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firestar5683
a82935f326
Integrate onroad views, configurable widgets, local settings, steering-profile contracts, Bluetooth and Android Auto with their device and runtime services. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: pharmacomaniac <blittle65@gmail.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
105 lines
4.3 KiB
Python
105 lines
4.3 KiB
Python
"""Positioned native cone/person monitoring artwork with observed visibility."""
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import math
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import pyray as rl
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from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.starpilot.ui.onroad_customization import PROFILES, placement, widget_size
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from openpilot.starpilot.ui.onroad_state import AlertSize
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from openpilot.starpilot.ui.onroad_widget_style import draw_widget_frame
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from openpilot.starpilot.ui.presentation import Profile
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def valid_observation(monitor, driver):
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try:
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vision = monitor.visionPolicyState
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return (type(monitor.isRHD) is bool and type(vision.faceDetected) is bool and
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all(math.isfinite(float(number)) for number in (vision.pose.pitch, vision.pose.yaw, vision.awarenessPercent)) and
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0 <= vision.awarenessPercent <= 100 and
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getattr(driver, 'rightDriverData' if monitor.isRHD else 'leftDriverData') is not None)
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except (AttributeError, TypeError, ValueError, OverflowError):
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return False
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def monitor_bounds(document, profile, is_rhd):
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position = placement(document, profile, 'driver_monitor')
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widget = PROFILES[str(profile)]['widgets']['driver_monitor']
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width, height = widget_size(document, profile, 'driver_monitor')
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x, y = position['x'], position['y']
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if profile == Profile.LARGE and is_rhd and (x, y) == (widget['default']['x'], widget['default']['y']):
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bounds = PROFILES['large']['bounds']
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x = 2 * bounds['x'] + bounds['width'] - x - width
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return rl.Rectangle(x, y, width, height)
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def draw_monitor_art(renderer, bounds, profile):
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"""Scale the native icon and cone together inside the saved square."""
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base = 128 if profile == Profile.LARGE else 60
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renderer._rect = rl.Rectangle(bounds.x, bounds.y, base, base)
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rl.rl_push_matrix()
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try:
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rl.rl_translatef(bounds.x, bounds.y, 0)
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rl.rl_scalef(bounds.width / base, bounds.height / base, 1)
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rl.rl_translatef(-bounds.x, -bounds.y, 0)
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renderer._render(renderer._rect)
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finally:
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rl.rl_pop_matrix()
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def monitor_visible(profile, state, *, fresh, onroad, top_icons):
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occluded = False
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if profile == Profile.COMPACT and top_icons:
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monitor = monitor_bounds(state.customization, profile, False)
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speed = placement(state.customization, profile, 'max_speed')
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widget = PROFILES['compact']['widgets']['max_speed']
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occluded = rl.check_collision_recs(monitor, rl.Rectangle(speed['x'], speed['y'], widget['width'], widget['height']))
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return bool(onroad and state.alert.size != AlertSize.FULL and not state.alert.critical and
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not occluded and
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placement(state.customization, profile, 'driver_monitor')['enabled'])
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class StableDriverStateRenderer(DriverStateRenderer):
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@property
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def should_draw(self):
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return self._should_draw
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def _update_state(self):
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super()._update_state()
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if self.should_draw:
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self._fade_filter.x = 1.0 if self._face_detected else min(self._fade_filter.x, 0.35)
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class LargeDriverStateRenderer(StableDriverStateRenderer):
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def get_driver_data(self):
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result = super().get_driver_data()
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self._face_yaw = -ui_state.sm['driverMonitoringState'].visionPolicyState.pose.yaw
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return result
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class DriverMonitorLayer:
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def __init__(self, profile):
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self.profile = profile
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self.renderer = LargeDriverStateRenderer() if profile == Profile.LARGE else StableDriverStateRenderer()
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if profile == Profile.LARGE:
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self.renderer.set_rect(rl.Rectangle(0, 0, 128, 128))
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self.renderer.load_icons()
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def render(self, state, *, monitor, driver, fresh, onroad, top_icons=False):
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ready = fresh and valid_observation(monitor, driver)
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visible = monitor_visible(self.profile, state, fresh=ready, onroad=onroad, top_icons=top_icons)
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self.renderer.set_should_draw(visible)
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is_rhd = monitor.isRHD if ready else getattr(self.renderer, '_is_rhd', False)
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bounds = monitor_bounds(state.customization, self.profile, is_rhd)
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self.renderer.set_position(bounds.x, bounds.y)
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if ready:
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self.renderer._update_state()
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else:
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self.renderer._is_active = False
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self.renderer._awareness_unfull = False
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self.renderer._fade_filter.update(0.35 if visible else 0.0)
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if visible:
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draw_widget_frame(bounds, state.customization, self.profile, "driver_monitor")
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draw_monitor_art(self.renderer, bounds, self.profile)
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