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https://github.com/firestar5683/StarPilot.git
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firestarsdog
51 lines
2.0 KiB
Python
51 lines
2.0 KiB
Python
"""Display-only wheel colors from caller-qualified vehicle observations."""
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import math
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from typing import Any
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BRAKE_RGB = (255, 0, 0)
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ACCEL_RGB = (22, 127, 64)
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def observe_wheel_acceleration(car_state: Any) -> float | None:
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"""Inputs must already satisfy transport freshness and current-drive checks."""
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if (car_state is None or getattr(car_state, "canValid", None) is not True or
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getattr(car_state, "canTimeout", None) is not False):
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return None
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acceleration = getattr(car_state, "aEgo", None)
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return float(acceleration) if (type(acceleration) is int or type(acceleration) is float) and math.isfinite(acceleration) else None
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class WheelFeedbackFade:
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"""Measured acceleration tint: full color at ±2 m/s², with hysteresis and fading."""
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def __init__(self) -> None:
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self._target = 0.0
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self._amount = 0.0
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self._last_ns = 0
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self._drive_frame: int | None = None
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def update(self, acceleration: float | None, enabled: bool, now_ns: int, drive_frame: int | None) -> tuple[int, int, int]:
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if now_ns and (not self._last_ns or not enabled or acceleration is None or
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drive_frame != self._drive_frame or now_ns < self._last_ns):
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self._target = 0.0
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self._amount = 0.0
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self._last_ns = now_ns
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target = 0.0
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if enabled and acceleration is not None:
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threshold = 0.15 if now_ns and self._target * acceleration > 0 else 0.25
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if abs(acceleration) > threshold:
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target = max(-1.0, min(1.0, acceleration / 2.0))
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amount = target
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# Untimed snapshots are static layout samples.
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if now_ns:
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dt = (now_ns - self._last_ns) / 1e9
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self._last_ns, self._drive_frame = now_ns, drive_frame
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self._target = target
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self._amount += (target - self._amount) * (1 - math.exp(-dt / 0.08))
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amount = self._amount
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endpoint = BRAKE_RGB if amount < 0 else ACCEL_RGB
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red, green, blue = [round(255 + (channel - 255) * abs(amount)) for channel in endpoint]
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return red, green, blue
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