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BigUI WIP: Force Stop -> Aethergauge

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This commit is contained in:
firestarsdog
2026-05-24 01:01:31 -04:00
parent 56a0c4e0d9
commit 7bebf0ef3c
3 changed files with 97 additions and 134 deletions
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selfdrive/ui/onroad/starpilot/aethergauge.py
+97 -6
View File
@@ -15,6 +15,7 @@ class AetherGaugeData:
color: rl.Color = rl.WHITE
indicator_type: str = "none" # e.g. "road_curve"
indicator_value: float = 0.0 # value used by indicator (e.g. curvature)
stop_sign_confirmed: bool = False
class AetherGaugeSource:
def is_active(self) -> bool:
@@ -23,6 +24,36 @@ class AetherGaugeSource:
def get_gauge_data(self) -> AetherGaugeData:
raise NotImplementedError
class ForceStopSource(AetherGaugeSource):
def is_active(self) -> bool:
if "starpilotPlan" not in ui_state.sm.valid or not ui_state.sm.valid["starpilotPlan"]:
return False
plan = ui_state.sm["starpilotPlan"]
return getattr(plan, "forcingStop", False)
def get_gauge_data(self) -> AetherGaugeData:
plan = ui_state.sm["starpilotPlan"]
distance_conversion = 1.0 if ui_state.is_metric else 3.28084
dist_unit = "m" if ui_state.is_metric else "ft"
forcing_stop_length = getattr(plan, "forcingStopLength", 0.0)
dist_val = int(round(forcing_stop_length * distance_conversion))
stop_sign_confirmed = getattr(plan, "stopSignConfirmed", False)
color = rl.Color(255, 30, 60, 255) # Sleek high-contrast red
return AetherGaugeData(
text=str(dist_val),
unit=dist_unit,
label="STOP",
animation="force_stop",
color=color,
indicator_type="force_stop",
indicator_value=forcing_stop_length,
stop_sign_confirmed=stop_sign_confirmed
)
class CurveSpeedSource(AetherGaugeSource):
def is_active(self) -> bool:
state = _csc_state()
@@ -59,7 +90,7 @@ class CurveSpeedSource(AetherGaugeSource):
class AetherGauge:
def __init__(self):
self.sources: list[AetherGaugeSource] = [CurveSpeedSource()]
self.sources: list[AetherGaugeSource] = [ForceStopSource(), CurveSpeedSource()]
def get_active_data(self) -> AetherGaugeData | None:
for source in self.sources:
@@ -82,7 +113,7 @@ class AetherGauge:
# Position the curving road widget to the left of the speed text, center-aligned vertically
icon_cx = cx - speed_text_size.x / 2 - 70.0
if data.indicator_type == "road_curve":
if data.indicator_type in ("road_curve", "force_stop"):
self._render_unified_road(icon_cx, cy_speed - 39.5, data, font_bold, font_medium)
def _render_unified_road(self, icx: float, icy: float, data: AetherGaugeData, font_bold: rl.Font, font_medium: rl.Font):
@@ -92,9 +123,12 @@ class AetherGauge:
top = icy - half_size
# Non-linear curvature offset
abs_curv = abs(data.indicator_value)
sign = math.copysign(1.0, data.indicator_value) if data.indicator_value != 0.0 else 1.0
curve_offset = max(-half_size, min(half_size, sign * (abs_curv ** 0.5) * 300.0))
if data.indicator_type == "road_curve":
abs_curv = abs(data.indicator_value)
sign = math.copysign(1.0, data.indicator_value) if data.indicator_value != 0.0 else 1.0
curve_offset = max(-half_size, min(half_size, sign * (abs_curv ** 0.5) * 300.0))
else:
curve_offset = 0.0
# 3D perspective widths
w_bottom = 28.0
@@ -137,7 +171,13 @@ class AetherGauge:
rl.draw_line_ex(points_right[i], points_right[i+1], thickness, data.color)
# C. Draw animating chevrons flowing down the road center path
progress = (rl.get_time() * 1.2) % 1.0
if data.indicator_type == "force_stop":
# Slow down chevrons as we approach the stop
speed_factor = max(0.1, min(1.0, data.indicator_value / 30.0))
else:
speed_factor = 1.0
progress = (rl.get_time() * 1.2 * speed_factor) % 1.0
for i in range(3):
# Chevron fraction t (flowing down from 1.0 to 0.0)
t = 1.0 - ((i + progress) / 3.0)
@@ -187,6 +227,10 @@ class AetherGauge:
rl.draw_line_ex(rl.Vector2(int(lx), int(ly)), rl.Vector2(int(cx_t), int(cy_t)), chevron_thick, chev_color)
rl.draw_line_ex(rl.Vector2(int(rx), int(ry)), rl.Vector2(int(cx_t), int(cy_t)), chevron_thick, chev_color)
# E. Draw approaching stop sign if force_stop
if data.indicator_type == "force_stop":
self._draw_approaching_stop_sign(icx, icy, bottom, data.indicator_value, data.stop_sign_confirmed)
# D. Draw clean floating target speed directly below the road base
self._draw_mini_cradle(icx, bottom, data.text, data.unit, data.color, font_bold, font_medium)
@@ -210,3 +254,50 @@ class AetherGauge:
rl.draw_text_ex(font_medium, unit, rl.Vector2(unit_pos.x - 1, unit_pos.y + 1), 20, 0, rl.BLACK)
rl.draw_text_ex(font_medium, unit, rl.Vector2(unit_pos.x + 1, unit_pos.y + 1), 20, 0, rl.BLACK)
rl.draw_text_ex(font_medium, unit, unit_pos, 20, 0, rl.Color(255, 255, 255, 200))
def _draw_approaching_stop_sign(self, cx: float, icy: float, bottom: float, distance: float, confirmed: bool):
# Normalized progress: d_max = 60.0 meters
d_max = 60.0
s = max(0.0, min(1.0, (d_max - distance) / d_max))
# 3D perspective translation (stays within the road boundary)
y_sign = (icy - 30.0) + (s ** 1.5) * 50.0
# Dynamic scale based on distance
r_min = 6.0
r_max = 20.0
r_sign = r_min + (s ** 2.0) * (r_max - r_min)
# Draw drop shadow
rl.draw_poly(rl.Vector2(int(cx), int(y_sign + 2)), 8, r_sign, 22.5, rl.Color(0, 0, 0, 120))
# Draw outer white border
rl.draw_poly(rl.Vector2(int(cx), int(y_sign)), 8, r_sign, 22.5, rl.WHITE)
# Draw inner red octagon
red_color = rl.Color(196, 30, 58, 255)
rl.draw_poly(rl.Vector2(int(cx), int(y_sign)), 8, r_sign - 3, 22.5, red_color)
# Draw checkmark or exclamation point
if confirmed:
# White checkmark
lx = cx - r_sign * 0.3
ly = y_sign
bx = cx - r_sign * 0.07
by = y_sign + r_sign * 0.22
rx = cx + r_sign * 0.35
ry = y_sign - r_sign * 0.22
thick = max(2.0, r_sign * 0.12)
rl.draw_line_ex(rl.Vector2(int(lx), int(ly)), rl.Vector2(int(bx), int(by)), thick, rl.WHITE)
rl.draw_line_ex(rl.Vector2(int(bx), int(by)), rl.Vector2(int(rx), int(ry)), thick, rl.WHITE)
else:
# White exclamation mark
thick = max(1.5, r_sign * 0.12)
bar_h = r_sign * 0.4
dot_r = max(1.0, r_sign * 0.08)
# Top bar
rl.draw_rectangle(int(cx - thick / 2), int(y_sign - r_sign * 0.35), int(thick), int(bar_h), rl.WHITE)
# Dot
rl.draw_circle(int(cx), int(y_sign + r_sign * 0.35), int(dot_r), rl.WHITE)
selfdrive/ui/onroad/starpilot/csc_force_stop.py
-126
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@@ -1,126 +0,0 @@
import pyray as rl
import math
from openpilot.common.constants import CV
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.system.ui.lib.text_measure import measure_text_cached
def render_csc_force_stop(content_rect: rl.Rectangle, font_bold):
plan = ui_state.sm["starpilotPlan"] if ui_state.sm.valid.get("starpilotPlan", False) else None
if not plan:
return
forcing_stop = getattr(plan, "forcingStop", False)
csc_enabled = getattr(plan, "curveSpeedControlEnabled", False)
cond_status = ui_state.conditional_status
if not forcing_stop and not (cond_status == 3 and csc_enabled):
return
# Calculate layout coordinates matching C++
# setSpeedRect calculations:
ss_width = 200 if ui_state.is_metric else 172
ss_x = content_rect.x + 60 + (172 - ss_width) // 2
ss_y = content_rect.y + 45
ss_height = 204
csc_x = ss_x + ss_width + 30
csc_y = ss_y
w = 215
h = 215
csc_rect = rl.Rectangle(csc_x, csc_y, w, h)
badge_rect = rl.Rectangle(csc_x, csc_y + h + 10, w, 100)
distance_conversion = 1.0 if ui_state.is_metric else 3.28084
speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
dist_unit = "m" if ui_state.is_metric else "ft"
speed_unit = "km/h" if ui_state.is_metric else "mph"
car_state = ui_state.sm["carState"] if ui_state.sm.valid.get("carState", False) else None
v_ego = car_state.vEgo if car_state else 0.0
if forcing_stop:
# ── FORCE STOP MODE ──
forcing_stop_length = getattr(plan, "forcingStopLength", 0.0)
stop_sign_confirmed = getattr(plan, "stopSignConfirmed", False)
# Draw Octagon Stop sign in csc_rect
cx = csc_x + w / 2
cy = csc_y + h / 2
radius = 65.0
rl.draw_poly(rl.Vector2(int(cx), int(cy)), 8, radius, 22.5, rl.WHITE)
rl.draw_poly(rl.Vector2(int(cx), int(cy)), 8, radius - 5, 22.5, rl.Color(196, 30, 58, 255))
if stop_sign_confirmed:
# Draw white checkmark
rl.draw_line_ex(rl.Vector2(int(cx - 20), int(cy)), rl.Vector2(int(cx - 5), int(cy + 15)), 6, rl.WHITE)
rl.draw_line_ex(rl.Vector2(int(cx - 5), int(cy + 15)), rl.Vector2(int(cx + 25), int(cy - 15)), 6, rl.WHITE)
else:
# Draw white exclamation mark
rl.draw_rectangle(int(cx - 4), int(cy - 25), 8, 30, rl.WHITE)
rl.draw_circle(int(cx), int(cy + 18), 5, rl.WHITE)
# Draw red badge with stopping distance
rl.draw_rectangle_rounded(badge_rect, 0.24, 16, rl.Color(196, 30, 58, 166))
rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.24, 16, 4, rl.Color(255, 150, 150, 255))
dist_val = int(round(forcing_stop_length * distance_conversion))
text = f"{dist_val} {dist_unit}"
text_sz = measure_text_cached(font_bold, text, 40)
rl.draw_text_ex(font_bold, text, rl.Vector2(int(csc_x + 20), int(badge_rect.y + (100 - text_sz.y) / 2)), 40, 0, rl.WHITE)
else:
# ── CURVE SPEED CONTROL MODE ──
csc_speed = getattr(plan, "cscSpeed", 0.0)
road_curvature = getattr(plan, "roadCurvature", 0.0)
# Pulsing glowing border for CSC icon
phase = (rl.get_time() % 2.0) / 2.0 * 2.0 * math.pi
alpha_factor = 0.5 + 0.5 * math.sin(phase)
glow_color = rl.Color(0, 140, 255, int(255 * (0.3 + 0.7 * alpha_factor)))
glow_width = int(8 + 4 * alpha_factor)
rl.draw_rectangle_rounded(csc_rect, 0.24, 16, rl.Color(0, 0, 0, 166))
rl.draw_rectangle_rounded_lines_ex(csc_rect, 0.24, 16, glow_width, glow_color)
# Draw curvy path line inside csc_rect
cx = csc_x + w / 2
cy = csc_y + h / 2
path_color = rl.Color(0, 140, 255, 255)
# Draw curve left or right
if road_curvature < 0:
# Left curve spline
p1 = rl.Vector2(int(cx), int(cy + 60))
p2 = rl.Vector2(int(cx), int(cy - 20))
p3 = rl.Vector2(int(cx - 50), int(cy - 50))
rl.draw_spline_bezier_quadratic([p1, p2, p3], 3, 8, path_color)
# Left arrowhead
rl.draw_triangle(
rl.Vector2(int(cx - 55), int(cy - 60)),
rl.Vector2(int(cx - 35), int(cy - 40)),
rl.Vector2(int(cx - 45), int(cy - 35)),
path_color
)
else:
# Right curve spline
p1 = rl.Vector2(int(cx), int(cy + 60))
p2 = rl.Vector2(int(cx), int(cy - 20))
p3 = rl.Vector2(int(cx + 50), int(cy - 50))
rl.draw_spline_bezier_quadratic([p1, p2, p3], 3, 8, path_color)
# Right arrowhead
rl.draw_triangle(
rl.Vector2(int(cx + 55), int(cy - 60)),
rl.Vector2(int(cx + 45), int(cy - 35)),
rl.Vector2(int(cx + 35), int(cy - 40)),
path_color
)
# Draw blue badge with CSC speed target
rl.draw_rectangle_rounded(badge_rect, 0.24, 16, rl.Color(0, 140, 255, 166))
rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.24, 16, 4, rl.Color(100, 200, 255, 255))
csc_speed_val = int(round(min(v_ego, csc_speed) * speed_conversion))
text = f"{csc_speed_val} {speed_unit}"
text_sz = measure_text_cached(font_bold, text, 40)
rl.draw_text_ex(font_bold, text, rl.Vector2(int(csc_x + 20), int(badge_rect.y + (100 - text_sz.y) / 2)), 40, 0, rl.WHITE)
selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py
-2
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@@ -52,8 +52,6 @@ class StarPilotOnroadView(AugmentedRoadView):
int(self._content_rect.width), int(self._content_rect.height),
)
render_speed_limit(self._content_rect)
from openpilot.selfdrive.ui.onroad.starpilot.csc_force_stop import render_csc_force_stop
render_csc_force_stop(self._content_rect, self._font_bold)
rl.end_scissor_mode()
def _render_overlays(self):