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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.
64 lines
3.1 KiB
Python
64 lines
3.1 KiB
Python
"""Short, source-bound labels for accepted conditional mode receipts."""
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import pyray as rl
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from openpilot.starpilot.conditional_mode.policy import ModeChoice, Reason
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from openpilot.starpilot.ui.onroad_state import AlertSize
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from openpilot.starpilot.ui.onroad_state import OnroadState
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_CEM_HOLD_REASONS = {3: "cem_curve", 4: "cem_lead", 5: "cem_signal", 6: "cem_speed",
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7: "cem_speed_limit", 8: "cem_stop"}
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_CCM_HOLD_REASONS = {4: "ccm_lead", 6: "ccm_speed"}
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_REASONS = {reason.value: (reason.name[4:] if reason.name.startswith(('CEM_', 'CCM_')) else reason.name).replace('_', ' ')
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for reason in Reason}
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_REASONS[Reason.SCENE_UNAVAILABLE.value] = 'WAITING FOR ROAD DATA'
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def reason(state: OnroadState) -> str | None:
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"""Resolve the accepted planner reason, including its authoritative held status."""
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preview = state.visual_preview
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if preview is not None and preview.cem_reason in ('CURVE', 'LEAD', 'STOP LIGHT', 'SPEED'):
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return {'CURVE': 'cem_curve', 'LEAD': 'cem_lead', 'STOP LIGHT': 'cem_stop', 'SPEED': 'cem_speed'}[preview.cem_reason]
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value = (state.conditional_effective if state.longitudinal_active else None) or getattr(state, 'conditional_perception', None)
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if value is None or value.choice not in (ModeChoice.CEM, ModeChoice.CCM):
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return None
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if value.reason == 'cem_hold' and value.choice is ModeChoice.CEM:
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return _CEM_HOLD_REASONS.get(getattr(value, 'status_code', 0))
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if value.reason == 'ccm_hold' and value.choice is ModeChoice.CCM:
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return _CCM_HOLD_REASONS.get(getattr(value, 'status_code', 0))
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return value.reason
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def stop_active(state: OnroadState) -> bool:
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"""One accepted stop state for the light icon and the conditional orange border."""
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if state.alert.size == AlertSize.FULL or state.longitudinal_overridden:
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return False
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value = state.conditional_effective
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preview = state.visual_preview
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return bool(reason(state) == 'cem_stop' and
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(preview is not None and preview.cem_reason == 'STOP LIGHT' or
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state.longitudinal_active and value is not None and value.choice is ModeChoice.CEM and value.effective_experimental))
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def status(state: OnroadState) -> tuple[str, str, rl.Color] | None:
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preview = state.visual_preview
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if preview is not None and preview.cem_reason in ('CURVE', 'LEAD', 'STOP LIGHT', 'SPEED'):
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if state.alert.size == AlertSize.FULL:
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return None
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return 'CEM', f'PREVIEW {preview.cem_reason}', rl.Color(112, 192, 216, 255)
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value = (state.conditional_effective if state.longitudinal_active else None) or getattr(state, 'conditional_perception', None)
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if value is None or value.choice not in (ModeChoice.CEM, ModeChoice.CCM):
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return None
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if value.reason in ('no_trigger', 'manual_chill', 'manual_experimental', 'ccm_veto'):
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return None
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# The text is selected from known policy reasons, never rendered from wire text.
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detail = _REASONS.get(reason(state))
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if detail is None:
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return None
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family = 'CEM' if value.choice is ModeChoice.CEM else 'CCM'
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color = rl.Color(112, 192, 216, 255) if value.effective_experimental else rl.Color(255, 155, 63, 255)
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return family, detail, color
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