mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestarsdog
67 lines
2.8 KiB
Python
67 lines
2.8 KiB
Python
import math
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import pyray as rl
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from openpilot.common.filter_simple import FirstOrderFilter
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from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.system.ui.widgets import Widget
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class ModelSource(Widget):
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def __init__(self, scale: int = 1):
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super().__init__()
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self._engaged = False
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self._small_model_engaged = False
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self._chestnut_drive_frame: int | None = None
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self._fade_time = 0.0
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self._icon: rl.Texture | None = None
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self._alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
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self._loading = gui_app.texture('icons_mici/chestnut.png', 60 * scale, 44 * scale)
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self._active = gui_app.texture('icons_mici/chestnut_green.png', 60 * scale, 44 * scale)
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self._failed = gui_app.texture('icons_mici/chestnut_orange.png', 75 * scale, 44 * scale)
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self._fallback = gui_app.texture('icons_mici/egpu_crossed.png', 60 * scale, 52 * scale)
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def _update_state(self) -> None:
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sm = ui_state.sm
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if sm.recv_frame['carState'] < ui_state.started_frame:
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return
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engaged = sm['selfdriveState'].enabled
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if (engaged and not self._engaged and not ui_state.chestnut_loading and ui_state.chestnut_active is not True and
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sm.recv_frame['modelV2'] > ui_state.started_frame):
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self._small_model_engaged = True
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if engaged != self._engaged:
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self._fade_time = rl.get_time() if engaged else 0
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self._engaged = engaged
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def _render(self, rect: rl.Rectangle) -> None:
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now = rl.get_time()
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loading = ui_state.chestnut_state == ChestnutState.LOADING
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if ui_state.chestnut_present or (ui_state.replay_clock is not None and ui_state.chestnut_output_seen):
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self._chestnut_drive_frame = ui_state.started_frame
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self._small_model_engaged &= (self._chestnut_drive_frame == ui_state.started_frame and
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ui_state.chestnut_state in (ChestnutState.FAILED, ChestnutState.DISCONNECTED))
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if loading:
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icon = self._loading
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opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(now * 6.0))
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elif self._small_model_engaged:
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icon = self._fallback
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opacity = 0.65
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elif ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED):
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icon = self._failed
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opacity = 1.0
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elif ui_state.chestnut_state == ChestnutState.ACTIVE:
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icon = self._active
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opacity = 1.0
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else:
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return
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if icon is not self._icon:
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self._fade_time = now
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self._icon = icon
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alpha = self._alpha_filter.update(loading or now - self._fade_time < 2.5)
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if alpha < 1e-2:
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return
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pos = rl.Vector2(rect.x + rect.width - icon.width, rect.y + (rect.height - icon.height) / 2)
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rl.draw_texture_ex(icon, pos, 0.0, 1.0, rl.Color(255, 255, 255, int(255 * opacity * alpha)))
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