From 3fe33cbe97087c8ce2ae0bd86e746f7e72aea0c9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 13 Feb 2026 11:33:52 -0500 Subject: [PATCH 1/2] [TIZI/TICI] ui: fix toggle states and simplify blindspots/turn signals updates (#1692) * [TIZI/TICI] ui: fix toggle states and simplify blindspots/turn signals updates * more --- selfdrive/ui/sunnypilot/onroad/turn_signal.py | 74 ++++--------------- 1 file changed, 15 insertions(+), 59 deletions(-) diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py index 04fff7db7..bd1aa7ee1 100644 --- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py +++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py @@ -72,72 +72,28 @@ class TurnSignalWidget(Widget): class TurnSignalController: - def __init__(self, config: TurnSignalConfig | None = None): - self._config = config or TurnSignalConfig() + def __init__(self): + self._config = TurnSignalConfig() self._left_signal = TurnSignalWidget(direction=IconSide.left) self._right_signal = TurnSignalWidget(direction=IconSide.right) - self._last_icon_side = None + + @staticmethod + def _update_signal(signal, blindspot, blinker): + if ui_state.blindspot and blindspot: + signal.activate('blind_spot') + elif ui_state.turn_signals and blinker: + signal.activate('signal') + else: + signal.deactivate() def update(self): - sm = ui_state.sm - ss = sm['selfdriveState'] + CS = ui_state.sm['carState'] - event_name = ss.alertType.split('/')[0] if ss.alertType else '' - - if event_name == 'preLaneChangeLeft': - self._last_icon_side = IconSide.left - self._left_signal.activate('signal') - self._right_signal.deactivate() - - elif event_name == 'preLaneChangeRight': - self._last_icon_side = IconSide.right - self._right_signal.activate('signal') - self._left_signal.deactivate() - - elif event_name == 'laneChange': - if self._last_icon_side == IconSide.left: - self._left_signal.activate('signal') - self._right_signal.deactivate() - elif self._last_icon_side == IconSide.right: - self._right_signal.activate('signal') - self._left_signal.deactivate() - - elif event_name == 'laneChangeBlocked': - CS = sm['carState'] - if CS.leftBlinker: - icon_side = IconSide.left - elif CS.rightBlinker: - icon_side = IconSide.right - else: - icon_side = self._last_icon_side - - if icon_side == IconSide.left: - self._left_signal.activate('blind_spot') - self._right_signal.deactivate() - elif icon_side == IconSide.right: - self._right_signal.activate('blind_spot') - self._left_signal.deactivate() - - else: - self._last_icon_side = None - CS = sm['carState'] - - if CS.leftBlindspot: - self._left_signal.activate('blind_spot') - elif CS.leftBlinker: - self._left_signal.activate('signal') - else: - self._left_signal.deactivate() - - if CS.rightBlindspot: - self._right_signal.activate('blind_spot') - elif CS.rightBlinker: - self._right_signal.activate('signal') - else: - self._right_signal.deactivate() + self._update_signal(self._left_signal, CS.leftBlindspot, CS.leftBlinker) + self._update_signal(self._right_signal, CS.rightBlindspot, CS.rightBlinker) def render(self, rect: rl.Rectangle): - if not ui_state.turn_signals: + if not ui_state.turn_signals and not ui_state.blindspot: return x = rect.x + rect.width / 2 From 4bd60cd3cd0743c4fac042c8b0461e20823655ea Mon Sep 17 00:00:00 2001 From: royjr Date: Fri, 13 Feb 2026 11:41:30 -0500 Subject: [PATCH 2/2] [MICI] ui: rainbow path (#1630) * allow rainbow road on mici * initialization --------- Co-authored-by: Jason Wen --- selfdrive/ui/mici/onroad/model_renderer.py | 11 ++++++++--- selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py | 6 ++++++ 2 files changed, 14 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py index 0908de0bf..ca051c6d9 100644 --- a/selfdrive/ui/mici/onroad/model_renderer.py +++ b/selfdrive/ui/mici/onroad/model_renderer.py @@ -12,7 +12,7 @@ from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient from openpilot.system.ui.widgets import Widget -from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP +from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP, ModelRendererSP CLIP_MARGIN = 500 MIN_DRAW_DISTANCE = 10.0 @@ -51,9 +51,10 @@ class LeadVehicle: fill_alpha: int = 0 -class ModelRenderer(Widget): +class ModelRenderer(Widget, ModelRendererSP): def __init__(self): - super().__init__() + Widget.__init__(self) + ModelRendererSP.__init__(self) self._longitudinal_control = False self._experimental_mode = False self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps) @@ -340,6 +341,10 @@ class ModelRenderer(Widget): allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control self._blend_filter.update(int(allow_throttle)) + if ui_state.rainbow_path: + self.rainbow_path.draw_rainbow_path(self._rect, self._path) + return + if self._experimental_mode: # Draw with acceleration coloring if ui_state.status == UIStatus.DISENGAGED: diff --git a/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py index 5a718947c..e3de9401c 100644 --- a/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py +++ b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py @@ -6,8 +6,14 @@ See the LICENSE.md file in the root directory for more details. """ import pyray as rl from openpilot.selfdrive.ui.ui_state import UIStatus +from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath LANE_LINE_COLORS_SP = { UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255), UIStatus.LONG_ONLY: rl.Color(0, 255, 64, 255), } + + +class ModelRendererSP: + def __init__(self): + self.rainbow_path = RainbowPath()