mirror of
https://github.com/firestar5683/StarPilot.git
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firestarsdog
50 lines
2.0 KiB
Python
50 lines
2.0 KiB
Python
import pyray as rl
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.ui.lib.text_measure import measure_text_cached
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_RADIUS = 36
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_FONT_SIZE = 36
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def render_pedal_icons(start_x: float, start_y: float, font):
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params = ui_state.ui_params
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if not params.get_bool("PedalsOnUI"):
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return
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car_state = ui_state.sm["carState"] if ui_state.sm.valid.get("carState", False) else None
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if not car_state:
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return
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standstill = getattr(car_state, "standstill", False)
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brake_lights = getattr(car_state, "brakeLights", False)
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acceleration_ego = getattr(car_state, "aEgo", 0.0)
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dynamic_pedals = params.get_bool("DynamicPedalsOnUI")
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static_pedals = params.get_bool("StaticPedalsOnUI")
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brake_opacity = 1.0
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gas_opacity = 1.0
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if dynamic_pedals:
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brake_opacity = 1.0 if standstill else min(1.0, max(0.25, abs(acceleration_ego))) if acceleration_ego < -0.25 else 0.25
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gas_opacity = min(1.0, max(0.25, acceleration_ego)) if acceleration_ego > 0.0 else 0.25
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elif static_pedals:
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brake_opacity = 1.0 if (standstill or brake_lights or acceleration_ego < -0.25) else 0.25
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gas_opacity = 1.0 if acceleration_ego > 0.25 else 0.25
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cx = start_x + 48
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cy = start_y + 48
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rl.draw_circle(int(cx), int(cy), _RADIUS, rl.Color(201, 34, 49, int(255 * brake_opacity)))
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rl.draw_circle_lines(int(cx), int(cy), _RADIUS, rl.Color(255, 255, 255, int(255 * brake_opacity)))
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sz = measure_text_cached(font, "B", _FONT_SIZE)
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rl.draw_text_ex(font, "B", rl.Vector2(int(cx - sz.x / 2), int(cy - sz.y / 2)), _FONT_SIZE, 0, rl.Color(255, 255, 255, int(255 * brake_opacity)))
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gx = cx + 96
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rl.draw_circle(int(gx), int(cy), _RADIUS, rl.Color(22, 127, 64, int(255 * gas_opacity)))
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rl.draw_circle_lines(int(gx), int(cy), _RADIUS, rl.Color(255, 255, 255, int(255 * gas_opacity)))
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sz = measure_text_cached(font, "G", _FONT_SIZE)
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rl.draw_text_ex(font, "G", rl.Vector2(int(gx - sz.x / 2), int(cy - sz.y / 2)), _FONT_SIZE, 0, rl.Color(255, 255, 255, int(255 * gas_opacity)))
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