mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-10 06:23:43 +08:00
firestarsdog
86 lines
4.7 KiB
Python
86 lines
4.7 KiB
Python
"""Offline native captures for pending and adoptable SLC controls."""
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import argparse
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from dataclasses import replace
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import hashlib
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import json
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from pathlib import Path
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import pyray as rl
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from openpilot.starpilot.ui.device_state import DeviceState
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from openpilot.starpilot.ui.onroad_state import ObservationKind, SpeedLimitObservation
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from openpilot.starpilot.ui.presentation import BitmapFonts, Profile
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from openpilot.starpilot.ui.preview_home import reference_state
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from openpilot.starpilot.ui.preview_settings import reference_settings_state
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from openpilot.starpilot.ui.preview_shell import reference_onroad
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from openpilot.starpilot.ui.settings_state import Destination
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from openpilot.starpilot.ui.shell import ShellMode, ShellSnapshot, ShellView
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from openpilot.starpilot.ui.software_state import SoftwareState
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from openpilot.starpilot.ui.toggles_state import TogglesState
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def main() -> None:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--profile", type=Profile, choices=list(Profile), required=True)
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parser.add_argument("--font-directory", type=Path, required=True)
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parser.add_argument("--asset-directory", type=Path, required=True)
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parser.add_argument("--output", type=Path, required=True)
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args = parser.parse_args()
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if args.output.exists():
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raise ValueError("Refusing to overwrite SLC action evidence")
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args.output.mkdir(parents=True)
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width, height = args.profile.size
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rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN | rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_WINDOW_HIGHDPI)
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rl.init_window(min(width, 960), round(height * min(width, 960) / width), "Offline SLC action capture")
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target = rl.load_render_texture(width, height)
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try:
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with BitmapFonts(args.profile, args.font_directory) as fonts:
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view = ShellView(fonts, args.asset_directory)
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try:
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scenes = {}
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for name, pending in (("notice", True), ("notice_peak", True), ("pending", True), ("automatic", False), ("adoptable", False), ("override", False)):
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observation = SpeedLimitObservation(kind=ObservationKind.VALID, source="dashboard", speed_limit_mps=22.0,
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accepted_speed_limit_mps=22.0 if name == 'automatic' else 18.0, accepted_source="dashboard",
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accepted_adjusted_limit_mps=24.0 if name == 'automatic' else 20.0,
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effective_cluster_target_mps=24.0 if name == 'automatic' else 20.0,
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pending_adjusted_limit_mps=24.0 if pending else None,
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presentation_adjusted_limit_mps=24.0, limiting_max_set=True,
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pending_source="dashboard" if pending else "none",
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pending_speed_limit_mps=22.0 if pending else None,
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session_id="preview-drive", decision_id=7 if pending else 0,
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presentation_id=9, action_enabled=True,
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pending_since_ns=10_000_000_000 if pending else 0,
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driver_override_active=name == "override")
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onroad = replace(reference_onroad("onroad_engaged_no_camera"), speed_limit=observation,
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longitudinal_active=True, slc_system_long_available=True, slc_wheel_confirmation_available=True, slc_prompt_open=name == "pending",
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observed_ns=10_000_000_000 if name == "notice" else 10_350_000_000)
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if name == 'automatic':
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onroad = replace(onroad, cruise_kph=24. * 3.6)
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snapshot = ShellSnapshot(ShellMode.ONROAD, reference_state(), reference_settings_state(), onroad,
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DeviceState(), SoftwareState(), TogglesState(), Destination.STAR)
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for _ in range(18):
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rl.begin_texture_mode(target)
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rl.clear_background(rl.BLACK)
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view.render(snapshot)
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rl.end_texture_mode()
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image = rl.load_image_from_texture(target.texture)
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try:
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rl.image_flip_vertical(image)
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path = args.output / f"slc_{name}.png"
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if not rl.export_image(image, str(path)):
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raise RuntimeError("Unable to export SLC action capture")
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scenes[name] = hashlib.sha256(path.read_bytes()).hexdigest()
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finally:
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rl.unload_image(image)
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(args.output / "results.json").write_text(json.dumps({"profile": args.profile.value, "scenes": scenes}, indent=2) + "\n")
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finally:
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view.close()
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finally:
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rl.unload_render_texture(target)
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rl.close_window()
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if __name__ == "__main__":
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main()
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