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firestar5683
2026-04-04 10:53:33 -05:00
parent 4a4b918d28
commit 10cab1ceff
5 changed files with 346 additions and 54 deletions
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selfdrive/ui/mici/onroad/hud_renderer.py
+103 -53
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@@ -118,6 +118,8 @@ class HudRenderer(Widget):
self._engaged: bool = False
self._show_speed_limit: bool = False
self._speed_limit: float = 0.0
self._speed_limit_offset: float = 0.0
self._show_speed_limit_offset: bool = False
self._speed_limit_overridden: bool = False
self._pending_speed_limit: float = 0.0
self._prompt_visible: bool = False
@@ -194,6 +196,7 @@ class HudRenderer(Widget):
if self._show_speed_limit:
dashboard_speed_limit = sm["starpilotCarState"].dashboardSpeedLimit if sm.valid.get("starpilotCarState", False) else 0.0
vision_speed_limit = ui_state.params_memory.get_float("VisionSpeedLimit") if ui_state.params.get_bool("VisionSpeedLimitDetection") else 0.0
self._show_speed_limit_offset = ui_state.params.get_bool("ShowSLCOffset")
primary_priority = ui_state.params.get("SLCPriority1", encoding='utf-8') or "Map Data"
secondary_priority = ui_state.params.get("SLCPriority2", encoding='utf-8') or "None"
source_limits = {
@@ -210,16 +213,23 @@ class HudRenderer(Widget):
secondary_priority=secondary_priority,
)
self._speed_limit = max(0.0, resolved_speed_limit * speed_conversion)
self._speed_limit_offset = starpilot_plan.slcSpeedLimitOffset * speed_conversion
self._speed_limit_overridden = bool(starpilot_plan.slcOverriddenSpeed > 0 and starpilot_plan.slcSpeedLimit > 0)
if self._speed_limit > 0 and not self._speed_limit_overridden and not self._show_speed_limit_offset:
self._speed_limit += self._speed_limit_offset
self._pending_speed_limit = max(0.0, starpilot_plan.unconfirmedSlcSpeedLimit * speed_conversion)
else:
self._speed_limit = 0.0
self._speed_limit_offset = 0.0
self._show_speed_limit_offset = False
self._speed_limit_overridden = False
self._pending_speed_limit = 0.0
self._prompt_visible = self._pending_speed_limit > 0
else:
self._show_speed_limit = False
self._speed_limit = 0.0
self._speed_limit_offset = 0.0
self._show_speed_limit_offset = False
self._speed_limit_overridden = False
self._pending_speed_limit = 0.0
self._prompt_visible = False
@@ -335,6 +345,64 @@ class HudRenderer(Widget):
max_color,
)
def _draw_us_speed_limit_sign(
self,
sign_rect: rl.Rectangle,
speed_text: str,
sign_alpha: int,
*,
border_thickness: float,
header_font_size: int,
header_gap: int,
speed_font_size: int,
header_top: float,
speed_top: float,
footer_text: str = "",
footer_font_size: int = 0,
footer_top: float = 0.0,
) -> None:
border_color = rl.Color(255, 255, 255, sign_alpha)
text_color = rl.Color(255, 255, 255, sign_alpha)
inner_border_rect = rl.Rectangle(
sign_rect.x + 8,
sign_rect.y + 8,
sign_rect.width - 16,
sign_rect.height - 16,
)
rl.draw_rectangle_rounded_lines_ex(inner_border_rect, 0.14, 16, max(border_thickness - 2, 1), border_color)
speed_label = tr("SPEED")
limit_label = tr("LIMIT")
speed_label_size = measure_text_cached(self._font_semi_bold, speed_label, header_font_size)
limit_label_size = measure_text_cached(self._font_semi_bold, limit_label, header_font_size)
rl.draw_text_ex(
self._font_semi_bold,
speed_label,
rl.Vector2(sign_rect.x + sign_rect.width / 2 - speed_label_size.x / 2, sign_rect.y + header_top),
header_font_size,
0,
text_color,
)
rl.draw_text_ex(
self._font_semi_bold,
limit_label,
rl.Vector2(sign_rect.x + sign_rect.width / 2 - limit_label_size.x / 2, sign_rect.y + header_top + header_gap),
header_font_size,
0,
text_color,
)
speed_text_size = measure_text_cached(self._font_bold, speed_text, speed_font_size)
speed_text_pos = rl.Vector2(sign_rect.x + sign_rect.width / 2 - speed_text_size.x / 2, sign_rect.y + speed_top)
rl.draw_text_ex(self._font_bold, speed_text, speed_text_pos, speed_font_size, 0, text_color)
if footer_text and footer_font_size > 0:
footer_size = measure_text_cached(self._font_semi_bold, footer_text, footer_font_size)
footer_pos = rl.Vector2(sign_rect.x + sign_rect.width / 2 - footer_size.x / 2, sign_rect.y + footer_top)
rl.draw_text_ex(self._font_semi_bold, footer_text, footer_pos, footer_font_size, 0, text_color)
def _draw_speed_limit(self, rect: rl.Rectangle) -> None:
if not self._show_speed_limit:
return
@@ -352,6 +420,10 @@ class HudRenderer(Widget):
sign_y = rect.y + (28 if use_vienna_speed_limit else 20)
speed_text = str(round(display_speed))
offset_text = ""
if self._show_speed_limit_offset and not self._speed_limit_overridden:
rounded_offset = round(self._speed_limit_offset)
offset_text = "–" if rounded_offset == 0 else f"{rounded_offset:+d}"
if use_vienna_speed_limit:
center_x = sign_x + sign_width / 2
center_y = sign_y + sign_height / 2
@@ -370,30 +442,29 @@ class HudRenderer(Widget):
font_size = 58 if len(speed_text) <= 2 else 48
text_size = measure_text_cached(self._font_bold, speed_text, font_size)
text_pos = rl.Vector2(center_x - text_size.x / 2, center_y - text_size.y / 2 + 4)
text_pos = rl.Vector2(center_x - text_size.x / 2, center_y - text_size.y / 2 + (-14 if offset_text else 4))
rl.draw_text_ex(self._font_bold, speed_text, text_pos, font_size, 0, rl.Color(0, 0, 0, sign_alpha))
if offset_text:
offset_font_size = 34
offset_size = measure_text_cached(self._font_semi_bold, offset_text, offset_font_size)
offset_pos = rl.Vector2(center_x - offset_size.x / 2, sign_y + sign_height - 42)
rl.draw_text_ex(self._font_semi_bold, offset_text, offset_pos, offset_font_size, 0, rl.Color(0, 0, 0, sign_alpha))
else:
sign_rect = rl.Rectangle(sign_x, sign_y, sign_width, sign_height)
border_rect = rl.Rectangle(sign_x + 6, sign_y + 6, sign_width - 12, sign_height - 12)
rl.draw_rectangle_rounded(sign_rect, 0.18, 16, rl.Color(255, 255, 255, sign_alpha))
rl.draw_rectangle_rounded_lines_ex(border_rect, 0.14, 16, 4, rl.Color(0, 0, 0, sign_alpha))
header_font_size = 20
header_gap = 18
speed_font_size = 50 if len(speed_text) <= 2 else 42
speed_label = tr("SPEED")
limit_label = tr("LIMIT")
speed_label_size = measure_text_cached(self._font_semi_bold, speed_label, header_font_size)
limit_label_size = measure_text_cached(self._font_semi_bold, limit_label, header_font_size)
speed_label_pos = rl.Vector2(sign_x + sign_width / 2 - speed_label_size.x / 2, sign_y + 18)
limit_label_pos = rl.Vector2(sign_x + sign_width / 2 - limit_label_size.x / 2, sign_y + 18 + header_gap)
rl.draw_text_ex(self._font_semi_bold, speed_label, speed_label_pos, header_font_size, 0, rl.Color(0, 0, 0, sign_alpha))
rl.draw_text_ex(self._font_semi_bold, limit_label, limit_label_pos, header_font_size, 0, rl.Color(0, 0, 0, sign_alpha))
speed_text_size = measure_text_cached(self._font_bold, speed_text, speed_font_size)
speed_text_pos = rl.Vector2(sign_x + sign_width / 2 - speed_text_size.x / 2, sign_y + 66)
rl.draw_text_ex(self._font_bold, speed_text, speed_text_pos, speed_font_size, 0, rl.Color(0, 0, 0, sign_alpha))
self._draw_us_speed_limit_sign(
sign_rect,
speed_text,
sign_alpha,
border_thickness=4,
header_font_size=20,
header_gap=18,
speed_font_size=44 if offset_text else (50 if len(speed_text) <= 2 else 42),
header_top=18,
speed_top=58 if offset_text else 66,
footer_text=offset_text,
footer_font_size=28 if offset_text else 0,
footer_top=100,
)
def _update_prompt_layout(self, rect: rl.Rectangle) -> None:
if not self._prompt_visible:
@@ -484,38 +555,17 @@ class HudRenderer(Widget):
text_pos = rl.Vector2(center_x - text_size.x / 2, center_y - text_size.y / 2 + 4)
rl.draw_text_ex(self._font_bold, speed_text, text_pos, font_size, 0, rl.BLACK)
else:
border_rect = rl.Rectangle(sign_rect.x + 8, sign_rect.y + 8, sign_rect.width - 16, sign_rect.height - 16)
rl.draw_rectangle_rounded(sign_rect, 0.18, 16, rl.WHITE)
rl.draw_rectangle_rounded_lines_ex(border_rect, 0.14, 16, 5, rl.BLACK)
header_font_size = 24
header_gap = 20
speed_font_size = 72 if len(speed_text) <= 2 else 60
speed_label = tr("SPEED")
limit_label = tr("LIMIT")
speed_label_size = measure_text_cached(self._font_semi_bold, speed_label, header_font_size)
limit_label_size = measure_text_cached(self._font_semi_bold, limit_label, header_font_size)
rl.draw_text_ex(
self._font_semi_bold,
speed_label,
rl.Vector2(sign_rect.x + sign_rect.width / 2 - speed_label_size.x / 2, sign_rect.y + 20),
header_font_size,
0,
rl.BLACK,
self._draw_us_speed_limit_sign(
sign_rect,
speed_text,
255,
border_thickness=5,
header_font_size=24,
header_gap=20,
speed_font_size=72 if len(speed_text) <= 2 else 60,
header_top=20,
speed_top=80,
)
rl.draw_text_ex(
self._font_semi_bold,
limit_label,
rl.Vector2(sign_rect.x + sign_rect.width / 2 - limit_label_size.x / 2, sign_rect.y + 20 + header_gap),
header_font_size,
0,
rl.BLACK,
)
speed_size = measure_text_cached(self._font_bold, speed_text, speed_font_size)
speed_pos = rl.Vector2(sign_rect.x + sign_rect.width / 2 - speed_size.x / 2, sign_rect.y + 80)
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, speed_font_size, 0, rl.BLACK)
self._draw_prompt_button(
self._prompt_deny_rect,
@@ -532,7 +582,7 @@ class HudRenderer(Widget):
False,
)
hint_text = tr("USE WHEEL - / +")
hint_text = tr("SET/+ TO CONFIRM RES/- TO DENY")
hint_size = measure_text_cached(self._font_medium, hint_text, 24)
hint_pos = rl.Vector2(card_rect.x + card_rect.width / 2 - hint_size.x / 2, card_rect.y + card_rect.height - 34)
rl.draw_text_ex(self._font_medium, hint_text, hint_pos, 24, 0, rl.Color(255, 255, 255, 180))