see sats

selfdrive/ui/onroad/starpilot/gnss_health.py

@@ -0,0 +1,113 @@
+"""Onroad GNSS health readout.
+
+Built to measure RF desense from the external GPU's USB-C link: with the eGPU unplugged the
+receiver demodulates satellite time from ~93% of tracked satellites and fixes immediately, and
+with it plugged in that collapses to 0% while the tracked satellite count actually rises. Raw
+satellite counts are therefore misleading on their own - the demodulation rate and C/No are what
+show whether a cable, ferrite or antenna placement change helped.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+
+WIDTH = 300
+HEIGHT = 150
+MARGIN = 30
+PADDING = 14
+TITLE_SIZE = 26
+ROW_SIZE = 32
+
+_BG = rl.Color(0, 0, 0, 180)
+_LABEL = rl.Color(255, 255, 255, 140)
+_GOOD = rl.Color(34, 197, 94, 255)
+_WARN = rl.Color(234, 179, 8, 255)
+_BAD = rl.Color(239, 68, 68, 255)
+
+# Demodulation rate thresholds. Anything under ~40% has never produced a fix in logged drives.
+SAT_TIME_GOOD = 60.0
+SAT_TIME_WARN = 25.0
+
+# Carrier-to-noise, in the modem's raw units (~2550 average with the eGPU unplugged and a clean
+# fix; the desensed drives report 0 for every satellite, so any non-zero reading is progress).
+CNO_GOOD = 2000.0
+CNO_WARN = 800.0
+
+
+def _grade(value: float, good: float, warn: float) -> rl.Color:
+  if value >= good:
+    return _GOOD
+  if value >= warn:
+    return _WARN
+  return _BAD
+
+
+class GnssHealth:
+  """Bottom-right live GNSS quality readout."""
+
+  def __init__(self):
+    self._font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._sat_time_pct = 0.0
+    self._cno = 0.0
+    self._gps_sv = 0
+    self._glonass_sv = 0
+    self._has_fix = False
+
+  def _update(self) -> None:
+    sm = ui_state.sm
+    if not sm.valid.get("qcomGnss", False):
+      return
+
+    gnss = sm["qcomGnss"]
+    if gnss.which() != "measurementReport":
+      return
+
+    report = gnss.measurementReport
+    svs = list(report.sv)
+    source = str(report.source)
+
+    if "glonass" in source:
+      self._glonass_sv = len(svs)
+    else:
+      self._gps_sv = len(svs)
+
+    if svs:
+      known = sum(1 for sv in svs if sv.measurementStatus.satelliteTimeIsKnown)
+      self._sat_time_pct = 100.0 * known / len(svs)
+      noise = [sv.carrierNoise for sv in svs if sv.carrierNoise > 0]
+      self._cno = sum(noise) / len(noise) if noise else 0.0
+
+    if sm.valid.get("gpsLocationExternal", False):
+      self._has_fix = sm["gpsLocationExternal"].hasFix
+
+  def render(self, bounds: rl.Rectangle) -> None:
+    self._update()
+
+    x = bounds.x + bounds.width - WIDTH - MARGIN
+    y = bounds.y + bounds.height - HEIGHT - MARGIN
+    rect = rl.Rectangle(x, y, WIDTH, HEIGHT)
+    rl.draw_rectangle_rounded(rect, 0.12, 10, _BG)
+
+    tx = int(x + PADDING)
+    ty = int(y + PADDING)
+
+    rl.draw_text_ex(self._font, "GNSS", rl.Vector2(tx, ty), TITLE_SIZE, 0, _LABEL)
+    fix_text = "FIX" if self._has_fix else "NO FIX"
+    fix_color = _GOOD if self._has_fix else _BAD
+    rl.draw_text_ex(self._font, fix_text, rl.Vector2(int(x + WIDTH - PADDING - 90), ty),
+                    TITLE_SIZE, 0, fix_color)
+
+    ty += 34
+    rl.draw_text_ex(self._font, "time", rl.Vector2(tx, ty), ROW_SIZE, 0, _LABEL)
+    rl.draw_text_ex(self._font, f"{self._sat_time_pct:.0f}%", rl.Vector2(tx + 120, ty),
+                    ROW_SIZE, 0, _grade(self._sat_time_pct, SAT_TIME_GOOD, SAT_TIME_WARN))
+
+    ty += 36
+    rl.draw_text_ex(self._font, "C/No", rl.Vector2(tx, ty), ROW_SIZE, 0, _LABEL)
+    rl.draw_text_ex(self._font, f"{self._cno:.0f}", rl.Vector2(tx + 120, ty),
+                    ROW_SIZE, 0, _grade(self._cno, CNO_GOOD, CNO_WARN))
+
+    ty += 36
+    rl.draw_text_ex(self._font, "sats", rl.Vector2(tx, ty), ROW_SIZE, 0, _LABEL)
+    rl.draw_text_ex(self._font, f"{self._gps_sv}G {self._glonass_sv}R",
+                    rl.Vector2(tx + 120, ty), ROW_SIZE, 0, rl.WHITE)

selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py

@@ -16,6 +16,7 @@ from openpilot.selfdrive.ui.onroad.starpilot.stopping_point import render_stoppi
 from openpilot.selfdrive.ui.onroad.starpilot.pause_indicators import render_lateral_paused, render_longitudinal_paused
 from openpilot.selfdrive.ui.onroad.starpilot.pulse_glide import get_pulse_glide_border_color, render_pulse_glide
 from openpilot.selfdrive.ui.onroad.starpilot.pip_sidecam import PipSideCamera
+from openpilot.selfdrive.ui.onroad.starpilot.gnss_health import GnssHealth
 from openpilot.selfdrive.ui.onroad.starpilot.favorite_radial_menu import FavoriteRadialMenu
 from openpilot.selfdrive.ui.onroad.starpilot.weather_icon import render_weather_icon
 from openpilot.selfdrive.ui.lib.starpilot_status import (
@@ -49,6 +50,7 @@ class StarPilotOnroadView(AugmentedRoadView):
     self._avg_fps = 0.0
 
     self._pip_sidecam = self._child(PipSideCamera())
+    self._gnss_health = GnssHealth()
     self._favorite_radial_menu = FavoriteRadialMenu(
       ui_state.ui_params,
       ui_state.params_memory,
@@ -143,6 +145,10 @@ class StarPilotOnroadView(AugmentedRoadView):
 
       self._pip_sidecam.render(self._content_rect)
 
+      # Always on: this is a temporary instrument for the eGPU RF-desense testing, and gating it
+      # behind a param would mean registering a new key in params_keys.h, which needs a rebuild.
+      self._gnss_health.render(self._content_rect)
+
       # The picker is an app-drawer modal, so it intentionally draws above
       # PiP and other on-road overlays while active.
       if self._draw_hud_controls and not self._full_alert_showing():

selfdrive/ui/ui_state.py

@@ -64,6 +64,7 @@ class UIState:
         "selfdriveState",
         "longitudinalPlan",
         "gpsLocationExternal",
+        "qcomGnss",
         "mapdOut",
         "carOutput",
         "carControl",