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firestarsdog
2026-08-20 03:53:40 -04:00
parent a531309e4f
commit a0cf285394
2 changed files with 52 additions and 25 deletions
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selfdrive/ui/onroad/starpilot/slc_speed_limit.py
+21 -25
View File
@@ -4,6 +4,7 @@ from typing import Optional
import pyray as rl
from openpilot.common.constants import CV
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
from openpilot.selfdrive.ui.onroad.hud_renderer import COLORS
from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.lib.multilang import tr
from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -144,7 +145,7 @@ def _get_slc_state():
)
slc_overridden_speed = plan.slcOverriddenSpeed
# Keep the source limit visible; override state only dims the sign.
# Keep the source limit visible when overridden.
speed_limit = plan.slcSpeedLimit
# Resolved limit in m/s (pre-conversion, pre-offset) — feeds the vision pulse
@@ -224,14 +225,14 @@ def _active_source_label(state: dict) -> str:
return _ACTIVE_SOURCE_LABELS.get(source, source.upper())
def _source_label_color(alpha: int) -> rl.Color:
def _source_label_color(alpha: int, is_overridden: bool = False) -> rl.Color:
"""Match Set Speed's MAX label color."""
if ui_state.status == UIStatus.ENGAGED:
base = rl.Color(128, 216, 166, 255)
elif ui_state.status in (UIStatus.DISENGAGED, UIStatus.OVERRIDE):
base = rl.Color(145, 155, 149, 255)
if is_overridden or ui_state.status in (UIStatus.DISENGAGED, UIStatus.OVERRIDE):
base = COLORS.DISENGAGED
elif ui_state.status == UIStatus.ENGAGED:
base = COLORS.ENGAGED
else:
base = rl.Color(166, 166, 166, 255)
base = COLORS.GREY
return _speed_limit_pulse_color(base, alpha)
@@ -265,7 +266,8 @@ def _draw_offset_chip(rect: rl.Rectangle, offset_str: str, color: rl.Color) -> N
def _draw_us_sign(x: float, y: float, sign_width: float, sign_height: float,
speed_text: str, offset_str: str,
source_label: str, alpha: int, show_offset: bool, *, pending: bool = False):
source_label: str, alpha: int, show_offset: bool, *,
pending: bool = False, is_overridden: bool = False):
"""Draw the NA control card at (x, y).
The card keeps the SLC's label/value hierarchy while sharing the exact
@@ -305,7 +307,7 @@ def _draw_us_sign(x: float, y: float, sign_width: float, sign_height: float,
elif show_offset:
# Offset ON: source at the top, speed below it, and the offset in a chip.
source_size = measure_text_cached(font_semi, source_label, FONT_SOURCE)
source_color = _source_label_color(alpha)
source_color = _source_label_color(alpha, is_overridden=is_overridden)
rl.draw_text_ex(font_semi, source_label, rl.Vector2(cx - source_size.x / 2, y + 8), FONT_SOURCE, 0, source_color)
speed_size = measure_text_cached(font_bold, speed_text, FONT_SPEED)
@@ -314,7 +316,7 @@ def _draw_us_sign(x: float, y: float, sign_width: float, sign_height: float,
else:
# Offset OFF: match Set Speed typography.
source_size = measure_text_cached(font_semi, source_label, FONT_SOURCE)
source_color = _source_label_color(alpha)
source_color = _source_label_color(alpha, is_overridden=is_overridden)
rl.draw_text_ex(font_semi, source_label, rl.Vector2(cx - source_size.x / 2, y + 27), FONT_SOURCE, 0, source_color)
speed_size = measure_text_cached(font_bold, speed_text, FONT_SPEED)
@@ -327,23 +329,19 @@ def _draw_eu_sign(x: float, y: float, speed_text: str, offset_str: str,
source_label: str, text_alpha: int, show_offset: bool, *, pending: bool = False):
"""Draw EU-style (Vienna) speed limit sign at (x, y).
White disk with a pulsable red ring and pulsable black text. The disk
fill, ring, and text all carry the sign-wide ``text_alpha`` (e.g. 72 when
driver-overridden, 255 otherwise), so the road shows through when dimmed
without losing legibility. The pre-existing pending-text blink
(black <-> red) composes with the vision pulse: outside the pulse window
the blink is unchanged, inside it both colors are eased toward
White disk with a pulsable red ring and pulsable black text. The pre-existing
pending-text blink (black <-> red) composes with the vision pulse: outside the
pulse window the blink is unchanged, inside it both colors are eased toward
VISION_SPEED_LIMIT_PULSE_COLOR.
"""
center_x = x + EU_SIGN_SIZE / 2
center_y = y + EU_SIGN_SIZE / 2
radius = EU_SIGN_SIZE / 2
# White disk fill; alpha-dims with the sign so an overridden limit fades
# against the road.
# White disk fill.
rl.draw_circle(int(center_x), int(center_y), radius, rl.Color(255, 255, 255, text_alpha))
# Red ring; eased toward VISION_SPEED_LIMIT_PULSE_COLOR when a Vision-sourced
# limit just changed, and alpha-dims with the sign.
# limit just changed.
ring_color = _speed_limit_pulse_color(rl.Color(201, 34, 49, 255), text_alpha)
rl.draw_ring(rl.Vector2(center_x, center_y), radius - RED_RING_WIDTH, radius,
0, 360, 64, ring_color)
@@ -398,14 +396,11 @@ def _draw_sign(state: dict, rect: rl.Rectangle, *, pending: bool = False):
# Pending shows the unconfirmed value, full opacity
speed_text = ("\u2013" if state['unconfirmed_speed_limit'] <= 1
else str(int(round(state['unconfirmed_speed_limit']))))
text_alpha = 255
else:
speed_text = state['speed_limit_str']
# Override dim: when the driver has manually overridden the speed limit,
# fade the sign to alpha=72 to indicate it's no longer the auto-detected
# value.
text_alpha = 72 if state['slc_overridden_speed'] != 0 else 255
text_alpha = 255
is_overridden = not pending and state['slc_overridden_speed'] != 0
source_label = _active_source_label(state)
if state['use_vienna']:
@@ -413,7 +408,8 @@ def _draw_sign(state: dict, rect: rl.Rectangle, *, pending: bool = False):
state['show_offset'], pending=pending)
else:
_draw_us_sign(rect.x, rect.y, rect.width, rect.height, speed_text, state['offset_str'],
source_label, text_alpha, state['show_offset'], pending=pending)
source_label, text_alpha, state['show_offset'], pending=pending,
is_overridden=is_overridden)
# ── Sources Bubble (expandable overlay) ────────────────────────────────
selfdrive/ui/tests/test_slc_sources_bubble.py
+31
View File
@@ -82,3 +82,34 @@ def test_visible_source_rows_honor_active_only_and_source_order():
assert visible_source_rows(
source_defs, {key: 0.0 for key in values}, "Map Data", ("Map Data",),
) == []
def test_source_label_color_override_and_engagement_states():
from openpilot.selfdrive.ui.onroad.starpilot.slc_speed_limit import _source_label_color
from openpilot.selfdrive.ui.onroad.hud_renderer import COLORS
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
# Engaged and not overridden -> Active green
ui_state.status = UIStatus.ENGAGED
color = _source_label_color(255, is_overridden=False)
assert (color.r, color.g, color.b, color.a) == (COLORS.ENGAGED.r, COLORS.ENGAGED.g, COLORS.ENGAGED.b, 255)
# Engaged but overridden -> Disengaged/override gray
color_overridden = _source_label_color(255, is_overridden=True)
assert (color_overridden.r, color_overridden.g, color_overridden.b, color_overridden.a) == (
COLORS.DISENGAGED.r, COLORS.DISENGAGED.g, COLORS.DISENGAGED.b, 255
)
# Disengaged -> Disengaged/override gray
ui_state.status = UIStatus.DISENGAGED
color_disengaged = _source_label_color(255, is_overridden=False)
assert (color_disengaged.r, color_disengaged.g, color_disengaged.b, color_disengaged.a) == (
COLORS.DISENGAGED.r, COLORS.DISENGAGED.g, COLORS.DISENGAGED.b, 255
)
# Override UI status -> Disengaged/override gray
ui_state.status = UIStatus.OVERRIDE
color_ui_override = _source_label_color(255, is_overridden=False)
assert (color_ui_override.r, color_ui_override.g, color_ui_override.b, color_ui_override.a) == (
COLORS.OVERRIDE.r, COLORS.OVERRIDE.g, COLORS.OVERRIDE.b, 255
)