github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
94 lines
3.5 KiB
Python
94 lines
3.5 KiB
Python
import time
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import pyray as rl
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.label import UnifiedLabel
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.selfdrive.ui.body.animations import FaceAnimator, ASLEEP, INQUISITIVE, NORMAL, SLEEPY
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GRID_COLS = 16
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GRID_ROWS = 8
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DOT_RADIUS = 50 if gui_app.big_ui() else 10
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IDLE_TIMEOUT = 30.0 # seconds of no joystick input before playing INQUISITIVE
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IDLE_STEER_THRESH = 0.5 # degrees — below this counts as no input
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IDLE_SPEED_THRESH = 0.01 # m/s — below this counts as no input
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# This class is used both in BIG (tizi) and small (mici) UIs
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class BodyLayout(Widget):
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def __init__(self):
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super().__init__()
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self._animator = FaceAnimator(ASLEEP)
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self._turning_left = False
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self._turning_right = False
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self._last_input_time = time.monotonic()
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self._was_active = False
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self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
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alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
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alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
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def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
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spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
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grid_w = (GRID_COLS - 1) * spacing
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grid_h = (GRID_ROWS - 1) * spacing
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offset_x = rect.x + (rect.width - grid_w) / 2
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offset_y = rect.y + (rect.height - grid_h) / 2
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for row, col in dots:
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x = int(offset_x + col * spacing)
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y = int(offset_y + row * spacing)
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rl.draw_circle(x, y, DOT_RADIUS, color)
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def _update_state(self):
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super()._update_state()
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sm = ui_state.sm
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if ui_state.is_onroad():
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if not self._was_active:
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self._last_input_time = time.monotonic()
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self._was_active = True
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cs = sm['carState']
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has_input = abs(cs.steeringAngleDeg) > IDLE_STEER_THRESH or abs(cs.vEgo) > IDLE_SPEED_THRESH
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if has_input:
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self._last_input_time = time.monotonic()
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if time.monotonic() - self._last_input_time > IDLE_TIMEOUT:
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self._animator.set_animation(INQUISITIVE)
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else:
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self._animator.set_animation(NORMAL)
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else:
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self._was_active = False
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self._animator.set_animation(ASLEEP)
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steer = sm['testJoystick'].axes[1] if len(sm['testJoystick'].axes) > 1 else 0
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self._turning_left = steer >= 0.05
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self._turning_right = steer <= -0.05
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# play animation on screen tap
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def _handle_mouse_release(self, mouse_pos):
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super()._handle_mouse_release(mouse_pos)
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if not self._was_active:
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self._animator.set_animation(SLEEPY)
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def _render(self, rect: rl.Rectangle):
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dots = self._animator.get_dots()
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animation = self._animator._animation
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if self._turning_left and animation.left_turn_remove:
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remove_set = set(animation.left_turn_remove)
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dots = [d for d in dots if d not in remove_set]
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elif self._turning_right and animation.right_turn_remove:
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remove_set = set(animation.right_turn_remove)
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dots = [d for d in dots if d not in remove_set]
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self.draw_dot_grid(rect, dots, rl.WHITE)
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if ui_state.is_offroad():
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rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
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upper_half = rl.Rectangle(rect.x, rect.y, rect.width, rect.height / 2)
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self._offroad_label.render(upper_half)
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