mirror of
https://github.com/firestar5683/StarPilot.git
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firestarsdog
43 lines
1.8 KiB
Python
43 lines
1.8 KiB
Python
"""Shared StarPilot torque bar with caller-qualified utilization."""
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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.starpilot.ui.onroad_state import OnroadState
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from openpilot.starpilot.ui.onroad_customization import offset as widget_offset, placement
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from openpilot.starpilot.ui.onroad_torque_draw import TorqueBarPainter
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from openpilot.starpilot.ui.onroad_torque_geometry import CAP_RADIUS, LARGE_CAP_RADIUS
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class TorqueBarWidget:
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def __init__(self):
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self._torque_filter = FirstOrderFilter(0.0, 0.1, 1 / 60)
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self._alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / 60)
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self._drive_frame = None
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self._painter = TorqueBarPainter()
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def prepare(self) -> None:
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self._painter.prepare()
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def render(self, rect: rl.Rectangle, state: OnroadState, screen_width: float) -> None:
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drive_frame = getattr(state, 'torque_drive_frame', None)
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if drive_frame != self._drive_frame:
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self._torque_filter.x = self._alpha_filter.x = 0.0
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self._drive_frame = drive_frame
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profile = 'large' if screen_width == 2160 else 'compact'
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enabled = placement(state.customization, profile, 'torque_bar')['enabled']
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if not state.lateral_active or not getattr(state, 'torque_source_available', True):
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self._torque_filter.x = 0.0
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self._alpha_filter.x = 0.0
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return
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utilization = max(-1.0, min(1.0, state.torque_utilization))
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torque = self._torque_filter.update(utilization)
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alpha = self._alpha_filter.update(1.0)
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if not enabled:
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return
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cap_radius = LARGE_CAP_RADIUS if profile == 'large' else CAP_RADIUS
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self._painter.render(rect, torque, alpha, screen_width, cap_radius, widget_offset(state.customization, profile, 'torque_bar'))
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def close(self) -> None:
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self._painter.close()
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