mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
Adeeb Shihadeh
73 lines
3.2 KiB
Python
73 lines
3.2 KiB
Python
import math
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from dataclasses import dataclass
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from openpilot.starpilot.ui.raylib import rl
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from openpilot.starpilot.ui.layout_preview_sidebar import metric_rects
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from openpilot.starpilot.ui.presentation import FontRole
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@dataclass(frozen=True)
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class DeveloperMetric:
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label: str
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value: str
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def finite(value):
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try:
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number = float(value)
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return number if math.isfinite(number) else None
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except (TypeError, ValueError, OverflowError):
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return None
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class DeveloperMetrics:
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def __init__(self):
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self.drive = None
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self.maximum = None
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def observe(self, *, drive, car, delay, torque, parameters, metric, cp=None):
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if drive != self.drive:
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self.drive, self.maximum = drive, None
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acceleration = finite(getattr(car, 'aEgo', None)) if car is not None else None
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if acceleration is not None and drive is not None and not bool(getattr(car, 'gasPressed', False)):
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self.maximum = max(0., acceleration) if self.maximum is None else max(self.maximum, acceleration)
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unit, conversion = ('m/s²', 1.) if metric else ('ft/s²', 3.280839895)
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def shown(value, decimals=5, suffix=''):
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number = finite(value)
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return '—' if number is None else f'{number:.{decimals}f}{suffix}'
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tune = None
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if cp is not None:
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try:
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tune = cp.lateralTuning.torque if cp.lateralTuning.which() == 'torque' else None
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except (AttributeError, TypeError, ValueError):
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pass
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live_torque = torque is not None and bool(getattr(torque, 'useParams', False))
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return (
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DeveloperMetric('ACCEL', shown(None if acceleration is None else acceleration * conversion, 2, f' {unit}')),
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DeveloperMetric('MAX ACCEL', shown(None if car is None or self.maximum is None else self.maximum * conversion, 2, f' {unit}')),
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DeveloperMetric('LEARNED DELAY' if delay is not None else 'BASE DELAY',
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shown(getattr(delay, 'lateralDelay', None) if delay is not None else getattr(cp, 'steerActuatorDelay', None))),
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DeveloperMetric('LEARNED FRICTION' if live_torque else 'BASE FRICTION',
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shown(getattr(torque, 'frictionCoefficientFiltered', None) if live_torque else getattr(tune, 'friction', None))),
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DeveloperMetric('LEARNED LAT ACCEL' if live_torque else 'BASE LAT ACCEL',
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shown(getattr(torque, 'latAccelFactorFiltered', None) if live_torque else getattr(tune, 'latAccelFactor', None))),
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DeveloperMetric('STEER RATIO', shown(getattr(parameters, 'steerRatio', None))),
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DeveloperMetric('STEER STIFF', shown(getattr(parameters, 'stiffnessFactor', None))),
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)
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def render_sidebar(fonts, frame, metrics):
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rl.draw_rectangle_rec(frame, rl.BLACK)
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for rect, metric in zip(metric_rects(frame, len(metrics)), metrics, strict=True):
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rl.draw_rectangle_rounded_lines_ex(rect, .3, 10, 2, rl.Color(255, 255, 255, 85))
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for line, y in ((metric.label, rect.y + 24), (metric.value, rect.y + 68)):
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size = 30
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measured = fonts.measure(line, FontRole.SEMI_BOLD, size)
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while measured.width > rect.width - 22 and size > 16:
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size -= 1
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measured = fonts.measure(line, FontRole.SEMI_BOLD, size)
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fonts.draw(line, FontRole.SEMI_BOLD, size, rect.x + (rect.width - measured.width) / 2, y, rl.WHITE)
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