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DM and volt auto hold

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firestar5683
2026-04-30 11:01:46 -05:00
parent 8ec92d12fd
commit 4503811202
8 changed files with 182 additions and 28 deletions
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selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
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Side by Side Swipe Overlay

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Width:  |  Height:  |  Size: 3.5 KiB

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Width:  |  Height:  |  Size: 1.8 KiB

selfdrive/ui/mici/onroad/driver_state.py
+12 -1
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@@ -16,11 +16,15 @@ DEBUG = False
LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
CONE_COLOR_GREEN = (0, 255, 64)
CONE_COLOR_ORANGE = (255, 115, 0)
class DriverStateRenderer(Widget):
BASE_SIZE = 60
LINES_ANGLE_INCREMENT = 5
LINES_STALE_ANGLES = 3.0 # seconds
AWARENESS_UNFULL_THRESHOLD = 0.95 # ~0.5s
def __init__(self, lines: bool = False, inset: bool = False):
super().__init__()
@@ -38,8 +42,10 @@ class DriverStateRenderer(Widget):
self._should_draw = False
self._force_active = False
self._looking_center = False
self._awareness_unfull = False
self._fade_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
self._color_fade_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps)
self._pitch_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
self._yaw_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
self._rotation_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps, initialized=False)
@@ -97,6 +103,7 @@ class DriverStateRenderer(Widget):
self._rect.y + (self._rect.height - self._dm_person.height) / 2), 0.0, 1.0,
rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
green_amount = self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
if self.effective_active:
source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
dest_rect = rl.Rectangle(
@@ -107,13 +114,16 @@ class DriverStateRenderer(Widget):
)
if not self._lines:
r = int(round(CONE_COLOR_GREEN[0] * green_amount + CONE_COLOR_ORANGE[0] * (1 - green_amount)))
g = int(round(CONE_COLOR_GREEN[1] * green_amount + CONE_COLOR_ORANGE[1] * (1 - green_amount)))
b = int(round(CONE_COLOR_GREEN[2] * green_amount + CONE_COLOR_ORANGE[2] * (1 - green_amount)))
rl.draw_texture_pro(
self._dm_cone,
source_rect,
dest_rect,
rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
self._rotation_filter.x - 90,
rl.Color(255, 255, 255, int(255 * self._fade_filter.x)),
rl.Color(r, g, b, int(255 * self._fade_filter.x)),
)
else:
@@ -156,6 +166,7 @@ class DriverStateRenderer(Widget):
self._is_active = dm_state.isActiveMode
self._is_rhd = dm_state.isRHD
self._face_detected = dm_state.faceDetected
self._awareness_unfull = self.effective_active and dm_state.awarenessStatus < self.AWARENESS_UNFULL_THRESHOLD
driverstate = sm["driverStateV2"]
driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData