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https://github.com/firestar5683/StarPilot.git
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firestar5683
aaac7a6733
Present saved configuration and live driving state through native Small and Big UI layouts. Support per-field tune resets, movable widgets, camera availability, and a unified speed card while preserving decision-bound actions.
58 lines
2.2 KiB
Python
58 lines
2.2 KiB
Python
"""Display-only wheel colors from caller-qualified vehicle observations."""
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from dataclasses import dataclass
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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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@dataclass(frozen=True)
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class WheelFeedback:
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brake_pressed: bool | None = None
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regen_braking: bool | None = None
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gas_pressed: bool | None = None
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acceleration: float | None = None
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commanded_acceleration: float | None = None
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commanded_gas: float | None = None
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def _boolean(value: Any) -> bool | None:
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return value if type(value) is bool else None
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def _finite(value: Any) -> float | None:
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return float(value) if type(value) in (int, float) and math.isfinite(value) else None
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def observe_wheel_feedback(car_state: Any, car_control: Any) -> WheelFeedback:
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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 WheelFeedback()
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actuators = getattr(car_control, "actuators", None) if getattr(car_control, "longActive", None) is True else None
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return WheelFeedback(
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brake_pressed=_boolean(getattr(car_state, "brakePressed", None)),
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regen_braking=_boolean(getattr(car_state, "regenBraking", None)),
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gas_pressed=_boolean(getattr(car_state, "gasPressed", None)),
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acceleration=_finite(getattr(car_state, "aEgo", None)),
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commanded_acceleration=_finite(getattr(actuators, "accel", None)),
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commanded_gas=_finite(getattr(actuators, "gas", None)),
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)
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def wheel_feedback_rgb(value: WheelFeedback, enabled: bool) -> tuple[int, int, int] | None:
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if not enabled:
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return None
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if (value.brake_pressed is True or value.regen_braking is True or
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value.acceleration is not None and value.acceleration < -0.25 or
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value.commanded_acceleration is not None and value.commanded_acceleration < -0.05):
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return BRAKE_RGB
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if (value.gas_pressed is True or value.acceleration is not None and value.acceleration > 0.25 or
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value.commanded_acceleration is not None and value.commanded_acceleration > 0.05 or
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value.commanded_gas is not None and value.commanded_gas > 0.05):
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return ACCEL_RGB
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return None
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