mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
95 lines
3.2 KiB
Python
95 lines
3.2 KiB
Python
import pyray as rl
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from openpilot.selfdrive.ui.ui_state import UIStatus, UIState
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CEM_DISABLED_OVERRIDE_STATUSES = {1}
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CEM_MANUAL_OVERRIDE_STATUSES = {1, 2}
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CEM_ACTIVE_STATUSES = {3, 4, 5, 6, 7, 8}
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DISENGAGED_COLOR = rl.Color(18, 40, 57, 255)
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AOL_COLOR = rl.Color(10, 186, 181, 255)
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ENGAGED_COLOR = rl.Color(22, 127, 64, 255)
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OVERRIDE_COLOR = rl.Color(137, 146, 141, 255)
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EXPERIMENTAL_COLOR = rl.Color(218, 111, 37, 255)
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CEM_OVERRIDE_COLOR = rl.Color(255, 214, 0, 255)
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SWITCHBACK_COLOR = rl.Color(139, 108, 197, 255)
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TRAFFIC_COLOR = rl.Color(201, 34, 49, 255)
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def get_border_color(state: UIState):
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enabled = state.sm["selfdriveState"].enabled
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lateral_active = enabled or state.always_on_lateral_active
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if state.status == UIStatus.OVERRIDE:
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return OVERRIDE_COLOR
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if state.switchback_mode_enabled and lateral_active:
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return SWITCHBACK_COLOR
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if state.traffic_mode_enabled and enabled:
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return TRAFFIC_COLOR
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if state.always_on_lateral_active:
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return AOL_COLOR
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# Only color the border for CEM/experimental while actually enabled.
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if enabled and state.conditional_status in CEM_DISABLED_OVERRIDE_STATUSES:
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return CEM_OVERRIDE_COLOR
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if enabled and state.sm["selfdriveState"].experimentalMode:
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return EXPERIMENTAL_COLOR
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if state.status == UIStatus.ENGAGED:
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return ENGAGED_COLOR
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return DISENGAGED_COLOR
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def get_path_edge_color(state: UIState):
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if state.conditional_status in CEM_ACTIVE_STATUSES:
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return EXPERIMENTAL_COLOR
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return get_border_color(state)
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def get_screen_edge_color(state: UIState):
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enabled = state.sm["selfdriveState"].enabled
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lateral_active = enabled or state.always_on_lateral_active
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if state.status == UIStatus.OVERRIDE:
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return OVERRIDE_COLOR
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if state.switchback_mode_enabled and lateral_active:
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return SWITCHBACK_COLOR
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if state.always_on_lateral_active:
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return AOL_COLOR
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if state.conditional_status in CEM_DISABLED_OVERRIDE_STATUSES:
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return CEM_OVERRIDE_COLOR
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if state.sm["selfdriveState"].experimentalMode:
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return EXPERIMENTAL_COLOR
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if state.traffic_mode_enabled and enabled:
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return TRAFFIC_COLOR
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return get_border_color(state)
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def get_experimental_mode_banner_text(state: UIState):
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conditional_enabled = state.params.get_bool("ConditionalExperimental")
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# With CEM enabled, only surface banner text for explicit manual override states.
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# Automatic CEM transitions should only be reflected by path/border coloring.
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if conditional_enabled:
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if state.conditional_status in CEM_MANUAL_OVERRIDE_STATUSES:
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return "OVERRIDDEN"
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return None
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if state.sm["selfdriveState"].experimentalMode:
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return "EXPERIMENTAL"
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return "CHILL"
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def get_mode_transition_banner_text(state: UIState):
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enabled = state.sm["selfdriveState"].enabled
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lateral_active = enabled or state.always_on_lateral_active
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conditional_enabled = state.params.get_bool("ConditionalExperimental")
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if state.status == UIStatus.OVERRIDE:
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return "OVERRIDE"
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if state.switchback_mode_enabled and lateral_active:
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return "SWITCHBACK"
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if conditional_enabled and enabled and state.conditional_status in CEM_MANUAL_OVERRIDE_STATUSES:
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return "OVERRIDDEN"
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if enabled and state.sm["selfdriveState"].experimentalMode:
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return "EXPERIMENTAL"
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if enabled:
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return "CHILL"
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return None
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