--cem

scripts/launch_onroad_desktop.sh

@@ -27,13 +27,14 @@ env_var_truthy() {
 usage() {
   cat <<'EOF'
 Usage:
-  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [-nav] [--mici-widget-demo] [--prefix name] <route-or-replay-args...>
+  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [-nav] [--cem] [--prefix name] <route-or-replay-args...>
 
 Examples:
   ./onroad --c3 <route>
   ./onroad --c4 <route> --start 30
   ./onroad --c4 -nav <route>
-  ./onroad --c4 --mici-widget-demo --demo
+  ./onroad --c4 --cem --demo
+  ./onroad --raybig --cem --demo
   ./onroad --all <route>
   ./onroad --replay-only --demo --no-vipc --no-loop
 
@@ -42,7 +43,7 @@ Notes:
   - A private comma connect route still requires tools/lib/auth.py before replay can download it.
   - Use multiple UI flags together if you want more than one desktop UI at once.
   - -nav injects a fake navigation demo stream and blocks replay from publishing navInstruction/navRoute.
-  - --mici-widget-demo makes the small C4 sidebar cycle through widget states for visual review.
+  - --cem publishes fake CEM statuses for desktop visual review in the raylib UIs.
 EOF
 }
 
@@ -58,9 +59,10 @@ UI_TARGETS=()
 LEGACY_UI_SELECTION=""
 REPLAY_ONLY=0
 NAV_DEMO=0
-MICI_WIDGET_DEMO=0
+CEM_DEMO=0
 REPLAY_PID=""
 NAV_PID=""
+CEM_PID=""
 UI_PIDS=()
 
 parse_args() {
@@ -94,8 +96,8 @@ parse_args() {
         NAV_DEMO=1
         shift
         ;;
-      --mici-widget-demo|--widget-demo)
-        MICI_WIDGET_DEMO=1
+      --cem|--mici-widget-demo|--widget-demo)
+        CEM_DEMO=1
         shift
         ;;
       --ui)
@@ -212,6 +214,9 @@ cleanup() {
   if [[ -n "${NAV_PID}" ]]; then
     kill "${NAV_PID}" >/dev/null 2>&1 || true
   fi
+  if [[ -n "${CEM_PID}" ]]; then
+    kill "${CEM_PID}" >/dev/null 2>&1 || true
+  fi
 
   for pid in "${UI_PIDS[@]-}"; do
     if [[ -n "${pid}" ]]; then
@@ -224,6 +229,9 @@ cleanup() {
   if [[ -n "${NAV_PID}" ]]; then
     wait "${NAV_PID}" >/dev/null 2>&1 || true
   fi
+  if [[ -n "${CEM_PID}" ]]; then
+    wait "${CEM_PID}" >/dev/null 2>&1 || true
+  fi
 
   if [[ -n "${OPENPILOT_PREFIX:-}" && "${OPENPILOT_PREFIX}" == desktop-onroad-* ]]; then
     echo "Cleaning up temporary prefix environment (${OPENPILOT_PREFIX})..."
@@ -322,7 +330,7 @@ prepare_env() {
   export SP_RAYBIG_FAKE_WIFI=0
   export SP_ALLOW_DESKTOP_FAKE_WIFI=0
   export SP_ONROAD_NAV_DEMO="${NAV_DEMO}"
-  export SP_MICI_WIDGET_DEMO="${MICI_WIDGET_DEMO}"
+  export SP_CEM_DEMO="${CEM_DEMO}"
 
   if [[ "$(uname -s)" == "Darwin" ]] || env_var_truthy "${ZMQ:-0}"; then
     export OPENPILOT_ZMQ_NAMESPACE="${PREFIX_ARG:-${OPENPILOT_ZMQ_NAMESPACE:-desktop-onroad-$$}}"
@@ -403,6 +411,18 @@ launch_nav_demo() {
   fi
 }
 
+launch_cem_demo() {
+  echo "Starting fake CEM demo publisher..."
+  "${ROOT_DIR}/.venv/bin/python3" "${ROOT_DIR}/tools/replay/fake_cem_demo.py" &
+  CEM_PID=$!
+
+  sleep 0.5
+  if ! kill -0 "${CEM_PID}" >/dev/null 2>&1; then
+    wait "${CEM_PID}"
+    return 1
+  fi
+}
+
 launch_c3_ui() {
   local os_ext="linux"
   if [[ "$(uname -s)" == "Darwin" ]]; then
@@ -496,6 +516,10 @@ if [[ "${NAV_DEMO}" == "1" ]]; then
   launch_nav_demo
 fi
 
+if [[ "${CEM_DEMO}" == "1" ]]; then
+  launch_cem_demo
+fi
+
 if [[ ${#UI_TARGETS[@]} -eq 0 ]]; then
   echo "Replay is running without UI windows. Press Ctrl-C to stop."
   wait "${REPLAY_PID}"

selfdrive/ui/mici/onroad/sidebar_widgets.py

@@ -84,7 +84,7 @@ class MiciSidebarWidgets(Widget):
     self._confidence_ball = confidence_ball
     self._font_bold = gui_app.font(FontWeight.BOLD)
     self._font_semi_bold = gui_app.font(FontWeight.SEMI_BOLD)
-    self._demo = _env_truthy("SP_MICI_WIDGET_DEMO")
+    self._demo = _env_truthy("SP_CEM_DEMO") or _env_truthy("SP_MICI_WIDGET_DEMO")
 
   @property
   def demo_active(self) -> bool:
@@ -195,12 +195,11 @@ class MiciSidebarWidgets(Widget):
 
   def _cem_reason(self) -> tuple[str, rl.Color]:
     if self._demo:
-      reason = DEMO_REASONS[int(rl.get_time() / DEMO_HOLD_SECONDS) % len(DEMO_REASONS)]
-      if reason == "chill":
-        return reason, WHITE
-      if reason == "stop":
-        return reason, TRAFFIC_RED
-      return reason, CEM_BLUE
+      status = ui_state.params_memory.get_int("CEStatus", default=CEStatus["OFF"])
+      status_reason = self._ce_status_reason(status)
+      if status_reason is not None:
+        return status_reason
+      return self._fallback_demo_reason()
 
     conditional_experimental = ui_state.params.get_bool("ConditionalExperimental")
     conditional_chill = ui_state.params.get_bool("ConditionalChill") and not conditional_experimental
@@ -217,6 +216,22 @@ class MiciSidebarWidgets(Widget):
       return "chill", WHITE
 
     status = ui_state.params_memory.get_int("CEStatus", default=CEStatus["OFF"]) if conditional_experimental else CEStatus["OFF"]
+    status_reason = self._ce_status_reason(status)
+    if status_reason is not None:
+      return status_reason
+    if self._model_stop_active():
+      return "stop", TRAFFIC_RED
+    return "chill", WHITE
+
+  def _fallback_demo_reason(self) -> tuple[str, rl.Color]:
+    reason = DEMO_REASONS[int(rl.get_time() / DEMO_HOLD_SECONDS) % len(DEMO_REASONS)]
+    if reason == "chill":
+      return reason, WHITE
+    if reason == "stop":
+      return reason, TRAFFIC_RED
+    return reason, CEM_BLUE
+
+  def _ce_status_reason(self, status: int) -> tuple[str, rl.Color] | None:
     if status == CEStatus["CURVATURE"]:
       return "curve", CEM_BLUE
     if status == CEStatus["LEAD"]:
@@ -231,9 +246,7 @@ class MiciSidebarWidgets(Widget):
       return "chill", WHITE
     if status == CEStatus["USER_OVERRIDDEN"]:
       return "chill", WHITE
-    if self._model_stop_active():
-      return "stop", TRAFFIC_RED
-    return "chill", WHITE
+    return None
 
   def _draw_chill_icon(self, rect: rl.Rectangle) -> None:
     cx = rect.x + rect.width / 2

selfdrive/ui/onroad/hud_renderer.py

@@ -87,7 +87,13 @@ class HudRenderer(Widget):
     car_state = sm['carState']
 
     v_cruise_cluster = car_state.vCruiseCluster
-    v_cruise = controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
+    if v_cruise_cluster == 0.0:
+      try:
+        v_cruise = controls_state.vCruiseDEPRECATED
+      except AttributeError:
+        v_cruise = controls_state.deprecated.vCruise
+    else:
+      v_cruise = v_cruise_cluster
     offset = ui_state.starpilot_toggles.get("set_speed_offset", 0.0)
     self.set_speed = v_cruise + offset if (0 < v_cruise < SET_SPEED_NA) else v_cruise
     self.is_cruise_set = 0 < v_cruise < SET_SPEED_NA

selfdrive/ui/onroad/starpilot/aethergauge.py

@@ -1,9 +1,11 @@
 from dataclasses import dataclass
 from enum import Enum
 import math
+import os
 import pyray as rl
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.starpilot.common.experimental_state import CEStatus
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.selfdrive.ui.onroad.starpilot.starpilot_border import _csc_state, _intensity, _glow_color
 
@@ -57,6 +59,7 @@ COLOR_STOP_SIGN = rl.Color(196, 30, 58, 255)
 COLOR_STOP_SIGN_OUTLINE = rl.Color(255, 255, 255, 255)
 COLOR_STOP_LINE_GLOW = rl.Color(255, 30, 60, 255)
 COLOR_STOP_LINE_CORE = rl.Color(255, 200, 200, 255)
+COLOR_CEM_SPEED = rl.Color(112, 192, 216, 255)
 
 # Set to True to force test-cycle mode (flip back to False before pushing)
 TEST_CYCLE = False
@@ -70,6 +73,9 @@ def _speed_conversion() -> float:
 def _speed_unit() -> str:
   return "km/h" if ui_state.is_metric else "mph"
 
+def _env_truthy(name: str) -> bool:
+  return os.getenv(name, "").lower() in {"1", "true", "yes", "on"}
+
 def _to_display_speed(val: float) -> tuple[int, str]:
   return int(round(val * _speed_conversion())), _speed_unit()
 
@@ -267,6 +273,7 @@ _TEST_STATES = [
   (IndicatorType.FORCE_STOP, "", COLOR_FORCE_STOP, 12.0, "", ""),
 ]
 _TEST_CYCLE_SEC = 6.0
+CEM_DEMO = _env_truthy("SP_CEM_DEMO") or _env_truthy("SP_MICI_WIDGET_DEMO")
 
 def _test_cycle_active() -> bool:
   return rl.get_time() > 3.0
@@ -299,6 +306,63 @@ def _test_cycle_data() -> AetherGaugeData:
     indicator_extra=extra, reduction_text=reduction, is_numeric=True)
 
 
+def _cem_demo_active() -> bool:
+  return CEM_DEMO and ui_state.conditional_status in {
+    CEStatus["CURVATURE"],
+    CEStatus["LEAD"],
+    CEStatus["STOP_LIGHT"],
+    CEStatus["SPEED"],
+    CEStatus["SPEED_LIMIT"],
+  }
+
+
+def _cem_demo_data() -> AetherGaugeData:
+  status = ui_state.conditional_status
+
+  if status == CEStatus["CURVATURE"]:
+    v_ego = _get_val("carState", "vEgo", 18.0)
+    target_speed = max(8.0, v_ego * 0.72)
+    v_cruise = max(target_speed + 4.0, _get_val("starpilotPlan", "vCruise", target_speed + 4.0))
+    return _build_curve_gauge_data(0.005, target_speed, v_cruise)
+
+  if status == CEStatus["LEAD"]:
+    if _sm_valid("radarState") and ui_state.sm["radarState"].leadOne.status:
+      return _lead_data()
+    is_stopped = int(rl.get_time() / 1.0) % 2 == 0
+    return AetherGaugeData(
+      text="STOPPED" if is_stopped else "SLOW",
+      color=COLOR_LEAD_STOPPED if is_stopped else COLOR_LEAD_SLOWER,
+      indicator_type=IndicatorType.LEAD,
+      indicator_value=12.0 if is_stopped else 24.0,
+      indicator_extra="stopped" if is_stopped else "slower",
+    )
+
+  if status == CEStatus["STOP_LIGHT"]:
+    phase = rl.get_time() % 2.0
+    distance = max(6.0, 35.0 - phase * 12.0)
+    v_ego = max(0.1, _get_val("carState", "vEgo", 10.0))
+    return AetherGaugeData(
+      text=_time_to_stop(distance, v_ego),
+      unit="s",
+      color=COLOR_FORCE_STOP,
+      indicator_type=IndicatorType.STOP_LIGHT,
+      indicator_value=distance,
+      indicator_extra="red",
+      is_numeric=True,
+    )
+
+  v_ego = _get_val("carState", "vEgo", 20.0)
+  display_speed, unit = _to_display_speed(max(8.0, v_ego * 0.85))
+  return AetherGaugeData(
+    text=str(display_speed),
+    unit=unit,
+    color=COLOR_CEM_SPEED,
+    indicator_type=IndicatorType.ROAD_CURVE,
+    indicator_value=0.0,
+    is_numeric=True,
+  )
+
+
 # --- Main widget ---
 
 class AetherGauge:
@@ -312,6 +376,8 @@ class AetherGauge:
     ]
     if TEST_CYCLE:
       self._sources.insert(0, (_test_cycle_active, _test_cycle_data))
+    if CEM_DEMO:
+      self._sources.insert(0, (_cem_demo_active, _cem_demo_data))
     self._chevron_accum = 0.0
     self._lead_chevron_accum = 0.0
 

tools/replay/fake_cem_demo.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+
+import argparse
+import signal
+import time
+from itertools import cycle
+
+from openpilot.common.params import Params
+from openpilot.starpilot.common.experimental_state import CEStatus, CE_STATUS_PARAM
+
+
+SCENARIOS = [
+  ("curve", CEStatus["CURVATURE"]),
+  ("lead", CEStatus["LEAD"]),
+  ("stop light", CEStatus["STOP_LIGHT"]),
+  ("speed", CEStatus["SPEED"]),
+]
+
+running = True
+
+
+def _handle_signal(_signum, _frame) -> None:
+  global running
+  running = False
+
+
+def main() -> None:
+  parser = argparse.ArgumentParser(description="Publish fake CEM statuses for desktop onroad replay.")
+  parser.add_argument("--hold-seconds", type=float, default=2.0, help="How long each CEM status stays active.")
+  parser.add_argument("--publish-interval", type=float, default=0.25, help="Seconds between CEStatus writes.")
+  args = parser.parse_args()
+
+  signal.signal(signal.SIGINT, _handle_signal)
+  signal.signal(signal.SIGTERM, _handle_signal)
+
+  params_memory = Params(memory=True)
+  scenario_cycle = cycle(SCENARIOS)
+  label, status = next(scenario_cycle)
+  next_switch = time.monotonic() + args.hold_seconds
+  print(f"showing CEM: {label}", flush=True)
+
+  try:
+    while running:
+      now = time.monotonic()
+      if now >= next_switch:
+        label, status = next(scenario_cycle)
+        next_switch = now + args.hold_seconds
+        print(f"showing CEM: {label}", flush=True)
+
+      params_memory.put_int(CE_STATUS_PARAM, status)
+      time.sleep(args.publish_interval)
+  finally:
+    params_memory.put_int(CE_STATUS_PARAM, CEStatus["OFF"])
+
+
+if __name__ == "__main__":
+  main()