm.valid.get("carState", False) else None
car_control = ui_state.sm["carControl"] if ui_state.sm.valid.get("carControl", False) else None
if not car_state:
return
show_steering = self._params.get_bool("ShowSteering")
show_signal = self._params.get_bool("SignalMetrics")
show_blindspot = self._params.get_bool("BlindSpotMetrics")
border_width = self._get_border_width()
# 1. Turn Signal and Blind Spot warning borders
left_blindspot = car_state.leftBlindspot
right_blindspot = car_state.rightBlindspot
left_blinker = car_state.leftBlinker
right_blinker = car_state.rightBlinker
if (show_signal and (left_blinker or right_blinker)) or (show_blindspot and (left_blindspot or right_blindspot)):
interval = 250 if show_blindspot and (left_blindspot or right_blindspot) else 500
flicker_active = (int(rl.get_time() * 1000) % (interval * 2)) < interval
def get_half_border_color(blindspot, turn_signal):
if turn_signal and show_signal:
if blindspot:
return TRAFFIC_COLOR if flicker_active else CEM_OVERRIDE_COLOR
else:
return CEM_OVERRIDE_COLOR if flicker_active else rl.Color(0, 0, 0, 0)
elif blindspot and show_blindspot:
return TRAFFIC_COLOR
else:
return rl.Color(0, 0, 0, 0)
left_color = get_half_border_color(left_blindspot, left_blinker)
right_color = get_half_border_color(right_blindspot, right_blinker)
# Draw left side borders
if left_color.a > 0:
rl.draw_rectangle(int(rect.x), int(rect.y), int(border_width), int(rect.height), left_color)
rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width // 2), int(border_width), left_color)
rl.draw_rectangle(int(rect.x), int(rect.y + rect.height - border_width), int(rect.width // 2), int(border_width), left_color)
# Draw right side borders
if right_color.a > 0:
rl.draw_rectangle(int(rect.x + rect.width - border_width), int(rect.y), int(border_width), int(rect.height), right_color)
rl.draw_rectangle(int(rect.x + rect.width // 2), int(rect.y), int(rect.width // 2), int(border_width), right_color)
rl.draw_rectangle(int(rect.x + rect.width // 2), int(rect.y + rect.height - border_width), int(rect.width // 2), int(border_width), right_color)
# 2. Steering Torque Border
if show_steering and car_control:
torque = -car_control.actuators.torque
abs_torque = abs(torque)
self._smoothed_steer = 0.25 * abs_torque + 0.75 * self._smoothed_steer
if abs(self._smoothed_steer - abs_torque) < 0.01:
self._smoothed_steer = abs_torque
visible_height = int(rect.height * self._smoothed_steer)
x_pos = int(rect.x) if torque < 0 else int(rect.x + rect.width - border_width)
y_pos = int(rect.y + rect.height - visible_height)
if self._smoothed_steer < 0.25:
t = self._smoothed_steer / 0.25
col = rl.color_alpha_blend(ENGAGED_COLOR, CEM_OVERRIDE_COLOR, rl.Color(255, 255, 255, int(t * 255)))
elif self._smoothed_steer < 0.5:
t = (self._smoothed_steer - 0.25) / 0.25
col = rl.color_alpha_blend(CEM_OVERRIDE_COLOR, EXPERIMENTAL_COLOR, rl.Color(255, 255, 255, int(t * 255)))
else:
t = min(1.0, (self._smoothed_steer - 0.5) / 0.5)
col = rl.color_alpha_blend(EXPERIMENTAL_COLOR, TRAFFIC_COLOR, rl.Color(255, 255, 255, int(t * 255)))
rl.draw_rectangle(int(x_pos), int(y_pos), int(border_width), int(visible_height), col)
def _render_bottom_row_widgets(self):
# Hide if alerts are active