mirror of
https://github.com/ajouatom/openpilot.git
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a80ce3cdbb
* add cluster alpha * add dep * add dep * fix usb timeout * fix usb timeout * Improve error handling in USB frame transmission Refactor error handling and input draining in USB frame methods. * Refactor JPEG rendering logic in main.py Refactor JPEG rendering to improve readability and add logging. * Refactor _send_frame_no_ack method Refactor _send_frame_no_ack method for better readability and structure. * Update main.py * Update main.py * Update cluster_usb_display.py * Increase NUM_READERS from 25 to 40 * Add center_clock_text attribute to cluster model * Add replace import from dataclasses * Update main.py * Implement center clock drawing in cluster renderer Added a new method to draw the center clock on the cluster UI. * Update cluster_renderer.py * Simplify input draining condition in USB frame method Refactor input draining logic to improve readability. * Update main.py * Update cluster_renderer.py * Update main.py * Update cluster_usb_display.py * Implement performance profiling in cluster rendering Added profiling for rendering performance metrics in the cluster renderer. * Update cluster_renderer.py * Update cluster_renderer.py * Update cluster_renderer.py * Update main.py * Add CLUSTER_PROFILE_RGBA option to README Added environment variable for RGBA profile to cluster_run.py command. * fix replay * fix replay * add log * add log * add log * fix * fix * fix * fix * fix * fix * performance * performance * performance * performance * performance * performance * performance * performance * performance * performance * performance * process * process * process * process * remove dummy * fix ui * fix ui * fix ui * fix usb event monitor * fix usb event monitor * fix ui * fix ui * fix ui apply font * fix ui apply font * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * dark mode * dark mode * dark mode * cleanup * add bsd * bsd * lca * lca * lca * lca * lca * lca * lca * lca * move speed limit * profiler * perfomance * perfomance * perfomance * perfomance * perfomance * perfomance * perfomance * perfomance * perfomance * fps * perfomance * params * monit * add git info
241 lines
6.5 KiB
Python
241 lines
6.5 KiB
Python
from __future__ import annotations
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import time
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from dataclasses import dataclass
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DESIGN_WIDTH = 1920
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DESIGN_HEIGHT = 480
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Color3 = tuple[int, int, int]
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Color4 = tuple[int, int, int, int]
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@dataclass(frozen=True, slots=True)
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class ClusterTheme:
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name: str
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is_dark: bool
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bg: Color3
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panel_bg: Color3
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text: Color3
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muted: Color3
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faint: Color3
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road: Color3
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road_edge: Color3
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lane_marking_border: Color4
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road_edge_backing: Color4
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path_shadow: Color4
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path_uncertainty: Color4
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path_body: Color4
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path_highlight: Color4
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world_label_shadow: Color3
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world_label_text: Color3
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clock_bg: Color4
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clock_outline: Color4
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clock_text: Color3
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gauge_bg: Color3
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gauge_midline: Color3
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inactive_signal_fill: Color4
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inactive_signal_outline: Color3
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route_panel_bg: Color3
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route_video_bg: Color3
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route_video_status: Color3
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primary_vehicle: Color3
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model_vehicle: Color3
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default_vehicle: Color3
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CLUSTER_THEME_AUTO = 0
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CLUSTER_THEME_DARK = 1
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CLUSTER_THEME_LIGHT = 2
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CLUSTER_THEME_PARAM = "ClusterHudTheme"
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CLUSTER_LIVE_FPS_PARAM = "ClusterHudLiveFps"
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AUTO_DARK_START_HOUR = 18
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AUTO_LIGHT_START_HOUR = 6
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LIGHT_CLUSTER_THEME = ClusterTheme(
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name="light",
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is_dark=False,
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bg=(244, 246, 248),
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panel_bg=(250, 251, 252),
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text=(20, 24, 28),
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muted=(104, 112, 120),
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faint=(214, 220, 226),
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road=(218, 222, 226),
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road_edge=(108, 122, 138),
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lane_marking_border=(54, 62, 70, 205),
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road_edge_backing=(72, 82, 92, 118),
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path_shadow=(56, 72, 88, 70),
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path_uncertainty=(112, 169, 255, 74),
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path_body=(34, 126, 255, 220),
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path_highlight=(222, 239, 255, 238),
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world_label_shadow=(245, 248, 252),
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world_label_text=(8, 10, 12),
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clock_bg=(8, 10, 12, 150),
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clock_outline=(255, 255, 255, 72),
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clock_text=(255, 255, 255),
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gauge_bg=(232, 236, 240),
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gauge_midline=(88, 96, 104),
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inactive_signal_fill=(195, 202, 209, 92),
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inactive_signal_outline=(168, 176, 184),
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route_panel_bg=(248, 250, 252),
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route_video_bg=(18, 20, 22),
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route_video_status=(212, 218, 224),
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primary_vehicle=(50, 66, 82),
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model_vehicle=(88, 100, 112),
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default_vehicle=(70, 78, 88),
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)
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DARK_CLUSTER_THEME = ClusterTheme(
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name="dark",
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is_dark=True,
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bg=(7, 10, 14),
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panel_bg=(18, 23, 29),
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text=(238, 242, 247),
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muted=(150, 160, 172),
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faint=(66, 76, 88),
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road=(30, 36, 43),
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road_edge=(118, 138, 158),
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lane_marking_border=(3, 6, 10, 205),
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road_edge_backing=(4, 8, 12, 196),
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path_shadow=(0, 0, 0, 110),
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path_uncertainty=(92, 154, 255, 82),
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path_body=(48, 146, 255, 230),
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path_highlight=(220, 238, 255, 245),
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world_label_shadow=(0, 0, 0),
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world_label_text=(238, 242, 247),
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clock_bg=(0, 0, 0, 172),
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clock_outline=(238, 242, 247, 72),
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clock_text=(255, 255, 255),
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gauge_bg=(18, 23, 29),
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gauge_midline=(98, 112, 128),
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inactive_signal_fill=(74, 86, 100, 92),
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inactive_signal_outline=(94, 108, 124),
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route_panel_bg=(16, 20, 25),
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route_video_bg=(5, 8, 12),
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route_video_status=(184, 194, 206),
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primary_vehicle=(92, 112, 134),
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model_vehicle=(108, 122, 138),
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default_vehicle=(84, 96, 110),
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)
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def normalize_cluster_theme_mode(value: object) -> str:
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if isinstance(value, str):
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normalized = value.strip().lower()
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if normalized in ("auto", "dark", "light"):
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return normalized
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try:
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value = int(normalized)
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except ValueError:
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return "auto"
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if value == CLUSTER_THEME_DARK:
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return "dark"
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if value == CLUSTER_THEME_LIGHT:
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return "light"
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return "auto"
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def normalize_cluster_live_fps(value: object) -> float:
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if isinstance(value, str):
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normalized = value.strip()
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try:
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value = int(normalized)
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except ValueError:
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return 0.0
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try:
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mode = int(value)
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except (TypeError, ValueError):
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return 0.0
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if mode == 1:
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return 10.0
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if mode == 2:
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return 20.0
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if mode == 3:
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return 30.0
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return 0.0
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def current_cluster_theme(mode: object = "auto", now: float | None = None) -> ClusterTheme:
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normalized = normalize_cluster_theme_mode(mode)
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if normalized == "dark":
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return DARK_CLUSTER_THEME
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if normalized == "light":
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return LIGHT_CLUSTER_THEME
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local_hour = time.localtime(now).tm_hour if now is not None else time.localtime().tm_hour
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if local_hour >= AUTO_DARK_START_HOUR or local_hour < AUTO_LIGHT_START_HOUR:
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return DARK_CLUSTER_THEME
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return LIGHT_CLUSTER_THEME
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BG = LIGHT_CLUSTER_THEME.bg
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PANEL_BG = LIGHT_CLUSTER_THEME.panel_bg
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TEXT = LIGHT_CLUSTER_THEME.text
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MUTED = LIGHT_CLUSTER_THEME.muted
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FAINT = LIGHT_CLUSTER_THEME.faint
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ROAD = LIGHT_CLUSTER_THEME.road
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ROAD_EDGE = LIGHT_CLUSTER_THEME.road_edge
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WHITE = (255, 255, 255)
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BLUE = (38, 132, 255)
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BLUE_SOFT = (168, 207, 255)
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GREEN = (20, 188, 104)
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AMBER = (244, 172, 54)
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RED = (222, 72, 64)
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EGO = (32, 89, 179)
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CAR_DARK = LIGHT_CLUSTER_THEME.default_vehicle
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MAX_SPEED_KPH = 140.0
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MAX_ACCEL_MPS2 = 5.0
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CONTROLLER_ACCEL_MPS2 = 3.2
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CONTROLLER_BRAKE_MPS2 = 5.0
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COAST_DECEL_MPS2 = 0.18
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DRAG_DECEL_PER_MPS = 0.012
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LANE_CHANGE_SECONDS = 4.2
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LANE_CHANGE_MIN_SECONDS = 2.2
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LANE_CHANGE_MAX_SECONDS = 4.8
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LANE_RECENTER_SECONDS = 1.35
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MODEL_DIRECT_LANE_RECENTER_SECONDS = 0.85
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DEFAULT_LANE_WIDTH_M = 3.6
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MAX_STEERING_ANGLE_DEG = 45.0
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TURN_SIGNAL_SECONDS = 5.4
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TURN_SIGNAL_BLINK_PERIOD_SECONDS = 1.0
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TURN_SIGNAL_BLINK_ON_SECONDS = TURN_SIGNAL_BLINK_PERIOD_SECONDS * 0.5
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CAMERA_CENTER_X = 1050.0
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CAMERA_HORIZON_Y = 30.0
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CAMERA_HEIGHT_M = 1.45
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CAMERA_FOCAL_X = 240.0
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CAMERA_FOCAL_Y = 1050.0
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ROAD_NEAR_M = 0.75
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ROAD_FAR_M = 90.0
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ROAD_CURVE_M_PER_M2 = 0.0042
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EGO_FORWARD_M = 4.18
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PATH_START_M = 6.70
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PATH_END_M = 72.0
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PATH_HEIGHT_M = 0.10
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PATH_LANE_CHANGE_CURVE_START_M = 6.70
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PATH_LANE_CHANGE_CURVE_END_M = 15.50
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SURROUND_MAX_YAW_DEG = 180.0
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SURROUND_MAX_PITCH_DEG = 18.0
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SURROUND_VIEW_SMOOTH_SECONDS = 0.16
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SURROUND_CAMERA_DISTANCE_M = 6.3
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SURROUND_CAMERA_HEIGHT_M = 2.65
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SURROUND_TARGET_FORWARD_M = 7.6
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SURROUND_TARGET_HEIGHT_M = 0.25
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SURROUND_CENTER_Y = 265.0
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SURROUND_FOCAL_X = 315.0
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SURROUND_FOCAL_Y = 355.0
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SURROUND_ROAD_REAR_M = -70.0
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SURROUND_ROAD_FRONT_M = 115.0
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SURROUND_ROAD_STEPS = 96
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SURROUND_ROAD_NEAR_DEPTH_M = 0.75
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VEHICLE_WIDTH_M = 1.82
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VEHICLE_LENGTH_M = 4.35
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VEHICLE_SURROUND_WIDTH_M = 1.05
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VEHICLE_SURROUND_LENGTH_M = 1.85
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VEHICLE_HEIGHT_M = 1.35
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VEHICLE_SURROUND_HEIGHT_MULTIPLIER = 3.0
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VEHICLE_LANE_CHANGE_SLOPE = 0.0
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VEHICLE_AA_SCALE = 3
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VEHICLE_CORNER_RADIUS_PX = 7.5
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