mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-06 00:36:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Paint onroad rendering below widgets

Browse Source
This commit is contained in:
firestarsdog
2026-08-02 02:26:23 -04:00
parent 517a07d1de
commit 686f09658e
3 changed files with 223 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/onroad/augmented_road_view.py
+6 -1
View File
@@ -116,11 +116,12 @@ class AugmentedRoadView(CameraView):
# Draw all UI overlays
if self._draw_road_overlays:
self.model_renderer.render(self._content_rect)
self._render_extra_road_overlays(self._content_rect)
if self._draw_hud_controls:
self._hud_renderer.render(self._content_rect)
self.alert_renderer.render(self._content_rect)
if self._draw_driver_state:
self.driver_state_renderer.render(self._content_rect)
self.alert_renderer.render(self._content_rect)
# Custom UI extension point - add custom overlays here
# Use self._content_rect for positioning within camera bounds
@@ -136,6 +137,10 @@ class AugmentedRoadView(CameraView):
msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
self._pm.send('uiDebug', msg)
def _render_extra_road_overlays(self, rect: rl.Rectangle) -> None:
"""Render subclass road overlays inside the content scissor, above the model and below the HUD."""
pass
def _handle_mouse_press(self, _):
if not self._hud_renderer.user_interacting() and self._click_callback is not None:
self._click_callback()
selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py
+9 -12
View File
@@ -90,8 +90,6 @@ class StarPilotOnroadView(AugmentedRoadView):
self._render_slc()
self._render_overlays()
self._render_road_name()
if self._draw_road_overlays:
self._render_path_features(self._content_rect)
def _draw_border(self, rect: rl.Rectangle):
border_width = self._get_border_width()
@@ -102,8 +100,7 @@ class StarPilotOnroadView(AugmentedRoadView):
render_overlay(border_rect, border_width)
def _render_slc(self):
alert_showing, alert_size = self.alert_renderer.will_render()
if alert_showing is not None and alert_size == AlertSize.full:
if self._full_alert_showing():
return
if self._speed_limit_widget.is_visible:
self._speed_limit_widget.render(self._speed_limit_widget.rect)
@@ -136,19 +133,14 @@ class StarPilotOnroadView(AugmentedRoadView):
self._torque_bar.render(self._content_rect)
rl.end_scissor_mode()
def _render_path_features(self, rect: rl.Rectangle):
"""Render path-related features (adjacent paths, blind spot, path edges)."""
def _render_extra_road_overlays(self, rect: rl.Rectangle) -> None:
"""Render path features in the parent's clipped road-overlay layer."""
mr = self.model_renderer
# Only render if we have path data
if not mr._path.projected_points.size:
return
rl.begin_scissor_mode(
int(rect.x), int(rect.y),
int(rect.width), int(rect.height),
)
# Path edges (always rendered if track_edge_vertices exist)
if mr._track_edge_vertices.size >= 4:
render_path_edges(mr)
@@ -159,7 +151,9 @@ class StarPilotOnroadView(AugmentedRoadView):
# Render stopping point atop the path
render_stopping_point(mr, self._font_bold)
rl.end_scissor_mode()
def _full_alert_showing(self) -> bool:
alert_showing, _ = self.alert_renderer.will_render()
return alert_showing is not None and alert_showing.size == AlertSize.full
def _render_standstill_timer(self):
if not self._params.get_bool("stopped_timer"):
@@ -385,6 +379,9 @@ class StarPilotOnroadView(AugmentedRoadView):
render_weather_icon(weather_rect)
def _render_road_name(self):
if self._full_alert_showing():
return
toggles = ui_state.starpilot_toggles
road_name_on = bool(toggles.get("road_name_ui", self._params.get_bool("RoadNameUI")))
if not road_name_on:
selfdrive/ui/tests/test_onroad_render_layers.py
+208
View File
@@ -0,0 +1,208 @@
import importlib
import sys
from types import ModuleType, SimpleNamespace
def _load_augmented_road_view(monkeypatch):
def stub_module(name, **attributes):
module = ModuleType(name)
for key, value in attributes.items():
setattr(module, key, value)
monkeypatch.setitem(sys.modules, name, module)
class CameraView:
def _render(self, _rect):
self.events.append("camera")
class UIStatus:
DISENGAGED = 0
OVERRIDE = 1
ENGAGED = 2
stub_module(
"openpilot.selfdrive.ui.ui_state",
ui_state=SimpleNamespace(started=True, sm=SimpleNamespace()),
UIStatus=UIStatus,
)
stub_module("openpilot.selfdrive.ui.lib.starpilot_visuals", get_border_width=lambda *_args: 0)
stub_module("openpilot.selfdrive.ui.lib.starpilot_status", get_screen_edge_color=lambda *_args: None)
stub_module("openpilot.selfdrive.ui.onroad.alert_renderer", AlertRenderer=object)
stub_module("openpilot.selfdrive.ui.onroad.driver_state", DriverStateRenderer=object)
stub_module("openpilot.selfdrive.ui.onroad.hud_renderer", HudRenderer=object)
stub_module("openpilot.selfdrive.ui.onroad.model_renderer", ModelRenderer=object)
stub_module("openpilot.selfdrive.ui.onroad.cameraview", CameraView=CameraView)
stub_module("openpilot.system.ui.lib.application", gui_app=SimpleNamespace(target_fps=20))
module_name = "openpilot.selfdrive.ui.onroad.augmented_road_view"
monkeypatch.delitem(sys.modules, module_name, raising=False)
return importlib.import_module(module_name)
def _load_starpilot_onroad_view(monkeypatch):
def stub_module(name, **attributes):
module = ModuleType(name)
for key, value in attributes.items():
setattr(module, key, value)
monkeypatch.setitem(sys.modules, name, module)
class AugmentedRoadView:
pass
dummy_widget = type("DummyWidget", (), {})
color = SimpleNamespace(r=0, g=0, b=0, a=255)
stub_module("openpilot.selfdrive.ui.onroad.augmented_road_view", AugmentedRoadView=AugmentedRoadView)
stub_module(
"openpilot.selfdrive.ui.onroad.starpilot.starpilot_border",
render_behind=lambda *_args: None,
render_overlay=lambda *_args: None,
render_background_effects=lambda *_args: None,
)
stub_module(
"openpilot.selfdrive.ui.onroad.starpilot.path",
render_adjacent_lanes=lambda *_args: None,
render_path_edges=lambda *_args: None,
)
stub_module("openpilot.selfdrive.ui.ui_state", ui_state=SimpleNamespace())
stub_module("openpilot.selfdrive.ui.onroad.starpilot.torque_bar", TorqueBar=dummy_widget)
stub_module("openpilot.selfdrive.ui.onroad.starpilot.widget_layout_manager", WidgetLayoutManager=dummy_widget)
stub_module(
"openpilot.selfdrive.ui.onroad.starpilot.widgets",
SetSpeedWidget=dummy_widget,
SpeedLimitWidget=dummy_widget,
PedalIconsWidget=dummy_widget,
AetherGaugeWidget=dummy_widget,
PersonalityButtonWidget=dummy_widget,
DriverMonitorWidget=dummy_widget,
SteeringWheelWidget=dummy_widget,
)
stub_module(
"openpilot.selfdrive.ui.onroad.starpilot.stopping_point",
render_stopping_point=lambda *_args: None,
)
stub_module(
"openpilot.selfdrive.ui.onroad.starpilot.pause_indicators",
render_lateral_paused=lambda *_args: None,
render_longitudinal_paused=lambda *_args: None,
)
stub_module("openpilot.selfdrive.ui.onroad.starpilot.weather_icon", render_weather_icon=lambda *_args: None)
stub_module(
"openpilot.selfdrive.ui.lib.starpilot_status",
get_screen_edge_color=lambda *_args: color,
ENGAGED_COLOR=color,
EXPERIMENTAL_COLOR=color,
TRAFFIC_COLOR=color,
)
stub_module(
"openpilot.system.ui.lib.application",
MousePos=object,
gui_app=SimpleNamespace(font=lambda *_args: None),
FontWeight=SimpleNamespace(BOLD=0, MEDIUM=1),
)
stub_module(
"openpilot.system.ui.lib.text_measure",
draw_text_with_shadow=lambda *_args: None,
measure_text_cached=lambda *_args: SimpleNamespace(x=0, y=0),
)
module_name = "openpilot.selfdrive.ui.onroad.starpilot.starpilot_onroad_view"
monkeypatch.delitem(sys.modules, module_name, raising=False)
return importlib.import_module(module_name)
def test_extra_road_overlays_render_between_model_and_hud_and_alerts_last(monkeypatch):
augmented_road_view = _load_augmented_road_view(monkeypatch)
events = []
class LayeredRoadView(augmented_road_view.AugmentedRoadView):
def _render_extra_road_overlays(self, _rect):
events.append("road_overlays")
class Renderer:
def __init__(self, name):
self.name = name
def render(self, _rect):
events.append(self.name)
view = object.__new__(LayeredRoadView)
view.events = events
view.stream_type = augmented_road_view.ROAD_CAM
view._camera_view = lambda: augmented_road_view.CAMERA_VIEW_STANDARD
view._switch_stream_if_needed = lambda *_args: None
view._is_in_reverse = lambda: False
view._update_calibration = lambda: None
view._get_border_width = lambda: 0
view._draw_border = lambda _rect: events.append("border")
view.model_renderer = Renderer("model")
view._hud_renderer = Renderer("hud")
view.driver_state_renderer = Renderer("driver_state")
view.alert_renderer = Renderer("alert")
view._draw_driver_state = True
view._pm = SimpleNamespace(send=lambda *_args: events.append("publish"))
monkeypatch.setattr(augmented_road_view.rl, "begin_scissor_mode", lambda *_args: events.append("scissor_begin"))
monkeypatch.setattr(augmented_road_view.rl, "end_scissor_mode", lambda: events.append("scissor_end"))
monkeypatch.setattr(
augmented_road_view.messaging,
"new_message",
lambda *_args: SimpleNamespace(uiDebug=SimpleNamespace(drawTimeMillis=0.0)),
)
view._render(augmented_road_view.rl.Rectangle(0, 0, 100, 50))
assert events == [
"scissor_begin",
"camera",
"model",
"road_overlays",
"hud",
"driver_state",
"alert",
"scissor_end",
"border",
"publish",
]
def test_full_alert_detection_uses_the_alert_size(monkeypatch):
starpilot_onroad_view = _load_starpilot_onroad_view(monkeypatch)
view = object.__new__(starpilot_onroad_view.StarPilotOnroadView)
view.alert_renderer = SimpleNamespace(
will_render=lambda: (SimpleNamespace(size=starpilot_onroad_view.AlertSize.full), False),
)
assert view._full_alert_showing()
view.alert_renderer = SimpleNamespace(
will_render=lambda: (SimpleNamespace(size=starpilot_onroad_view.AlertSize.mid), False),
)
assert not view._full_alert_showing()
view.alert_renderer = SimpleNamespace(will_render=lambda: (None, True))
assert not view._full_alert_showing()
def test_starpilot_road_overlays_use_the_parent_scissor(monkeypatch):
starpilot_onroad_view = _load_starpilot_onroad_view(monkeypatch)
events = []
view = object.__new__(starpilot_onroad_view.StarPilotOnroadView)
view.model_renderer = SimpleNamespace(
_path=SimpleNamespace(projected_points=SimpleNamespace(size=1)),
_track_edge_vertices=SimpleNamespace(size=4),
)
view._font_bold = object()
monkeypatch.setattr(starpilot_onroad_view, "render_path_edges", lambda *_args: events.append("path_edges"))
monkeypatch.setattr(starpilot_onroad_view, "render_adjacent_lanes", lambda *_args: events.append("adjacent_lanes"))
monkeypatch.setattr(starpilot_onroad_view, "render_stopping_point", lambda *_args: events.append("stopping_point"))
def fail_scissor(*_args):
raise AssertionError("road overlay changed the parent scissor")
monkeypatch.setattr(starpilot_onroad_view.rl, "begin_scissor_mode", fail_scissor)
monkeypatch.setattr(starpilot_onroad_view.rl, "end_scissor_mode", fail_scissor)
view._render_extra_road_overlays(object())
assert events == ["path_edges", "adjacent_lanes", "stopping_point"]