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BigUI WIP: Aethergauge

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This commit is contained in:
firestarsdog
2026-06-02 19:16:34 -04:00
parent 3cf48ae3c8
commit f55046f6e9
2 changed files with 63 additions and 41 deletions
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selfdrive/ui/onroad/starpilot/aethergauge.py
+53 -40
View File
@@ -99,10 +99,14 @@ def _with_alpha(color: rl.Color, a: int) -> rl.Color:
def _pulse(freq: float) -> float:
return 0.5 + 0.5 * math.sin(rl.get_time() * freq)
def _get_road_height(data: 'AetherGaugeData | None') -> float:
is_curve = data.indicator_type == IndicatorType.ROAD_CURVE if data else False
return ROAD_HEIGHT if is_curve else (45.0 * SCALE)
def _road_xy(distance: float, icx: float, bottom: float, data: 'AetherGaugeData') -> tuple[float, float, float]:
t = max(0.0, min(1.0, _get_t_from_x(distance)))
offset = _get_perspective_offset(t, data)
return t, icx + offset, bottom - t * ROAD_HEIGHT
return t, icx + offset, bottom - t * _get_road_height(data)
def _get_t_from_x(x: float) -> float:
x_clamped = max(X_MIN, min(X_MAX, x))
@@ -110,11 +114,8 @@ def _get_t_from_x(x: float) -> float:
def _get_perspective_offset(t: float, data: 'AetherGaugeData | None') -> float:
curvature = 0.0
if data:
if data.indicator_type == IndicatorType.ROAD_CURVE:
curvature = data.indicator_value
elif _sm_valid("starpilotPlan"):
curvature = ui_state.sm["starpilotPlan"].roadCurvature
if data and data.indicator_type == IndicatorType.ROAD_CURVE:
curvature = data.indicator_value
path_y_far = PATH_Y_FAR_SCALE * curvature
max_offset_top = math.tanh(path_y_far * PERSPECTIVE_GAIN) * PERSPECTIVE_MAX_OFFSET
@@ -311,7 +312,8 @@ class AetherGauge:
]
if TEST_CYCLE:
self._sources.insert(0, (_test_cycle_active, _test_cycle_data))
self._stop_smooth_s = 0.0
self._chevron_accum = 0.0
self._lead_chevron_accum = 0.0
def get_active_data(self) -> AetherGaugeData | None:
for is_active, get_data in self._sources:
@@ -319,42 +321,42 @@ class AetherGauge:
return get_data()
return None
def render(self, rect: rl.Rectangle, font_bold: rl.Font, font_medium: rl.Font, current_speed: float):
def render(self, rect: rl.Rectangle, font_bold: rl.Font, font_medium: rl.Font, current_speed: float, cx: float | None = None, bottom: float | None = None):
data = self.get_active_data()
if not data:
return
cx = rect.x + rect.width / 2
cy_speed = rect.y + 180 * SCALE
speed_text = str(round(current_speed))
speed_text_size = measure_text_cached(font_bold, speed_text, int(176 * SCALE))
icon_cx = cx - speed_text_size.x / 2 - 70.0 * SCALE
if cx is None or bottom is None:
base_cx = rect.x + rect.width / 2
cy_speed = rect.y + 180 * SCALE
speed_text = str(round(current_speed))
speed_text_size = measure_text_cached(font_bold, speed_text, int(176 * SCALE))
icx = base_cx - speed_text_size.x / 2 - 70.0 * SCALE
icy = cy_speed - 39.5 * SCALE
else:
icx = cx
icy = bottom - ROAD_HALF_SIZE
if data.indicator_type in (IndicatorType.ROAD_CURVE, IndicatorType.FORCE_STOP, IndicatorType.LEAD, IndicatorType.STOP_LIGHT):
self._render_unified_road(rect, icon_cx, cy_speed - 39.5 * SCALE, data, font_bold, font_medium)
self._render_unified_road(rect, icx, icy, data, font_bold, font_medium)
def _render_unified_road(self, rect, icx, icy, data, font_bold, font_medium):
bottom = icy + ROAD_HALF_SIZE
if data.indicator_type == IndicatorType.FORCE_STOP:
raw_s = max(0.0, min(1.0, (STOP_DISTANCE_MAX - data.indicator_value) / STOP_DISTANCE_MAX))
if abs(raw_s - self._stop_smooth_s) > STOP_SNAP_THRESHOLD:
self._stop_smooth_s = raw_s
else:
self._stop_smooth_s += (raw_s - self._stop_smooth_s) * STOP_LERP_RATE
distance = STOP_DISTANCE_MAX - self._stop_smooth_s * STOP_DISTANCE_MAX
if data.indicator_type in (IndicatorType.FORCE_STOP, IndicatorType.STOP_LIGHT):
distance = 15.0
else:
distance = data.indicator_value
points_left = []
points_right = []
road_h = _get_road_height(data)
for i in range(ROAD_SEGMENTS + 1):
t = i / ROAD_SEGMENTS
offset = _get_perspective_offset(t, data)
cx_t = icx + offset
y_t = bottom - t * ROAD_HEIGHT
y_t = bottom - t * road_h
w_t = ROAD_W_BOTTOM - t * (ROAD_W_BOTTOM - ROAD_W_TOP)
points_left.append(rl.Vector2(cx_t - w_t, y_t))
@@ -402,7 +404,7 @@ class AetherGauge:
rl.draw_line_ex(p_left, p_right, max(1.5 * SCALE, 3.5 * SCALE * fade), COLOR_STOP_LINE_CORE)
def _draw_lead_car(self, icx, bottom, data):
t_lead, cx_lead, cy_lead = _road_xy(data.indicator_value, icx, bottom, data)
t_lead, cx_lead, cy_lead = _road_xy(6.5, icx, bottom, data)
t_lead = max(0.15, min(0.85, t_lead))
car_scale = 0.45 + (1.0 - t_lead) * 0.55
@@ -415,7 +417,7 @@ class AetherGauge:
if is_stopped:
border_color = COLOR_LEAD_STOPPED
elif is_slower:
border_color = _with_alpha(data.color, int(160 + 95 * _pulse(3.0)))
border_color = _with_alpha(data.color, int(160 + 95 * _pulse(1.2)))
else:
border_color = data.color
@@ -436,12 +438,12 @@ class AetherGauge:
for tl_x, glow_x in [(int(cx_lead - W * 0.45), int(cx_lead - W * 0.38)),
(int(cx_lead + W * 0.3), int(cx_lead + W * 0.38))]:
if is_stopped:
pulse = _pulse(8.0)
pulse = _pulse(2.5)
r_glow = int(W * 0.08 * (1.0 + 0.4 * pulse))
rl.draw_circle(glow_x, glow_y, r_glow, rl.Color(255, 30, 60, int(150 + 105 * pulse)))
c_tl = rl.Color(255, 220, 220, 255)
elif is_slower:
pulse = _pulse(3.0)
pulse = _pulse(1.2)
r_glow = int(W * 0.06 * (1.0 + 0.2 * pulse))
rl.draw_circle(glow_x, glow_y, r_glow, rl.Color(255, 140, 30, int(100 + 80 * pulse)))
c_tl = rl.Color(255, 160, 60, int(180 + 75 * pulse))
@@ -458,12 +460,17 @@ class AetherGauge:
rl.draw_rectangle(int(cx_lead + W * 0.28), wheel_y, wheel_w, wheel_h, wheel_c)
# Following chevrons (from lead car back toward viewer)
progress = (rl.get_time() * 1.5) % 1.0
dt = rl.get_frame_time()
v_ego = _get_val("carState", "vEgo", 0.0)
flow_speed_factor = min(1.8, v_ego * 0.08)
self._lead_chevron_accum = (self._lead_chevron_accum + dt * flow_speed_factor * 1.8) % 1.0
progress = self._lead_chevron_accum
for i in range(2):
t = t_lead * (1.0 - ((i + progress) / 2) % 1.0)
cx_t = icx + _get_perspective_offset(t, data)
cy_t = bottom - t * ROAD_HEIGHT
road_h = _get_road_height(data)
cy_t = bottom - t * road_h
chevron_w = 12.0 * SCALE - t * 5.0 * SCALE
chevron_thick = max(1.5 * SCALE, 3.5 * SCALE - t * 1.5 * SCALE)
@@ -473,12 +480,16 @@ class AetherGauge:
alpha = max(0, min(255, int(data.color.a * (1.0 - t / t_lead) * math.sin(t / t_lead * math.pi))))
c_color = _with_alpha(data.color, alpha)
rl.draw_line_ex(rl.Vector2(lx, cy_t + chevron_w * 0.5), rl.Vector2(cx_t, cy_t), chevron_thick, c_color)
rl.draw_line_ex(rl.Vector2(rx, cy_t + chevron_w * 0.5), rl.Vector2(cx_t, cy_t), chevron_thick, c_color)
rl.draw_line_ex(rl.Vector2(lx, cy_t - chevron_w * 0.5), rl.Vector2(cx_t, cy_t), chevron_thick, c_color)
rl.draw_line_ex(rl.Vector2(rx, cy_t - chevron_w * 0.5), rl.Vector2(cx_t, cy_t), chevron_thick, c_color)
def _draw_standard_chevrons(self, icx, bottom, distance, data):
is_stop = data.indicator_type in (IndicatorType.FORCE_STOP, IndicatorType.STOP_LIGHT)
progress = (rl.get_time() * 1.2) % 1.0
dt = rl.get_frame_time()
v_ego = _get_val("carState", "vEgo", 0.0)
flow_speed_factor = min(1.5, v_ego * 0.08)
self._chevron_accum = (self._chevron_accum + dt * flow_speed_factor * 1.5) % 1.0
progress = self._chevron_accum
t_stop = max(0.05, min(1.0, distance / STOP_DISTANCE_MAX)) if is_stop else 1.0
max_t = t_stop if is_stop else 1.0
@@ -491,8 +502,9 @@ class AetherGauge:
cx_t = icx + _get_perspective_offset(t, data)
cx_next = icx + _get_perspective_offset(t_next, data)
cy_t = bottom - t * ROAD_HEIGHT
cy_next = bottom - t_next * ROAD_HEIGHT
road_h = _get_road_height(data)
cy_t = bottom - t * road_h
cy_next = bottom - t_next * road_h
dx = cx_next - cx_t
dy = cy_next - cy_t
@@ -506,10 +518,10 @@ class AetherGauge:
chevron_h = chevron_w * 0.6
chevron_thick = max(2.0 * SCALE, 4.0 * SCALE - t * 2.0 * SCALE)
lx = cx_t - dir_right_x * chevron_w - dir_up_x * chevron_h
ly = cy_t - dir_right_y * chevron_w - dir_up_y * chevron_h
rx = cx_t + dir_right_x * chevron_w - dir_up_x * chevron_h
ry = cy_t + dir_right_y * chevron_w - dir_up_y * chevron_h
lx = cx_t - dir_right_x * chevron_w + dir_up_x * chevron_h
ly = cy_t - dir_right_y * chevron_w + dir_up_y * chevron_h
rx = cx_t + dir_right_x * chevron_w + dir_up_x * chevron_h
ry = cy_t + dir_right_y * chevron_w + dir_up_y * chevron_h
alpha_factor = math.sin((t / max_t) * math.pi) if max_t > 0.01 else 0.0
alpha = max(0, min(255, int(data.color.a * alpha_factor)))
@@ -545,7 +557,7 @@ class AetherGauge:
]
for y, name, active_c, inactive_c in bulbs:
if name == "red" and active_light == "red":
glow_pulse = _pulse(5.0)
glow_pulse = _pulse(1.5)
rl.draw_circle_v(rl.Vector2(cx_light, y), r_bulb + 3.0 * SCALE * glow_pulse, rl.Color(255, 30, 60, 45))
rl.draw_circle_v(rl.Vector2(cx_light, y), r_bulb + 6.0 * SCALE * glow_pulse, rl.Color(255, 30, 60, 15))
c = active_c if active_light == name else inactive_c
@@ -558,7 +570,8 @@ class AetherGauge:
offset_stop = _get_perspective_offset(t_stop_gauge, data) if data else 0.0
cx_stop = cx + offset_stop
cy_road = bottom - t_stop_gauge * ROAD_HEIGHT
road_h = _get_road_height(data)
cy_road = bottom - t_stop_gauge * road_h
y_sign = cy_road - 25.0 * SCALE * smoothed_s
r_min = 6.0 * SCALE
selfdrive/ui/onroad/starpilot/starpilot_onroad_view.py
+10 -1
View File
@@ -59,7 +59,16 @@ class StarPilotOnroadView(AugmentedRoadView):
self._personality_button.render()
self._render_standstill_timer()
self._render_developer_metrics()
self._aethergauge.render(self._content_rect, self._font_bold, self._font_medium, current_speed=self._hud_renderer.speed)
dm = self.driver_state_renderer
if dm and dm.is_visible and dm.position_x != 0.0:
dm_top = dm.position_y - 96 # top of DM icon
self._aethergauge.render(
self._content_rect, self._font_bold, self._font_medium,
current_speed=self._hud_renderer.speed,
cx=dm.position_x, bottom=dm_top - 105
)
else:
self._aethergauge.render(self._content_rect, self._font_bold, self._font_medium, current_speed=self._hud_renderer.speed)
self._render_bottom_row_widgets()
self._render_pedals()